Control method, robot, and program

Abstract

A control method in which robot current position information, guidance destination position information, robot travelable area information, and person movable area information are obtained (S1 to S5), and a robot is controlled on the basis of the obtained robot current position information, guidance destination position information, and person movable area information, and the robot is controlled on the basis of the obtained robot current position information, guidance destination position information, and person movable area information. A person route, which is a route of a person from a current position to a position of a guide destination, is calculated so as to satisfy a predetermined condition for reducing a burden on the person (S7), the calculated person route is compared with information on a region that can be driven by the robot (S8), and the robot is driven on the basis of a comparison result obtained by the comparison. The display form of the guidance route reaching the guidance destination on the display of the robot is changed (S9).

Description

Technical Field

[0001] The present disclosure relates to a control method, a robot, and a program. Background Art

[0002] For example, Patent Document 1 recommends a guiding robot that is arranged in an event venue or the like to guide people and provide guidance until the destination is reached.

[0003] (Prior Art Document)

[0004] (Patent Document)

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2011-000656 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, there may be a situation where there is an area where a person can move but the robot cannot travel. In this case, since the travelable areas of the robot and the person are different, when guiding the guiding robot to the destination, it is possible that the path taken is different from the shortest path of the person.

[0008] In this case, the walking burden on the person being guided is increased. And when this situation occurs repeatedly, the future use of the guiding robot may be inhibited.

[0009] In view of the above situation, an object of the present disclosure is to provide a control method and the like that can identify whether it is possible to guide along the shortest path of a person.

[0010] Means for Solving the Problems

[0011] A control method according to one aspect of the present disclosure is a control method for a robot that can autonomously move and guide a person to a guiding destination. In the control method, (a) obtain robot current position information indicating the current position of the robot, (b) obtain guiding destination position information indicating the position of the guiding destination, (c) obtain person movable area information indicating the area where the person can move, (d) obtain robot travelable area information indicating the area where the robot can travel, (e) calculate a person path, which is the path of the person from the current position to the position of the guiding destination, in a manner that satisfies a specified condition for reducing the burden on the person, based on the obtained robot current position information, the guiding destination position information, and the person movable area information, (f) compare the calculated person path with the robot travelable area information, and (g) change the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained.

[0012] In addition, these general or specific manners can be implemented either by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. Moreover, the recording medium can also be a non-transitory recording medium.

[0013] Advantages of the Invention

[0014] Through the control method and the like of the present disclosure, it is possible to identify whether it is possible to guide a person along the shortest path.

[0015] In addition, better advantages and merits of one aspect of the present disclosure can be clarified from the specification and the drawings. Although the related advantages and / or effects are respectively provided by several embodiments and the features described in the specification and the drawings, it is not necessary to provide all of them in order to obtain one or more of the same features. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An example of a guidance system including a guiding robot according to Embodiment 1 is shown.

[0017] Figure 2 It is a block diagram showing an example of the hardware configuration of the guiding robot according to Embodiment 1.

[0018] Figure 3 It is a block diagram showing an example of the functional configuration of the guiding robot according to Embodiment 1.

[0019] Figure 4 It is an explanatory diagram of an example of the store information according to Embodiment 1.

[0020] Figure 5 It is an explanatory diagram of an example of the store guide information displayed on the display of the guiding robot according to Embodiment 1.

[0021] Figure 6 It is a flowchart showing an example of the operation of the guiding robot according to Embodiment 1.

[0022] Figure 7 It is a flowchart showing an example of the operation example of the guiding robot according to Embodiment 1.

[0023] Figure 8 Conceptually shows the shortest path of the robot and the shortest path of a person according to Embodiment 1.

[0024] Figure 9Conceptually shows a case where the shortest path of the robot involved in Embodiment 1 is different from the shortest path of a person.

[0025] Figure 10A Conceptually shows the shortest path of the robot and the shortest path of a person involved in Variation 14 of Embodiment 1.

[0026] Figure 10B Conceptually shows the shortest path of the robot and the shortest path of a person involved in the example of Variation 15 of Embodiment 1.

[0027] Figure 11A Conceptually shows a case where the guiding robot involved in Variation 1 of Embodiment 1 has a travel limit.

[0028] Figure 11B Conceptually shows another example in the case where the guiding robot involved in Variation 1 of Embodiment 1 has a travel limit.

[0029] Figure 12 Conceptually shows an example in the case where the guiding robot involved in Variation 1 of Variation 1 of Embodiment 1 has a travel limit.

[0030] Figure 13 Conceptually shows an example in the case where the guiding robot involved in Variation 2 of Variation 1 of Embodiment 1 has a travel limit.

[0031] Figure 14 Conceptually shows an example in the case where the guiding robot involved in Variation 3 of Variation 1 of Embodiment 1 guides a person.

[0032] Figure 15 Conceptually shows the shortest path of the robot and the shortest path of a person involved in Variation 2 of Embodiment 1.

[0033] Figure 16 Conceptually shows the shortest path of the robot and the shortest path of a person involved in Variation 3 of Embodiment 1.

[0034] Figure 17A Conceptually shows the guardianship process of the guiding robot involved in Variation 4 of Embodiment 1.

[0035] Figure 17B Conceptually shows the guardianship process of the guiding robot involved in Variation 4 of Embodiment 1.

[0036] Figure 18 Shows an example of a guidance system including a guiding robot involved in Embodiment 2.

[0037] Figure 19It is a block diagram showing an example of the functional configuration of the cloud related to Embodiment 2.

[0038] Figure 20 It is a block diagram showing an example of the functional configuration of the reception robot related to Embodiment 2.

[0039] Figure 21 It is a block diagram showing an example of the functional configuration of the guiding robot related to Embodiment 2.

[0040] Figure 22 Conceptually illustrates the configuration of the guiding robot in the time period before the activity related to Embodiment 3.

[0041] Figure 23 Conceptually illustrates the configuration of the guiding robot in the time period after the activity related to Embodiment 3. Detailed Embodiment

[0042] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0043] In addition, the embodiments described below are all general or specific examples. The numerical values, shapes, materials, constituent elements, arrangement positions and connection methods of the constituent elements, steps, and the order of steps shown in the following embodiments are all examples, and the gist is not to limit the present disclosure. And, for the constituent elements in the following embodiments that are not described in the independent technical solution, they will be described as optional constituent elements.

[0044] Moreover, each figure is a schematic diagram and not a precise illustration. And, in each figure, the same reference numerals are given to the same constituent parts.

[0045] (Embodiment 1)

[0046] Hereinafter, the control method and the like of the robot related to the present embodiment will be described.

[0047] [1.1 Wizard System]

[0048] Figure 1 Shows an example of a wizard system including the guiding robot 10 related to the present embodiment.

[0049] Figure 1 The shown wizard system includes the guiding robot 10.

[0050] The guiding robot 10 is a robot for guiding a person to a guiding destination and capable of autonomous movement. The guiding robot 10 can be remotely monitored and remotely controlled by a remote monitor when necessary via a network (not shown). The network is a wireless communication network. Although the network is, for example, a mobile communication network for mobile phones, a satellite communication network, a wide area network using Wi-fi (registered trademark), a public switched telephone network, etc., it is not limited to these.

[0051] The person 20 is a person who may use the guiding robot 10 to move to a desired guiding destination. When the person 20 uses the guiding robot 10, the person 20 can have the guiding robot 10 lead the way and move to the desired guiding destination.

[0052] In addition, as Figure 1 shown, although in the present embodiment, it is described that the guiding system is composed of one guiding robot 10 and one person 20, and it is possible for one person 20 to use one guiding robot 10 and have it guide to the destination, it is not limited thereto. It can also be composed of two or more guiding robots 10 and multiple persons 20. Hereinafter, it is described that the person 20 is, for example, a customer in a shopping mall, and the guiding robot 10 is arranged in the hall in a manner capable of guiding the person 20 to a desired store.

[0053] [1.2 Guiding Robot 10]

[0054] The guiding robot 10 is a robot or the like for guiding the person 20 to a guiding destination and capable of autonomous movement, and can be at least one of remotely operated and remotely monitored by a remote monitor. And, the guiding robot 10 is provided with a display, and by the display form of the guiding route displayed on the display, the person 20 can recognize whether it can be guided by the shortest path for the person (to be described later). In addition, if the guiding robot 10 can guide the person 20, it may have a mechanism capable of carrying the luggage of the person 20, or may have a mechanism capable of allowing one person among the person 20, etc. to board and move.

[0055] In the present embodiment, when the person 20 responds to or operates on the display form of the guiding route displayed on the display by the guiding robot 10, there are cases where the person 20 is guided to the guiding destination desired by the person 20 or the person 20 moves to the guiding destination by himself / herself without being guided.

[0056] [1.2.1 Hardware Configuration of Guiding Robot 10]

[0057] Figure 2 is a block diagram showing an example of the hardware configuration of the guiding robot 10 according to the present embodiment.

[0058] The guiding robot 10 is implemented by a computer, for example, and includes a processor 101, a memory 102, a communication IF 103, an input / output IF 104, a sensor 105, an input device 106, a display device 107, and a driving device 108.

[0059] The processor 101 is an arithmetic device that controls, for example, the communication IF 103, the input / output IF 104, the sensor 105, the input device 106, the display device 107, and the driving device 108 by executing programs stored in the memory 102 to perform various processes. The processor 101 is, for example, a CPU (Central Processing Unit).

[0060] The memory 102 is a storage device that stores programs or data, and is, for example, a RAM (Random Access Memory). Also, information obtained, calculated, and subjected to comparison processing by the guiding robot 10 is stored in the memory 102.

[0061] The communication IF 103 is a communication interface for wirelessly communicating with external devices such as the cloud or a server, a terminal used by a remote monitor, or with other guiding robots 10, etc., and is, for example, a communication circuit.

[0062] The input / output IF 104 is an interface for mutually transferring data between the processor 101, the memory 102, the sensor 105, the input device 106, the display device 107, and the driving device 108, etc. The input / output IF 104 is connected to the above-mentioned respective devices. This connection is a wired or wireless connection, and both can also be used in combination.

[0063] The sensor 105 is provided on the guiding robot 10 and is controlled by the processor 101. The sensor 105 is, for example, a camera, a LiDAR (Light Detection And Ranging) device, a microwave sensor, a speed sensor, an acceleration sensor, an angular velocity sensor, etc., and senses the conditions around the guiding robot 10 and the moving state of the guiding robot 10, etc. The sensor 105 may also include a GPS (Global Positioning System).

[0064] The input device 106 is a device that forms a user interface such as an input button, a touch panel, a touch display, etc., and is used to receive operations from a person 20 as a user. In addition, the input device 106 may also be configured to receive operations by voice and remote operations by a remote controller, etc., in addition to receiving contact operations from the person 20.

[0065] The display device 107 is a display for displaying information that enables a person 20 to recognize whether they can be guided through the shortest path of the person. The display device 107 can be, for example, an LCD (Liquid Crystal Display) monitor, or can also be used as an input device 106 in the form of a touch display.

[0066] The driving device 108 is composed of a driving body such as a wheel, an engine, a motor, an accelerator, a brake, etc., and enables the guiding robot 10 to move autonomously under the control of the processor 101.

[0067] [1.2.2 Functional composition of the guiding robot 10]

[0068] Figure 3 It is a block diagram showing an example of the functional composition of the guiding robot 10 according to the present embodiment.

[0069] As Figure 3 shown, the guiding robot 10 includes a communication unit 11, an input unit 12, a display unit 13, a position information acquisition unit 14, a sensor unit 15, and a driving unit 16 as basic functional components, and further includes a control unit 17 and a storage unit 18.

[0070] The communication unit 11 is, for example, a communication interface and can be connected to a network. The communication unit 11 can be connected to an external device such as a cloud or a server, a terminal used by a remote monitor, or another guiding robot 10 via the network to enable communication.

[0071] In the present embodiment, the communication unit 11 is used to transmit and receive information with an external device such as a server, and pre-obtain various information to be stored in the storage unit 18. The communication unit 11 can also update the various information stored in the storage unit 18 by communicating with the external device regularly or at a specified timing.

[0072] The input unit 12 obtains an input from the person 20. In the present embodiment, the input unit 12 may be a touch display and integrated with the display unit 13. In this case, the input unit 12 can obtain an input from the person 20 by detecting a touch operation, a flick operation, etc. performed by the person 20. For example, when a button for selecting "start of wizard display" is displayed on the screen, the input unit 12 can obtain an input of "start" for the wizard that guides the person 20 to the guiding destination by detecting that the person 20 touches the button on the screen. Additionally, it may be that the input unit 12 switches to an energy-saving mode and does not display the button on the screen when the person 20 is not near the guiding robot 10. Also, it may be that the input unit 12 is not integrated with the display unit 13. In this case, the input unit 12 can be, for example, a button, a joystick, a mouse, etc., or it can be a microphone, etc. When the input unit 12 is a microphone, it can also obtain an audio input from the person 20 by acquiring the sound of the person 20.

[0073] The display unit 13 outputs information to the person 20, etc. In the present embodiment, the display unit 13 may be a touch display and integrated with the input unit 12. Additionally, it may be that the display unit 13 is not integrated with the input unit 12. In this case, the display unit 13 can also be a display. Moreover, the display unit 13 can further have a configuration including a speaker for outputting sound, a projector for projecting and outputting information, and a configuration for recognizing gestures.

[0074] The position information acquisition unit 14 uses the sensing information obtained by the sensor unit 15 to acquire the position information of the guiding robot 10. When the sensing information includes GPS information, the position information acquisition unit 14 can also acquire the position information of the guiding robot 10 by using the GPS information to measure the position of the guiding robot 10. And when the sensing information is information from a LiDAR device, etc., the position information acquisition unit 14 can use the sensing information to perform self-position estimation processing to acquire the position information of the guiding robot 10. The self-position estimation processing can adopt an existing SLAM (Simultaneous Localization and Mapping) technology. Additionally, the current position information of the guiding robot 10 is used as the departure location when the guiding robot 10 guides the person 20.

[0075] The sensor unit 15 obtains sensing information from the sensor 105 that senses the conditions around the guiding robot 10 and the moving state of the guiding robot 10, etc.

[0076] The drive unit 16 moves or stops the guiding robot 10 by driving the drive device 108. The drive unit 16 is controlled by the control unit 17.

[0077] The control unit 17 performs control for enabling the person 20 to recognize whether they can be guided along the shortest path for a person based on the display form of the guidance route displayed on the display of the guidance robot 10. The control unit 17 is implemented, for example, by a computer including at least a processor, and various functions are implemented by the processor executing the programs stored in the memory 102 or the storage unit 18.

[0078] In the present embodiment, as Figure 3 shown, the control unit 17 includes an acquisition unit 171, a store guide information generation unit 172, a shortest path calculation unit 173 for a person, a shortest path calculation unit 174 for a robot, a comparison processing unit 175, and a display control unit 176. In addition, since the components of the control unit 17 other than the acquisition unit 171 and the display control unit 176 can be included in the cloud or a server to operate, they can be appropriately included in the cloud or a server to operate in addition to these.

[0079] Hereinafter, each component will be described.

[0080] The acquisition unit 171 acquires information related to the guidance destination and guidance destination position information indicating the position of the guidance destination.

[0081] In the present embodiment, the acquisition unit 171 can acquire information related to the guidance destination and guidance destination position information from the acquired store information by acquiring the store information stored in the storage unit 18. The store information includes information related to the guidance destination and guidance destination position information used when the guidance robot 10 guides the person 20 as a customer.

[0082] Figure 4 It is an explanatory diagram of an example of the store information related to the present embodiment.

[0083] As Figure 4 shown, the store information includes at least a list of the store names of multiple stores and the position information of multiple stores. The store information may further include a list of information related to the category of each store (category information) such as clothing, general merchandise, food, restaurants, etc., and information related to the floor where each store is located (floor information) such as the first floor or the second floor. Here, the store name, category information, floor information, etc. are information related to the guidance destination, and the position information of multiple stores corresponds to the guidance destination position information.

[0084] In addition, it may also be that the information related to the guidance destination may include not only category information and floor information but also information such as advertisements of the store and signs showing the signs of multiple stores. And, in Figure 4In the example shown, although the location information of each of the multiple stores is three-dimensional coordinates that can identify the floor on which the store is located, it is not limited to this example. In the case where the shopping mall consists of only one floor, the location information of each of the multiple stores can also be represented by two-dimensional coordinates. Also, in the case where GPS information within the shopping mall can be obtained, the location information of each of the multiple stores can also be location information obtained based on the GPS information.

[0085] Also, the information related to the guiding destination only needs to be information required when guiding the robot 10 to guide the person 20 to the guiding destination, and is not limited to cases including store names, category information, floor information, etc. Among the information related to the guiding destination, information indicating entrances and exits, restrooms, escalators, elevators, mother and baby rooms, children's rooms, parking lots, etc. can also be further included.

[0086] Also, the acquisition unit 171 acquires robot current position information indicating the current position of the guiding robot 10.

[0087] In the present embodiment, the acquisition unit 171 acquires, as the robot current position information, the position information indicating the current position of the guiding robot 10 among the position information of the guiding robot 10 acquired by the position information acquisition unit 14.

[0088] Also, the acquisition unit 171 acquires human movable area information indicating the area where the person 20 can move, and acquires robot drivable area information indicating the area where the guiding robot 10 can travel.

[0089] In the present embodiment, the acquisition unit 171 acquires the human movable area information and the robot drivable area information stored in the storage unit 18.

[0090] The human movable area information is, for example, information indicating the area where a person can move within the entire target area such as within a shopping mall. The information indicating the area where a person can move can be either information represented using coordinates or information represented by the passage connection lines through which a person can pass in each passage connection line, and each of these passage connection lines is a passage connection line included in the passage connection line data of the entire target area generated in the same way as the existing road connection line data. Additionally, regarding the human movable area information, it is created by the manager of the target area, etc., and is stored in an external device, and the communication unit 11 acquires this human movable area information from the external device and stores it in the storage unit 18. The human movable area information can also be created based on the map information indicating the entire target area.

[0091] The information on the area where the robot can travel is, for example, information showing the area within the entire target area such as inside a shopping mall where the guiding robot 10 can travel. The information showing the area where the guiding robot 10 can travel can be either information represented by coordinates or information represented by the passage connection lines where people can pass through in each passage connection line, and each of these passage connection lines is included in the passage connection line data of the entire target area generated in the same way as the existing road connection line data.

[0092] In addition, the information on the area where the robot can travel is created by the manager of the target area or the like and stored in an external device. The communication unit 11 obtains the information on the area where the robot can travel from the external device and stores it in the storage unit 18. The information on the area where the robot can travel can also be created based on the map information showing the entire target area and taking into account the performance, state, and operation rules of the guiding robot 10. As an aspect of the performance of the guiding robot 10, for example, it can be cited that it cannot cross steps, cannot travel in areas with steps, the guiding robot 10 cannot move autonomously and needs to request remote operation from a remote monitor, etc. In this case, this area is made into a non-travelable area. And, as an aspect of the state of the guiding robot, for example, it can be cited that it cannot travel in an area where the remaining battery level is insufficient to travel in this area, and this area is made into a non-travelable area. And, as an aspect of the operation rules, for example, it can be cited that it cannot travel outside the pre-determined travel area, and when the responsible area of the guiding robot 10 has been determined, it cannot travel in an area outside the responsible area. As an aspect of the operation rules, for example, it can be cited that because there is already a plan for another task such as a guiding reservation, it cannot perform guiding during this period and cannot travel in the target area, so that the travelable area of the guiding robot 10 can be changed according to the time period. In this way, considering these aspects of the operation rules, although it is possible to travel in terms of the performance of the guiding robot, the travel in a part of the travelable area can be restricted for operation.

[0093] Moreover, it is preferable that the information on the area where the robot can travel is generated based on the information on the area where people can move and in the same format. This is because the comparison process of the shortest path for people and the shortest path for the robot described later will become easier. And also because it is assumed that the guiding robot 10 will guide people. That is, in an area where people cannot move but only the guiding robot 10 can travel, people cannot be guided, so it is preferably generated based on the information on the area where people can move. The information on the area where the robot can travel can also be created based on the so-called "Operational Design Domain" (ODD).

[0094] Also, the drivable area information of the robot is preferably created for each guiding robot 10. This is because there are cases where the non-drivable areas are different in terms of performance or status depending on the type and model of the guiding robot 10. Also, because when setting the drivable area according to the operation, the drivable areas of the respective guiding robots 10 are also different.

[0095] The store guide information generation unit 172 generates store guide information based on the store information stored in the storage unit 18. Also, the store guide information generation unit 172 generates information for a person 20 to identify whether they can be guided through the shortest path for a person, and updates the store guide information, according to the comparison result of the comparison processing unit 175.

[0096] The store guide information is the information displayed on the display of the guiding robot 10. In the present embodiment, the store guide information includes not only the store information, but also the information for a person 20 to identify whether they can be guided through the shortest path for a person. Thus, by the store guide information being displayed on the display of the guiding robot 10, a person 20 can identify whether they can be guided through the shortest path for a person.

[0097] For example, when the comparison result of the comparison processing unit 175 shows that the shortest path for a person and the shortest path for the robot (to be described later) are the same path (that is, when the entire human path is included in the drivable area information of the robot), the store guide information generation unit 172 may add "The guiding robot 10 can guide through the shortest path for a person" as the information for identifying whether it is possible to be guided through the shortest path for a person to the store guide information. On the other hand, for example, when the comparison result of the comparison processing unit 175 shows that the shortest path for a person and the shortest path for the robot are not the same path (that is, when at least a part of the human path is not included in the drivable area information of the robot), the store guide information generation unit 172 may add "The guiding robot 10 can guide through a path different from the shortest path for a person" to the store guide information.

[0098] In addition, the content added to the store guide information is not limited to these. For example, it can also be that when the comparison result shows that the shortest path for a person and the shortest path for a robot are not the same path, the store guide information generation unit 172 generates the following information as the information for enabling the person 20 to recognize whether they can be guided through the shortest path for a person, that is, the information added to the store guide information. That is, the store guide information generation unit 172 can also generate information showing that the robot 10 can be guided to a midway point (i.e., the boundary point between the area included in the robot's drivable area information in the person's path and the area not included in the robot's drivable area information in the person's path) that is the bifurcation point between the shortest path for a person and the shortest path for a robot in the shortest path for a person. In this case, the store guide information generation unit 172 only needs to determine the midway point that is the bifurcation point between the shortest path for a person and the shortest path for a robot. Also, the store guide information generation unit 172 can generate information showing that guidance can be continued by merging with the path where the shortest path for a person and the shortest path for a robot overlap again in the shortest path for a person. In this case, the store guide information generation unit 172 only needs to determine the midway point that is the bifurcation point between the shortest path for a person and the shortest path for a robot (i.e., the boundary point between the area included in the robot's drivable area information in the person's path and the area not included in the robot's drivable area information in the person's path) and the point where the shortest path for a person and the shortest path for a robot merge again (i.e., the point where the person's path is again included in the robot's drivable area information). Also, the store guide information generation unit 172 can generate information showing the distance difference between the shortest path for a person and the shortest path for a robot, or can generate information showing the reason why the shortest path for a robot and the shortest path for a person are not the same path. In addition, the determination of the midway point that is the bifurcation point between the shortest path for a person and the shortest path for a robot, the determination of the point where the shortest path for a person and the shortest path for a robot merge again, and the calculation of the distance difference between the shortest path for a person and the shortest path for a robot can also be performed by the comparison processing unit 175 described later.

[0099] Regarding other content of the content added to the store guide information, examples are omitted here because they will be described later.

[0100] Figure 5 It is an explanatory diagram of an example of the store guide information displayed on the display 13a of the guiding robot 10 according to the present embodiment.

[0101] As Figure 5As shown, the store guide information includes not only a list of the store names, location information, category information, and floor information of multiple stores (store information), but also information indicating which path the guiding robot 10 can use for guiding (robot guiding information). That is, as the store guide information, not only the store information but also the robot guiding information is displayed on the display 13a of the guiding robot 10. Figure 5 The robot guiding information shown is an example of information for enabling a person 20 to recognize whether they can be guided along the shortest path for a person, and is generated according to the comparison result of the comparison processing unit 175. The robot guiding information is not limited by Figure 5 the content shown. Also, the robot guiding information is not limited by the case where it is displayed on the display 13a in the display form of the guiding route shown in Figure 5 As long as it is a display form that enables a person 20 to recognize whether they can be guided along the shortest path for a person, it can also be other display forms. Other details of the robot guiding information and the display form of the guiding route will be described later, so examples are omitted here.

[0102] In addition, the store guide information generation unit 172 can also generate or update the store guide information according to the input of a person 20 as a customer. For example, when a person 20 inputs a list of desired categories, the store guide information generation unit 172 can generate Figure 5 the store guide information shown in the form of a list of categories.

[0103] Alternatively, the store guide information generation unit 172 can use sensing information such as an image obtained by the sensor unit 15 to estimate the age and gender of a person 20 as a customer, and generate store guide information including information suitable for the estimated age and gender.

[0104] Moreover, the store guide information generation unit 172 can not only generate store guide information including all the stores included in the obtained store information, but also generate store guide information including only a part of the stores. For example, the store guide information generation unit 172 can generate store guide information including only ten recommended stores out of all the stores included in the obtained store information.

[0105] The human shortest path calculation unit 173 calculates the human shortest path as a human path in a manner that satisfies a specified condition for reducing the burden on the human 20, based on the robot's current position information, the guided destination position information, and the human movable area information obtained by the acquisition unit 171. The human shortest path is the shortest path for the human 20 to move from the current position of the guiding robot 10 to the guided destination position. That is, the above-specified condition is the condition that the walking distance of the human 20 is the shortest. In the present embodiment, the human shortest path calculation unit 173 uses the current position of the guiding robot 10 as the starting point and the positions of the respective stores as the destinations, and based on the human movable area information, uses a specified shortest path generation algorithm to generate the shortest path from the starting point to the destination as the human shortest path. The human shortest path calculation unit 173 generates the human shortest path for each store using the position information of each store and the current position information of the guiding robot 10 obtained by the acquisition unit 171. In addition, as the shortest path generation algorithm, for example, existing algorithms for calculating the shortest route such as Dijkstra's algorithm, Bellman-Ford algorithm, and Floyd's algorithm can be adopted.

[0106] In the present embodiment, although the above-specified condition is set as the condition that the walking distance of the human 20 is the shortest, it is not limited thereto. For example, the following conditions can also be used as the above-specified conditions: (a) the condition that the slope of the road is small, (b) the condition that there are many shaded areas, (c) the condition that one will not get wet in the rain, (d) the condition that the number of pedestrians is small, (e) the condition of passing through an easy-to-understand road (main road, etc.). That is, the human shortest path calculation unit 173 can not only calculate the human shortest path but also calculate a human path that satisfies various specified conditions. For example, the human shortest path calculation unit 173 calculates a human path that satisfies the condition of having many shaded areas as a specified condition based on the human movable area information, the information related to the time period, and the shaded area information indicating the area that becomes a shaded area.

[0107] The robot shortest path calculation unit 174 calculates the shortest path of the robot as the robot path based on the robot's current position information, the guiding destination position information, and the robot's drivable area information obtained by the acquisition unit 171. The robot shortest path is the shortest path that guides the robot 10 from the current position of the robot 10 to the guiding destination position. In the present embodiment, the robot shortest path calculation unit 174 uses the current position of the guiding robot 10 as the starting point and the positions of the respective stores as the destinations, and based on the robot's drivable area information, uses a prescribed shortest path generation algorithm to generate the shortest path from the starting point to the destination as the robot shortest path. The robot shortest path calculation unit 174 uses the position information of each store and the current position information of the guiding robot 10 obtained by the acquisition unit 171 to generate the robot shortest path for each store. Additionally, as the shortest path generation algorithm, for example, existing algorithms for calculating the shortest route such as Dijkstra's algorithm, Bellman-Ford algorithm, and Floyd's algorithm can be adopted. Moreover, the shortest path generation algorithm for calculating the human shortest path and the robot shortest path can also adopt the same algorithm. This is because it is easier to determine whether the calculated paths are the same path when calculated using the same algorithm.

[0108] The comparison processing unit 175 performs processing of comparing the calculated human shortest path and the robot shortest path included in the robot's drivable area information (i.e., comparing the human path and the robot's drivable area information).

[0109] In the present embodiment, the comparison processing unit 175 determines whether the human shortest path calculated by the human shortest path calculation unit 173 and the robot shortest path calculated by the robot shortest path calculation unit 174 are the same path (i.e., whether the human path is entirely included in the robot's drivable area information). The comparison processing unit 175 conveys the determined result as the comparison result to the store guidance information generation unit 172.

[0110] Additionally, the comparison processing unit 175 can also perform processing of comparing the human shortest path and the robot shortest path by determining whether the distance of the calculated human shortest path and the distance of the calculated robot shortest path are the same. This is because, even if the human shortest path and the robot shortest path are not the same path but have the same distance, even if the human 20 is guided through the robot shortest path, the walking burden on the human 20 is at the same level, so the use of the guiding robot will not be inhibited.

[0111] For example, when the comparison processing unit 175 obtains a comparison result indicating that the shortest path of the person and the shortest path of the robot are the same path (that is, the entire person path is included in the robot drivable area information), the comparison processing unit 175 conveys this comparison result to the store guide information generation unit 172. Accordingly, as information for enabling the person 20 to identify whether they can be guided through the shortest path of the person, the store guide information generation unit 172 can add "The robot can guide through the shortest path of the person" to the store guide information. On the other hand, when the comparison processing unit 175 obtains a comparison result indicating that the shortest path of the person and the shortest path of the robot are not the same path (that is, at least a part of the person path is not included in the robot drivable area information), the comparison processing unit 175 conveys this comparison result to the store guide information generation unit 172. Accordingly, as information for enabling the person 20 to identify whether they can be guided through the shortest path of the person, the store guide information generation unit 172 can add "The robot can guide through a path different from the shortest path of the person" to the store guide information.

[0112] Moreover, in the present embodiment, although the control unit 17 is provided with the robot shortest path calculation unit 174, it is not limited thereto, and the robot shortest path calculation unit 174 may be omitted. In this case, the comparison processing unit 175 performs a process of comparing the shortest path of the person, which is the calculated person path, with the robot drivable area information itself, and determines whether the entire shortest path of the person is included in the robot drivable area information.

[0113] The display control unit 176 changes the display form of the guidance route to the guidance destination on the display of the guidance robot 10 according to the comparison result obtained by the comparison of the comparison processing unit 175.

[0114] In the present embodiment, the display control unit 176 may also display the store guide information generated by the store guide information generation unit 172 on the display of the guidance robot 10 until the comparison processing unit 175 obtains a comparison result. Then, when the comparison processing unit 175 obtains a comparison result, the display control unit 176 only needs to display the store guide information generated or updated by the store guide information generation unit 172 on the display of the guidance robot 10 according to the comparison result of the comparison processing unit 175. For example, when the comparison result of the comparison processing unit 175 shows that the shortest path of the person and the shortest path of the robot are the same path, "The robot can guide through the shortest path of the person" is displayed on the display of the guidance robot 10. However, for example, when the comparison result of the comparison processing unit 175 shows that the shortest path of the person and the shortest path of the robot are not the same path, "The robot can guide through a path different from the shortest path of the person" is displayed on the display of the guidance robot 10.

[0115] In this way, until the comparison processing unit 175 obtains a comparison result, the display control unit 176 controls the display form of the guidance route so as to display information related to the guidance destination and the guidance destination position information on the display of the guidance robot 10. When the comparison processing unit 175 obtains a comparison result, the display control unit 176 changes the display form of the guidance route according to the comparison result of the comparison processing unit 175 so as to display information on the display of the guidance robot 10 that enables the person 20 to recognize whether they can be guided through the shortest path for the person. In addition, the content of the information for identifying whether it is possible to guide through the shortest path for the person and the display form of the guidance route displayed on the display of the guidance robot 10 are not limited to the examples described above.

[0116] Specifically, when the comparison result of the comparison processing unit 175 shows that the shortest path for the person and the shortest path for the robot are the same path, the display control unit 176 may also change the display form to a display form that emphasizes the ability to guide through the shortest path for the person or compares with the case where the shortest path for the person and the shortest path for the robot are different and changes the color. However, when the comparison result of the comparison processing unit 175 shows that the shortest path for the person and the shortest path for the robot are not the same path, the display control unit 176 may change the display form of the guidance route as follows. For example, it may be that the display control unit 176 changes the display form of the guidance route displayed on the display of the guidance robot 10 to a display form that shows guidance up to a point in the shortest path for the person that is midway to the bifurcation point between the shortest path for the person and the shortest path for the robot (i.e., the boundary point between the area included in the robot travelable area information in the person path and the area not included in the robot travelable area information in the person path). And it may be that the display control unit 176 further changes the display form of the guidance route displayed on the display of the guidance robot 10 to a display form that shows that guidance can be continued by merging into the path where the shortest path for the person and the shortest path for the robot overlap again in the shortest path for the person (i.e., the point where the person path is again included in the robot travelable area information). And it may be that the display control unit 176 further changes the display form of the guidance route displayed on the display of the guidance robot 10 to a display form that shows the distance difference between the shortest path for the person and the shortest path for the robot. And it may be that the display control unit 176 further changes the display form of the guidance route displayed on the display of the guidance robot 10 to a display form that shows the reason why the shortest path for the robot and the shortest path for the person are not the same path (i.e., the reason why a part of the person path is not included in the robot travelable area information).

[0117] Alternatively, the human shortest path calculation unit 173 may calculate multiple human paths (including the human shortest path) that respectively satisfy multiple specified conditions. In this case, the display control unit 176 may also add the calculated multiple human paths to the information regarding whether the guiding robot 10 can guide along each path, and cause the display of the guiding robot 10 to display them. In this case, the display control unit 176 may also cause the display of, for example, the recommended highlights of each of the multiple human paths, such as (a) the shortest moving distance, (b) a small slope of the road, (c) many shaded areas, (d) not getting rained on, etc.

[0118] Alternatively, when the guiding robot 10 can only guide the human 20 to an intermediate point from the current position to the guiding destination position among the entire calculated human path, the robot shortest path calculation unit 174 calculates the robot shortest path that the guiding robot 10 can guide, and the display control unit 176 causes the calculated robot shortest path to be displayed together. Accordingly, the human 20 can appropriately select whether to let the guiding robot 10 guide to an intermediate point of the human path or to let the guiding robot 10 guide to the guiding destination position through the robot shortest path. In this case, the robot shortest path calculation unit 174 generates a robot shortest path that satisfies the same specified conditions as when calculating the human shortest path (that is, the condition that the walking distance of the human 20 is the shortest).

[0119] Examples of other contents of the guiding route and the display form of the guiding route will be described later, so examples are omitted here.

[0120] The storage unit 18 is a database storing various information, and is implemented by an HDD (Hard Disk Drive) or an SSD (Solid State Drive), etc.

[0121] In this embodiment, the storage unit 18 stores the store information, the human movable area information, and the robot travelable area information obtained by the communication unit 11. Also, the storage unit 18 stores programs for the control unit 17, the communication unit 11 to the drive unit 16 to perform processing. The programs stored in the storage unit 18 are, for example, an autonomous movement program, a guidance service program, a processing program, etc., but are not limited to these, and may also include various programs required for the control unit 17, etc. to perform processing. The autonomous movement program is a program executed to make the guidance robot 10 move autonomously. The guidance service program is a program executed to perform a guidance service by making the guidance robot 10 perform a series of processes. In addition, in the series of processes, for example, it also includes a process of making the guidance robot 10 patrol and move until a guidance request occurs, or a process of displaying a store guide when the screen displayed on the display of the guidance robot 10 is touched by a person 20. The processing program is a program executed to enable each component of the guidance robot 10 to achieve its function.

[0122] Also, it may be that the storage unit 18 stores map information including information on the entire area including the target area. In addition, the map information may include information mapping the position information of facilities, etc. in the target area, and may also include information showing the slope of the passage in the target area. Also, it may be that the map information includes information related to an inoperable area where the guidance robot 10 cannot travel. As information related to the inoperable area, for example, in the inoperable area, it further includes factors such as steps where the guidance robot 10 cannot travel.

[0123] Also, it may be that the storage unit 18 stores human movable area information corresponding to the attributes of the person 20. The attributes of the person 20 are, for example, (a) using a wheelchair, (b) using a stroller, (c) an elderly person, etc. And, in the case of a company, the attributes of the person 20 are employees or visitors. Accordingly, the guidance robot 10 can, for example, also identify the attributes of the person 20 by recognizing the image obtained by photographing the person 20 with a camera, and can also use the human movable area information corresponding to the recognized attributes to determine the above-mentioned specified conditions corresponding to the recognized attributes (for example, the condition that the walking distance of the person 20 is the shortest or the condition that the slope of the road is small, etc.). For example, when the attribute of the person 20 is "elderly person", the guidance robot 10 can also determine the condition that the slope of the road is small as the above-mentioned specified condition. Similarly, the storage unit 18 can also store robot travelable area information corresponding to the performance, etc. of the guidance robot 10.

[0124] [1.3 Operations of the Guidance Robot 10]

[0125] The control method executed by the guidance robot 10 configured as described above, that is, the operations of the guidance robot 10, will be described below.

[0126] Figure 6 This is a flowchart showing the control method of the guiding robot 10 according to the present embodiment.

[0127] As Figure 6 shown, first, the guiding robot 10 obtains information related to the guiding destination (S1). In the present embodiment, the guiding robot 10 obtains, as information related to the guiding destination, the store name, category information, floor information, etc. included in the store information obtained from and stored in an external device such as the cloud or a server. Additionally, step S1 is not essential. In this case, the guiding robot 10 only needs to obtain this information in advance and store it in the storage unit 18.

[0128] Next, the guiding robot 10 obtains robot current position information indicating the current position of the guiding robot 10 (S2). In the present embodiment, the guiding robot 10 is equipped with various sensors and, based on the sensing information obtained from the various sensors, obtains the position information of the guiding robot 10. The guiding robot 10 obtains, as the robot current position information, the position information indicating the current position of the guiding robot 10 among the obtained position information of the guiding robot 10.

[0129] Next, the guiding robot 10 obtains guiding destination position information (S3). In the present embodiment, the guiding robot 10 obtains, as the guiding destination position information, the position information of each of the multiple stores included in the store information obtained from and stored in an external device such as the cloud or a server.

[0130] Next, the guiding robot 10 obtains human movable area information indicating the area where the person 20 can move (S4). In the present embodiment, the guiding robot 10 obtains the human movable area information obtained from and stored in an external device such as the cloud or a server.

[0131] Next, the guiding robot 10 obtains robot drivable area information indicating the area where the guiding robot 10 can travel (S5). In the present embodiment, the guiding robot 10 obtains the robot drivable area information obtained from and stored in an external device such as the cloud or a server.

[0132] Next, the guiding robot 10 calculates the shortest path of the robot (S6) based on the robot current position information obtained in step S2, the guiding destination position information obtained in step S3, and the robot drivable area information obtained in step S5. In the present embodiment, the guiding robot 10 takes the current position of the guiding robot 10 as the starting point, takes the positions of each store as the destinations, and generates the shortest path from the starting point to the destinations as the shortest path of the robot according to the robot drivable area information.

[0133] Next, the guiding robot 10 calculates the shortest path for a person (S7) in a manner that satisfies specified conditions for reducing the burden on the person 20, based on the current position information of the robot obtained in step S2, the guiding destination position information obtained in step S3, and the movable area information of the person obtained in step S4. In the present embodiment, the guiding robot 10 uses the current position of the guiding robot 10 as the starting point, the positions of the respective stores as the destinations, and based on the movable area information of the person, generates the shortest path from the starting point to the destination as the shortest path for the person.

[0134] Next, the guiding robot 10 performs a comparison process (S8) of comparing the shortest path for the person calculated in step S7 and the shortest path for the robot calculated in step S6. In the comparison process of the present embodiment, the guiding robot 10 compares the shortest path for the person calculated by the shortest path calculation unit 173 for the person and the shortest path for the robot calculated by the shortest path calculation unit 174 for the robot, and determines whether the shortest path for the person and the shortest path for the robot are the same path.

[0135] Next, the guiding robot 10 changes the display form of the guiding route to the guiding destination on the display of the guiding robot 10 according to the comparison result obtained through the comparison process performed in step S7 (S9). In the present embodiment, until the comparison result in step S8 is obtained, the guiding robot 10 displays information related to the guiding destination and the guiding destination position information on the display of the guiding robot 10. When the guiding robot 10 obtains the comparison result in step S8, it changes the display form of the guiding route in such a way that information enabling the person 20 to recognize whether they can be guided via the shortest path for the person is displayed on the display of the guiding robot 10.

[0136] (Working example)

[0137] Next, Figure 7 a working example of the guiding robot 10 according to the present embodiment will be described.

[0138] Hereinafter, the following use case will be described, that is, when a person 20 as a customer touches the display screen of the guiding robot 10, store guide information including the case of whether the guiding robot 10 can guide via the shortest path for the person is generated and displayed.

[0139] Figure 7 is a flowchart showing a working example of the guiding robot 10 according to the present embodiment. Figure 8 Conceptually shows the shortest path for the robot and the shortest path for the person according to the present embodiment. In Figure 8Conceptually shown in the figure is the shortest path for the robot and the shortest path for the person from the current position of the person 20 and the guiding robot 10 to the store 30 which is the guiding destination desired by the person 20.

[0140] First, when the person 20 touches the display screen of the monitor of the guiding robot 10, the guiding robot 10 obtains an input for "start" (S101). Additionally, on the display screen of the monitor of the guiding robot 10, it is sufficient to display a button that can be selected for "start of wizard display". The guiding robot 10 can obtain an input for "start" by detecting that the button on the screen is touched.

[0141] Next, the guiding robot 10 obtains store information including at least the store name and the location information of each of the multiple stores (S102). The guiding robot 10 obtains, for example, store information including Figure 4 the store name and the location information of each of the multiple stores as shown.

[0142] Next, the guiding robot 10 generates store guide information based on the store information obtained in step S102 (S103). The guiding robot 10 generates store guide information, for example, by tabulating or graphing the store information including Figure 4 the store name and the location information of each of the multiple stores as shown, such as by listing or graphing the store name, the location of the store, etc. Additionally, tabulating or graphing the store name, the location of the store, etc. is an example of generating information in a display form that can display a guiding route on the monitor of the guiding robot 10 in a form recognizable by the person 20. When sensing information such as an image of the person 20 can be utilized, the guiding robot 10 can also estimate the age and gender of the person 20, and generate store guide information based on extracting information in the store information that is suitable for the estimated age and gender.

[0143] Next, the guiding robot 10 obtains the location information of the store from the store information obtained in step S102 (S104). Next, the guiding robot 10 obtains its own location information (S105). In the present embodiment, the guiding robot 10 obtains robot current position information indicating the current position of the guiding robot 10. The robot current position information not only represents the current position of the guiding robot 10 but also represents the position of the person 20 who is the customer touching the guiding robot 10.

[0144] Next, the guiding robot 10 obtains human movable area information indicating the area where the human 20 can move, and calculates the shortest path for the human (S106). The guiding robot 10 uses the current position of the guiding robot 10 as the starting point and the positions of the respective stores as the destinations. Based on the human movable area information and using a prescribed shortest path generation algorithm, the shortest path from the starting point to the destinations is generated as the shortest path for the human.

[0145] Next, the guiding robot 10 obtains robot drivable area information indicating the area where the guiding robot 10 can travel, and calculates the shortest path for the robot (S107). The guiding robot 10 uses the current position of the guiding robot 10 as the starting point and the positions of the respective stores as the destinations. Based on the robot drivable area information and using a prescribed shortest path generation algorithm, the shortest path from the starting point to the destinations is generated as the shortest path for the robot. Additionally, the shortest path generation algorithm used to calculate the shortest path for the human and the shortest path for the robot can employ the same algorithm. This is because it is easier to determine whether the calculated paths are the same path when calculated using the same algorithm.

[0146] Next, the guiding robot 10 compares the shortest path for the human calculated in step S106 and the shortest path for the robot calculated in step S107, and determines whether the shortest path for the human and the shortest path for the robot are the same (S108).

[0147] In step S108, when it is determined that the shortest path for the human and the shortest path for the robot are different (the "no" in S108), the guiding robot 10 adds "Can guide through a path different from the shortest path for the human" to the store guidance information (S109).

[0148] However, in step S108, when it is determined that the shortest path for the human and the shortest path for the robot are the same (the "yes" in S108), the guiding robot 10 adds "Can guide through the shortest path for the human" to the store guidance information (S110). Then, the guiding robot 10 displays the updated store guidance information on the display of the guiding robot 10 (S111). In this way, the guiding robot 10 updates the display form of the guiding route, that is, the display of the store guidance information, according to the comparison result of the shortest path for the human and the shortest path for the robot.

[0149] Alternatively, in step S111, the guiding robot 10 may be guided to display the map shown in the map information on the display of the guiding robot 10. In this case, the guiding robot 10 may also determine any position specified by the person 20 on the displayed map as the guiding destination. Or, when the guiding robot 10 displays the shortest path of the person from the current position to the guiding destination on the display of the guiding robot 10, it may accept the operation of the person 20 to change the guiding destination to any location on the shortest path of the person.

[0150] Moreover, although it is described that when it is determined that the shortest path of the person and the shortest path of the robot are different, the display of "It is possible to guide through a path different from the shortest path of the person" is shown on the display of the guiding robot 10, it is not limited thereto. As long as the information for enabling the person 20 to recognize whether it is possible to be guided through the shortest path of the person can be displayed on the display of the guiding robot 10. Hereinafter, using Figure 9 , examples of changes in the guiding route information and the display form shown on the display of the guiding robot 10 as the information for enabling the person 20 to recognize whether it is possible to be guided through the shortest path of the person in the case where the shortest path of the robot and the shortest path of the person are different are listed. The processing of the change examples to be described below can be implemented by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0151] Figure 9 Conceptually shows the case where the shortest path of the robot and the shortest path of the person according to the present embodiment are different. In Figure 9 , the case where the intermediate point as the bifurcation point between the shortest path of the person and the shortest path of the robot is taken as point A, and the point where the shortest path of the person and the shortest path of the robot converge again is taken as point B is shown.

[0152] (Variation 1)

[0153] When the shortest path of the robot and the shortest path of the person are different, the guiding robot 10 may, for example, display only the shortest path of the person on the map, or may display both the shortest path of the person and the shortest path of the robot on the map. Through such a display form of the guiding route, the person 20 can consider the burden of walking to the store 30 and determine whether to let the guiding robot 10 guide to the store 30.

[0154] In addition, the guiding robot 10 can also further display that it can guide up to the middle of the shortest path of the person. In this case, the guiding robot 10 only needs to determine the middle point (Point A), which is the bifurcation point between the shortest path of the person and the shortest path of the robot, based on the calculated shortest path of the person and the shortest path of the robot. Accordingly, the guiding robot 10 can display on the display of the guiding robot 10 the situation that it can guide from the current position of the guiding robot 10, which is also the current position of the person 20, to the determined Point A. And it can also be that when the guiding robot 10 guides the person to reach Point A, it asks the person 20 whether to end the guidance or continue the guidance. During the period when the person 20 is guided by the guiding robot 10, the person 20 may change their mind and want to be guided to the store 30 via the shortest path of the robot. Also, the guiding robot 10 can display on the map the paths that cannot be guided, such as the map of the shortest path of the robot from Point A to Point B shown in Figure 9 etc., and it can also display that it can guide via the shortest path of the robot, which is not the shortest path of the person.

[0155] The determination of the point and the display on the map can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0156] (Variant 2)

[0157] When the shortest path of the robot and the shortest path of the person are different, the guiding robot 10 can not only display the situation that the shortest path of the robot and the shortest path of the person are different, but also display the differences such as the advantages that the shortest path of the robot has but the shortest path of the person does not have.

[0158] For example, it can also be that, as the advantages (differences), the guiding robot 10 displays stores such as convenience stores, vending machines, restrooms, etc. that exist on the shortest path of the robot but do not exist on the shortest path of the person. Here, further, the guiding robot 10 can also display in a way that can be recognized by the person that these stores and facilities do not exist on the shortest path of the person. Through such a display form of the guiding route, the person 20 can compare and consider the burden and advantages of walking to the store 30, and judge whether to let the guiding robot 10 guide them to the store 30.

[0159] In this case, the guiding robot 10 only needs to be able to use the map information stored in the storage unit 18 and including the position information of facilities such as those mapping the target area to determine and display the stores and facilities that exist on the shortest path of the robot but do not exist on the shortest path of the person. More specifically, first, the guiding robot 10 only needs to determine Figure 9A non-overlapping path where the shortest path for a person from location A to location B and the shortest path for the robot do not overlap is sufficient. Next, the guiding robot 10 only needs to use the map information stored in the storage unit 18 to extract information about facilities and the like existing on the non-overlapping paths of the shortest path for the person and the shortest path for the robot respectively. In this way, the guiding robot 10 only needs to determine the facilities and the like that do not exist on the non-overlapping path of the shortest path for the person but exist on the non-overlapping path of the shortest path for the robot. Accordingly, the guiding robot 10 can display stores and facilities that exist on the shortest path for the robot but not on the shortest path for the person as advantages on the display of the guiding robot 10.

[0160] Alternatively, the guiding robot 10 can be displayed on the display of the guiding robot 10 in a display form that emphasizes stores and facilities that exist on the shortest path for the robot but not on the shortest path for the person, that is, stores and facilities that only exist on the shortest path for the robot. Further, the guiding robot 10 can also obtain information about the current status of facilities and the like existing on the shortest path for the person and the shortest path for the robot from an external device such as a server that manages the facilities and the like via the communication unit 11 and the like, and display it on the display of the guiding robot 10. Examples of information related to the current status of facilities and the like can include, for example, the congestion status, the inventory status of goods, and the like.

[0161] The acquisition of the map information stored in the storage unit 18, the determination of the non-overlapping path, and the determination of the facilities on the shortest path for the person and the shortest path for the robot can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0162] (Variation 3)

[0163] Examples of the advantages (differences) that the shortest path for the robot has but the shortest path for the person does not have are not limited to the examples given in the above Variation 2.

[0164] For example, as an advantage, the guiding robot 10 can also display that the walking burden is smaller through the shortest path for the robot compared to the shortest path for the person. Here, even if the distance of the shortest path for the person is shorter, but if there are many slopes or steep slopes, the walking burden will become larger, and when the walking burden through the shortest path for the robot is small, the guiding robot 10 can further display this situation. Through such a display form of the guiding route, the person 20 can consider the walking burden of walking to the store 30 through the shortest path for the person and the shortest path for the robot to determine whether to let the guiding robot 10 guide to the store 30.

[0165] In this case, the guiding robot 10 only needs to use the map information stored in the storage unit 18 and including the information on the slope of the passage showing the target area, and can estimate and display the burden of the non-overlapping path where the shortest path for a person and the shortest path for the robot do not overlap. More specifically, first, the guiding robot 10 only needs to determine Figure 9 a non-overlapping path such as the path from point A to point B shown in

[0166] where the shortest path for a person and the shortest path for the robot do not overlap. Next, the guiding robot 10 only needs to use the map information stored in the storage unit 18 to extract the information on slopes with a slope of a specified value or more existing in the non-overlapping paths of the shortest path for a person and the shortest path for the robot respectively. In this way, the guiding robot 10 only needs to use the extracted information on the slopes to estimate which of the non-overlapping paths of the shortest path for a person and the shortest path for the robot has a greater walking burden. Accordingly, when the walking burden of the non-overlapping path in the shortest path for the robot is smaller than that of the non-overlapping path in the shortest path for a person, the guiding robot 10 can display on the display of the guiding robot 10 the situation that the walking burden of the shortest path for the robot is smaller than that of the shortest path for a person.

[0167] The acquisition of the map information stored in the storage unit 18, the determination of the non-overlapping path, the extraction and comparison of the information on slopes, and the estimation of the magnitude of the walking burden, etc. can be realized by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0168] (Variant 4)

[0169] When the shortest path for the robot and the shortest path for a person are different, the guiding robot 10 can also display not only the situation that the shortest path for the robot and the shortest path for a person are different, but also the reason why the shortest path for the robot and the shortest path for a person are different.

[0170] For example, it can also be that the guiding robot 10 displays the reason for calculating the shortest path for the robot in the area where the guiding robot 10 can travel without steps, etc. With such a display form of the guiding route, the person 20 can consider the reason to judge whether to let the guiding robot 10 guide to the store 30.

[0171] In this case, the guiding robot 10 only needs to be able to utilize the map information stored in the storage unit 18 to determine and display the reasons why the shortest path of the robot is different from the shortest path of the human. More specifically, first, the map information only needs to include information related to the robot non-drivable area where the guiding robot 10 cannot travel and factors such as steps that prevent the guiding robot 10 from traveling in the robot non-drivable area. Next, the guiding robot 10 only needs to determine Figure 9 a location such as location A shown in Figure 9 where the shortest path of the human and the shortest path of the robot intersect. Next, the guiding robot 10 only needs to utilize the map information stored in the storage unit 18 to determine the factors that prevent the guiding robot 10 from traveling at the boundary location between the robot drivable area and the robot non-drivable area, which is location A shown in

[0172] Figure 9 Figure 9 Accordingly, in addition to the case where the shortest path of the robot is different from the shortest path of the human, the guiding robot 10 can also display the reasons why the shortest path of the robot is different from the shortest path of the human on the display of the guiding robot 10.

[0173] The acquisition of the map information stored in the storage unit 18, the determination of the location where the shortest path of the human and the shortest path of the robot intersect, the determination of the factors that prevent the guiding robot 10 from traveling, etc. can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0174] (Variant 5)

[0175] When guiding the robot 10 to display the reasons why the shortest path of the robot is different from the shortest path of the human, it can also further display such a situation when the robot 10 can travel through the shortest path of the human if the support of the human 20 can be obtained. That is to say, the guiding robot 10 can not only display the reasons why the shortest path of the robot is different from the shortest path of the human. For example, the guiding robot 10 can also display a situation where if the human 20 can support the guiding robot 10, such as lifting it, at a place with steps, then the guiding robot 10 can travel through the shortest path of the human. Through such a display form of the guiding route, the human 20 can consider the support content to judge whether to let the guiding robot 10 guide it to the store 30.

[0176] In this case, first, the map information not only includes information related to the non-navigable area of the robot and the reasons why the guiding robot 10 cannot travel in the non-navigable area of the robot, but also can include the support method of the human for eliminating this reason. Then, the guiding robot 10 only needs to determine Figure 9 a location such as location A shown in the figure where the shortest path of the human and the shortest path of the robot intersect. Then, the guiding robot 10 only needs to use the map information stored in the storage unit 18 to determine Figure 9 the reasons why the robot 10 cannot travel at the boundary location between the navigable area and the non-navigable area of the robot, which is location A shown in the figure, and the support method of the human 20 for eliminating this reason. Based on this, the guiding robot 10 can not only display the reasons why the shortest path of the human is different from the shortest path of the robot, but also display the situation where if the support of the human 20 can be obtained, the guiding robot 10 can travel through the shortest path of the human on the display of the guiding robot 10.

[0177] In addition, while the guiding robot 10 displays the situation where if the support of the human 20 can be obtained, the guiding robot 10 can travel through the shortest path of the human, it can also display on the map Figure 9 boundary locations such as location A shown in the figure where the support of the human 20 is required. And, while the guiding robot 10 displays the situation where if the support of the human 20 can be obtained, the guiding robot 10 can travel through the shortest path of the human, it can also display the support content such as the need to lift the guiding robot 10 when reaching the boundary location. Further, the guiding robot 10 can also notify the human 20 of the support content again when approaching the boundary location where the support of the human 20 is required.

[0178] As factors causing the guiding robot 10 unable to travel, in addition to steps, there are also different areas on the floor, areas with a large flow of people, etc. In this case, the following can be cited as support content: support when using the elevator, such as pressing the opening / closing button or pressing the designated destination button; support when the guiding robot 10 travels in an area with a large flow of people, such as manually pushing the guiding robot 10, etc.

[0179] (Variation 6)

[0180] Even when the shortest path of the robot and the shortest path of the person are different, by changing the operation rules to change the information on the area where the robot can travel, or remotely operating the guiding robot 10, there are cases where the guiding robot 10 can move on the shortest path of the person and guide the person 20.

[0181] In this case, the guiding robot 10 can also ask the remote monitor whether it is possible to make the guiding robot 10 move on the shortest path of the person and guide the person 20 by changing the information on the area where the robot can travel or remotely operating the guiding robot 10. In this way, if the remote monitor indicates that it can handle it, the guiding robot 10 can display the shortest path of the robot as the same path as the shortest path of the person, for example, display the shortest path of the person as the shortest path of the robot, etc. In addition, if the remote monitor indicates that it cannot handle it, the guiding robot 10 only needs to display the shortest path of the robot that is different from the shortest path of the person as it is.

[0182] More specifically, first, the map information only needs to include information related to the area where the guiding robot 10 cannot travel and the factors causing the guiding robot 10 unable to travel in the area where the robot cannot travel. Next, the guiding robot 10 only needs to determine Figure 9 a location such as location A shown, where the shortest path of the person and the shortest path of the robot intersect. Next, the guiding robot 10 only needs to use the map information stored in the storage unit 18 to determine Figure 9 the factors causing the guiding robot 10 unable to travel at the boundary location between the area where the robot can travel and the area where the robot cannot travel, which is location A shown.

[0183] Next, the guiding robot 10 only needs to confirm whether the determined factor that causes the guiding robot 10 unable to travel is that the area is a region that requires remote operation, or whether, although the guiding robot 10 can travel, it is unable to travel in terms of operation. When the confirmation result of the guiding robot 10 is the above, as long as it asks the remote monitor whether it is possible to move the guiding robot 10 on the shortest path for people and guide the person 20 by changing the information on the area where the robot can travel or remotely operating the guiding robot 10. If the remote monitor indicates that it can handle it, the guiding robot 10 can display the shortest path for the robot on the display of the guiding robot 10, and this shortest path for the robot is the same path as the shortest path for people.

[0184] Alternatively, in the case where the remote monitor indicates that it can handle it, the information on the area where the robot can travel, which has already changed the area of the shortest path for people to an area where the robot can travel, can be sent to the guiding robot 10. In this case, the guiding robot 10 can also generate the shortest path for the robot, which is the same path as the shortest path for people. And it can also be that, in the case where the remote monitor indicates that it can handle it, based on changing the area of the shortest path for people in the information on the area where the robot can travel to an area where the robot can travel, the guiding robot 10 generates the shortest path for the robot, which is the same path as the shortest path for people. Accordingly, in the case where the remote monitor indicates that it can handle it, the guiding robot 10 can display the shortest path for the robot as the same path as the shortest path for people. That is to say, the guiding robot 10 can display the shortest path for people as the shortest path for the robot. In addition, although the above judgment is made by the remote monitor, it is not limited thereto, and the above judgment can also be automatically made by the remote system. For example, it can be automatically judged by the remote system according to the task status of the remote monitor. Here, the task status of the remote monitor is, for example, the reservation status such as a remote control request.

[0185] The acquisition of the map information stored in the storage unit 18, the determination of the intersection point of the shortest path for people and the shortest path for the robot, the determination of the factor that causes the guiding robot 10 unable to travel, the inquiry to the remote monitor, etc. can be realized by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0186] Alternatively, it can also be that when the guiding robot 10 can guide the person 20 through the same path as the shortest path for people by receiving the remote operation of the remote monitor, the remote operation by the remote monitor is reserved. Accordingly, when reaching the location that requires remote operation, the remote operation can be immediately started. The guiding robot 10 can estimate the time when it becomes the location that requires remote operation by dividing the distance to the location that requires remote operation by its own speed (distance / speed).

[0187] It is also possible that when the guiding robot 10 asks a remote monitor, it prompts the following information. That is, it can also prompt the location where the shortest path for a person and the shortest path for the robot intersect, such as location A shown in Figure 9 the area where the shortest path for a person and the shortest path for the robot intersect as shown, the area where factors that prevent the guiding robot 10 from traveling at this location result in the need to request remote operation, or information indicating that although the guiding robot 10 can travel, it cannot be used for operation.

[0188] It is also possible that when the guiding robot 10 asks a remote monitor, it further prompts information about the person 20 as support for the judgment. As the information about the person 20, it can be either the captured information of the person 20 or the attribute information of the person 20. Since the remote monitor judges whether the person 20 is an elderly person, a child, a person with luggage, or a person with a large walking burden based on the captured information of the person 20, it can judge whether it is possible to respond when receiving the inquiry. In addition, the guiding robot 10 can obtain the captured information of the person 20 by a sensor unit 15 such as a camera mounted on the guiding robot 10. And the guiding robot 10 can also estimate the attribute information of the person 20, such as the age, based on the captured information of the person 20.

[0189] (Variant 7)

[0190] When the shortest path for the robot and the shortest path for the person are different, the guiding robot 10 can not only display the fact that the shortest path for the person and the shortest path for the robot are different, but also display the distance difference between the shortest path for the person and the shortest path for the robot in a recognizable manner. For example, it is also possible that when the distance difference is 50 m, the guiding robot 10 displays that the distance difference between the shortest path for the person and the shortest path for the robot is 50 m. Through such a display form of the guiding route, the person 20 can judge whether to let the guiding robot 10 guide to the store 30 considering the burden of walking to the store 30.

[0191] Alternatively, the guiding robot 10 can change the display form according to the distance difference between the shortest path for the person and the shortest path for the robot.

[0192] For example, it is also possible that when the distance difference is smaller than a specified value, while displaying the distance difference in a recognizable manner, the guiding robot 10 changes to a display form that can show "guide through the shortest path for the robot". If the distance difference is small, the possibility that the person 20 selects to be guided by the guiding robot 10 is high, so it is only necessary to display that it is possible to "guide through the shortest path for the robot". For example, when the distance difference between the shortest path for the person and the shortest path for the robot is 1 m or less, which is smaller than the specified value, even if the shortest path for the person and the shortest path for the robot are different, the guiding robot 10 only needs to display that it is possible to "guide through the shortest path for the robot".

[0193] Alternatively, when the difference in distance is smaller than the specified value, the guiding robot 10 may change to a display form that shows "can be guided along the shortest path for a human". This is because when the shortest path for the robot and the shortest path for a human are different but the distances of the shortest path for a human and the shortest path for the robot are almost the same, the burden on the human 20 to move is the same. Thus, since the distances of the shortest path for a human and the shortest path for the robot are almost the same, it is only necessary to display the "shortest path for the robot", which is regarded as the shortest path for a human, as the "shortest path for a human" and show that "it can be guided along the shortest path for a human". Also, in this case, the display form for showing the difference in distance does not need to be changed. This is because when the shortest path for a human and the shortest path for the robot are different, the human 20 needs to determine whether to let the guiding robot 10 provide guidance. However, by changing the display form as described above, when the shortest path for a human and the shortest path for the robot are almost the same, it conveys to the human 20 that the shortest path for the robot and the shortest path for a human are the same path, thus reducing the burden on the human 20 to make a judgment.

[0194] On the other hand, when the difference in distance is greater than or equal to the specified value, the guiding robot 10 may, while displaying the difference in distance in a recognizable manner, change to a display form that shows the map route of the shortest path for a human. This is because the greater the difference in distance, the higher the likelihood that the human 20 will not choose to be guided by the guiding robot 10. Therefore, it is better not to show that "it can be guided along the shortest path for the robot". Thus, it is only necessary to display the map route of the shortest path for a human instead of the "shortest path for the robot". Accordingly, it can encourage the human 20 to move to the guiding destination by themselves without choosing to be guided by the guiding robot 10.

[0195] Also, when the difference in distance is greater than or equal to the specified value, the guiding robot 10 may, while displaying the difference in distance in a recognizable manner, also show that "it can be guided up to the middle of the shortest path for a human". Accordingly, it can encourage the human 20 to let the guiding robot 10 guide them to Figure 9 the location A shown, i.e., the location where the shortest path for a human and the shortest path for the robot diverge, but the path after the divergence point is moved by the human 20 by themselves.

[0196] The determination of the intersection point of the shortest path for a human and the shortest path for the robot, the calculation of the difference in distance, the change of messages or display forms corresponding to the difference in distance, etc. can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0197] (Variant 8)

[0198] When the shortest path for the robot and the shortest path for a human are different, the guiding robot 10 may, for example, show that it can start from Figure 9Guide the guiding robot 10 to the position (current location) shown up to location A, which is the location where the shortest path for a person and the shortest path for the robot diverge. Specifically, the guiding robot 10 can also change the display form shown on the display to a display form showing that it can guide from the current position of the guiding robot 10 to a midway location that is the divergence point of the shortest path for a person and the shortest path for the robot in the shortest path for a person. In this case, for example, the guiding robot 10 can further display in a recognizable display form that it cannot guide after location A shown below, that is, after the diverging location. The display form that can recognize that guidance cannot be performed after the diverging location may include the display of the path where guidance cannot be performed on the map or the map information showing the path where guidance cannot be performed in a recognizable form. Figure 9 Shown that guidance cannot be performed after the location where it diverges after location A from the current location shown below. In the display form that can recognize that guidance cannot be performed after the diverging location, it may include the display of the path where guidance cannot be performed on the map or the map information showing the path where guidance cannot be performed in a recognizable form.

[0199] (Variant Example 9)

[0200] When the shortest path for the robot and the shortest path for a person are different, the guiding robot 10 travels on the non-overlapping path in the shortest path for the robot, and the person 20 moves on the non-overlapping path in the shortest path for a person. The guiding robot 10 can continue to guide the person 20 by converging at the path where the shortest path for the robot and the shortest path for a person overlap again.

[0201] In Figure 9 In the example shown below, the person 20 moves on the path (non-overlapping path) from location A to location B in the shortest path for a person, and the guiding robot 10 can move on the path (non-overlapping path) from location A to location B in the shortest path for the robot. In this way, the guiding robot 10 only needs to converge with the person 20 on the path (the path where they overlap again) after location B and continue to guide the person 20. Accordingly, the guiding robot 10 can guide the person 20 to the guiding destination that the person 20 desires, that is, the store 30, by traveling on the non-overlapping path and then converging.

[0202] In this case, the guiding robot 10 can also ask the person 20 whether to converge again after moving on their respective paths in the non-overlapping path, and based on the result of this question, determine whether to converge with the person 20 after traveling on the non-overlapping path and continue to guide. In addition, when asking, the guiding robot 10 can include the convergence location such as location B shown below, or can also include the time when the guiding robot 10 can reach the convergence location to converge (convergence time). Accordingly, since the person 20 is notified of the convergence location or the convergence time, the person 20 can make a judgment regarding the question. Figure 9 Shown that the guiding robot 10 can include the convergence location such as location B shown below, or can also include the time when the guiding robot 10 can reach the convergence location to converge (convergence time). Accordingly, since the person 20 is notified of the convergence location or the convergence time, the person 20 can make a judgment regarding the question.

[0203] And it can also be the case that when the shortest path of the robot 10 is different from the shortest path of the person, the robot 10 is guided to display, in a manner recognizable to the person 20, the situation where they converge at the path where the shortest path of the robot and the shortest path of the person overlap again and the robot 10 can continue to guide the person 20. Moreover, the guiding robot 10 can further display, in a recognizable manner, the movement of the person 20 on the non-overlapping path in the shortest path of the person, and the guiding robot 10 travels on the non-overlapping path in the shortest path of the robot. Through such a display form of the guiding route, even if there is no guidance from the guiding robot 10 in the middle of the shortest path of the person (non-overlapping path), the person 20 can determine whether to let the guiding robot 10 guide them to the store 30. When the guiding robot 10 receives a guiding commission, by converging after traveling the non-overlapping path, it can guide the person 20 to the guiding destination.

[0204] Here, the guiding robot 10 can further display the meeting point, the distance that the person 20 moves on the non-overlapping path of the shortest path of the person, the waiting time that the person 20 needs to wait at the meeting point, etc., together with the situation where the person 20 can be continuously guided.

[0205] In this case, first, the guiding robot 10 only needs to determine Figure 9 such locations as point A and point B shown in the figure, where the shortest path of the person and the shortest path of the robot bifurcate and converge. Next, the guiding robot 10 only needs to calculate the distance from Figure 9 point A to point B shown in the figure, that is, the distance from the bifurcating location to the converging location. Next, the guiding robot 10 only needs to use the calculated distance and the moving speeds of the guiding robot 10 and the person 20 to calculate the arrival time and the time difference (waiting time) to reach the meeting point.

[0206] Alternatively, in order to reduce the waiting time, when the guiding robot 10 travels on the non-overlapping path of the shortest path of the robot, its speed can be increased to be faster than when it guides the person 20.

[0207] Moreover, the determination of the bifurcating location and the converging location, the calculation of the distance from the bifurcating location to the converging location, the calculation of the time difference (waiting time), etc. can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0208] (Variant Example 10)

[0209] When the shortest path of the robot 10 is different from the shortest path of the person, the guiding robot 10 can not only display the situation where the shortest path of the person is different from the shortest path of the robot, but also display the proportion of the path (distance) in the shortest path of the person that overlaps with the shortest path of the robot.

[0210] In Figure 9 In the example shown, assuming that the distance of the shortest path for a person from the current position to store 30 is 100 m and the distance from the current position to location A is 30 m, as a ratio, guiding robot 10 can display "Can guide for 30%, cannot guide for 70%". That is to say, as a ratio, guiding robot 10 only needs to display the ratio of the distance from the starting point to the location where guiding robot 10 can guide, that is, the distance up to the bifurcation point of the shortest path for a person and the shortest path for the robot, in the total length of the shortest path for a person. Alternatively, when guiding robot 10 needs to converge again after bifurcation, it can be displayed in a way that the ratios of the section up to the bifurcation point, the section from the bifurcation point to the convergence point, and the section from the convergence point to the destination can be known respectively.

[0211] Accordingly, for example, if person 20 can confirm based on the displayed ratio that guiding robot 10 cannot guide most of the total length of the shortest path for a person, then it can be judged that the guidance of guiding robot 10 is not needed. In this way, person 20 can use the displayed ratio as a reference and consider the burden of walking to store 30 to judge whether to let guiding robot 10 guide to store 30.

[0212] In addition, when the distance from the starting point to the location where guiding robot 10 can guide is less than a specified distance such as several meters, guiding robot 10 may not display that it can guide halfway.

[0213] Even if guiding robot 10 can guide halfway, but can only guide a few meters from the starting point, person 20 may not actually feel the guidance of guiding robot 10. Therefore, from the perspective of the convenience of person 20, it is better not to display it.

[0214] The determination of the bifurcation point, the calculation of the distance, the display of the ratio, the control of whether to display that guiding robot 10 can guide halfway, etc. can be realized by guiding robot 10's control unit 17 executing various programs stored in storage unit 18.

[0215] (Variant Example 11)

[0216] Guiding robot 10 may also preferentially display that it can guide halfway when the shortest path for the robot is different from the shortest path for a person and the shortest path for a person from a location midway between the bifurcation points of the shortest path for a person and the shortest path for the robot to the guiding destination (destination) is easy.

[0217] For example, guiding robot 10 at Figure 9When the shortest path for a person from location A to store 30 shown is easy, compared with showing the shortest path for the robot, it is preferred to show that the guiding robot 10 can guide to the middle of the shortest path for the person. Accordingly, the guiding robot 10 can recommend to the person 20 to guide to the middle of the shortest path for the person that the guiding robot 10 can guide. Therefore, not only can the burden of walking for the person 20 to reach the store 30 as the destination be reduced, but also the distance for the guiding robot 10 to guide the person 20 can be shortened, so as to switch to the next task. In addition, the guiding robot 10 can also display on the map an area including a path that the guiding robot 10 cannot guide, such as the shortest path for a person from location A shown to store 30. Figure 9 an area including a path that the guiding robot 10 cannot guide, such as the shortest path for a person from location A shown to store 30.

[0218] For example, when Figure 9 the distance of the shortest path for a person from location A shown to store 30 is about 10 m, etc., that is, when the distance from the middle point of the shortest path for a person that the guiding robot 10 can guide to the destination is below a specified value, the guiding robot 10 can judge that the shortest path for the person is easy.

[0219] And, for example, when Figure 9 going straight ahead from location A shown and turning right once at the end can reach store 30, etc., that is, when the number of left and right turns from the middle point of the shortest path for a person that the guiding robot 10 can guide to the destination is below a specified number, the guiding robot 10 can also judge that the shortest path for the person is easy.

[0220] Alternatively, when the shortest path for the robot and the shortest path for the person are different, when the guiding robot 10 guides the person 20, it calculates the shortest path for the person from the current location to the guiding destination according to the choice of the person 20. When it is easier for the person 20 to move on the calculated shortest path for the person, the guiding robot 10 can also display using the "shortest path for the person" as a suggestion to the person 20. From such a display form of the guiding route, it can be known that moving on the shortest path for the person can reduce the burden of walking more than the person 20 continuing to move on the shortest path for the robot. Therefore, the person 20 can consider the burden of walking to the store 30 to judge whether to continue to let the guiding robot 10 guide to the store 30.

[0221] (Variant Example 12)

[0222] When using Figure 9In the example shown, there is a case where person 20 has made a reservation at store 30. Further, there is a case where even if the guiding robot 10 guides person 20 along the shortest path for the robot, person 20 can reach store 30 with plenty of time left before the reservation time. In this case, the guiding robot 10 can also change the guiding path to a guiding path other than the shortest path for the robot within the range where there is enough time until the reservation time, and guide person 20. Accordingly, in the case where person 20 arrives before the reservation time but the store 30 side cannot provide service, it is possible to prompt person 20 to visit other stores in the shopping mall, etc. And it is possible to suppress the waiting time of person 20 until service can be received.

[0223] More specifically, first, the guiding robot 10 can obtain reservation information of store 30 as the destination from person 20 who is a customer. Here, the guiding robot 10 can also obtain the reservation information by having person 20 input reservation information including the reservation time on the screen displayed on the monitor of the guiding robot 10. Further, the guiding robot 10 can also confirm whether the reservation information obtained through the input of person 20 is legitimate by accessing a system that manages the reservation time of store 30, etc.

[0224] It can also be that the guiding robot 10 obtains the past purchase history of person 20 who is a customer or the attributes of person 20, etc., and based on the obtained past purchase history or attributes, etc., predicts the stores that person 20 may be interested in, and generates a guiding path that can pass by the predicted stores as the guiding path. For example, when the guiding robot 10 obtains the attribute that person 20 is a woman in her 20s, it can predict that the stores she may be interested in are clothing stores, and generate a guiding path that can pass by clothing stores as the guiding path. Here, the guiding robot 10 can obtain the past purchase history from the membership number of the shopping mall, etc., or can obtain the past purchase history on the online store from the smartphone of person 20. It can also be that when the guiding robot 10 can utilize sensing information such as the image of person 20, it estimates the attributes of person 20 such as gender and age by performing image recognition on the face of person 20, and thus obtains the attributes of person 20.

[0225] It can also be that the guiding robot 10 predicts the stores or facilities that person 20 may want to pass by on the way according to the service content of store 30 which is the destination of person 20, and generates a guiding path that can pass by the predicted stores as the guiding path.

[0226] For example, it can also be the case that when the destination store 30 of person 20 is a cinema, the facility that person 20 wants to visit on the way is mostly a restroom, and the guiding robot 10 generates the path that can visit the restroom on the way as the guiding path. Additionally, it can also be the case that the information of the stores or facilities that person 20 wants to visit on the way is preset for each store 30 that becomes the destination of person 20. Based on this, the guiding robot 10 can predict the stores or facilities that person 20 wants to visit on the way according to the store 30 that becomes the destination of person 20.

[0227] And it can also be the case that the guiding robot 10 generates the path that wants to visit the designated store as the guiding path according to the designation of the store or facility that person 20 wants to visit on the way.

[0228] And it can also be the case that when the guiding robot 10 generates a guiding path that is a path other than the shortest path for the robot, after presenting the generated guiding path to person 20 and obtaining consent, it changes to the generated guiding path and guides person 20. Additionally, it can also be the case that when the guiding robot 10 presents the generated guiding path to person 20, it further displays the available stay time at the store or facility that person 20 wants to visit on the way. The available stay time can be calculated, for example, by subtracting the time required for person 20 to move along the guiding path from the reservation time.

[0229] (Variant Example 13)

[0230] The example in the case of changing to a guiding path that is a path other than the shortest path and guiding person 20 is not limited to the example given in the above Variant Example 12.

[0231] When using Figure 8 the example shown, even if person 20 moves to store 30 through the human shortest path or the robot shortest path, there may be a situation where store 30 is busy due to too many customers or full of reservations and thus cannot immediately provide service.

[0232] In this case, the guiding robot 10 can also change to a guiding path that is a path other than the shortest path for the robot and guide person 20 so that person 20 can arrive at a time period when service can be immediately provided. Based on this, the waiting time for person 20 until service can be received can be suppressed. And, as for store 30, it can also receive customers during a time when the busyness has eased or when there are no other reservations.

[0233] More specifically, first, the guiding robot 10 can calculate the scheduled arrival time when person 20 moves through the human shortest path or the robot shortest path.

[0234] Next, the guiding robot 10 only needs to access a system or the like that manages the time periods during which services can be immediately received based on the busy status of the store 30 or the like, and determine whether the calculated scheduled arrival time is within the time periods during which the person 20 can immediately receive services. When the calculated scheduled arrival time is within this time period, the guiding robot 10 can also display the use of the "shortest path for the person" or the "shortest path for the robot" as a recommendation to the person 20. However, when the calculated scheduled arrival time is not within this time period, the guiding robot 10 can also generate a guiding path for the person 20 to arrive within the time periods during which services can be immediately received, and display the use of the "guiding path" as a recommendation to the person 20.

[0235] In addition, the method of determining whether the calculated scheduled arrival time is within the time periods during which the person 20 can immediately receive services is not limited to accessing a system or the like that manages the time periods during which services can be immediately received based on the busy status of the store 30 or the like. It can also be carried out in any of the following methods.

[0236] For example, it can also be that the guiding robot 10 accesses a server or the like that manages the reservation information of the store 30, which is the destination (guiding destination) of the person 20, obtains the reservation information, and determines whether it is a time period during which the person 20 can immediately receive services based on the reservation information for the time period of the scheduled arrival time. And for example, it can also be that the guiding robot 10 inquires a system or the like of the store 30, which is the destination (guiding destination) of the person 20, and determines whether it is a time period during which the person 20 can immediately receive services based on the response content to this inquiry. And it can also be that the guiding robot 10 determines whether it is a time period during which the person 20 can immediately receive services based on the current busy status and customer arrival prediction information of the store 30 obtained from a system or the like of the store 30, which is the destination (guiding destination) of the person 20. Here, it is assumed that the system or the like of the store 30 manages the customer arrival prediction information and calculates the current busy status of the store 30 based on images obtained from surveillance cameras or the like installed in the store 30.

[0237] Furthermore, when the guiding robot 10 has a configuration of a store 30 that can make reservations for the guiding destination via a screen, it can access a system or the like that manages the reservation times of the store 30 and confirm whether the time period including the calculated scheduled arrival time is fully reserved. When the guiding robot 10 confirms that the result is fully reserved, it can ask the person 20 whether to reserve another time period. In this way, when the person 20 can reserve another time period, the guiding robot 10 can also generate a guiding path for guiding in a way that enables arrival at the reserved other time period, and display the availability of using the "guiding path" as a recommendation to the person 20.

[0238] (Variant 14)

[0239] In the above-described Embodiment 1 and Variations 1 to 13, although the case where the number of stores at the guiding destination desired by the person 20 is one has been described, it is not limited thereto. The stores at the guiding destination desired by the person 20 may also be plural.

[0240] The guiding robot 10 may also, when the guiding destination designated by the person 20 is plural, use the shortest path for the robot to determine the order of the guiding destinations so as to travel toward the guiding destinations, and preferentially display to the person 20 a guide for traveling to the plural guiding destinations using the "shortest path for the robot".

[0241] Figure 10A Conceptually shows the shortest path for the robot and the shortest path for the person according to Variation 14 of the present embodiment. Figure 10A Shows an example in the case where the person 20 is a customer in a shopping mall and designates two stores, store 30a and store 30b, as the desired guiding destinations. For example, when store 30a is the first guiding destination and store 30b is the second guiding destination, the shortest path for the person and the shortest path for the robot are different. Accordingly, the guiding robot 10 calculates the shortest path for the person and the shortest path for the robot with store 30b as the first guiding destination and store 30a as the second guiding destination. Thereby, the paths from the starting point to store 30b and from store 30b to store 30a can make the shortest path for the person and the shortest path for the robot the same path, so that the walking burden is not increased and the opportunity to use the guiding robot 10 can be improved.

[0242] (Variation 15)

[0243] In the case where the shortest path for the robot and the shortest path for the person are different, it is considered that the person 20 will give up going to the store designated as the guiding destination. However, as the store side wants the person 20 to visit the store as a customer, an opportunity loss will occur when the person 20 gives up going to the store.

[0244] Then, when the calculated shortest path for the robot and the shortest path for the person are different, the guiding robot 10 may also notify the store so that the store can designate that "the guiding robot 10 guides until the middle of the shortest path for the person, and then the store 30 side guides the person 20". Accordingly, the guiding robot 10 can display that "the guiding robot 10 guides until the middle of the shortest path for the person, and then an employee of the store 30 side guides the person 20".

[0245] Figure 10B Conceptually shows an example of the shortest path for the robot and the shortest path for the person according to Variation 15 of the present embodiment. Figure 10BAn example is shown where, when the shortest path of the robot and the shortest path of the human are different, an employee of the store 30, which is the guiding destination desired by the human 20, goes to location A where the shortest path of the robot and the shortest path of the human bifurcate to greet the human 20, and then guides the human 20 from location A to the store 30. Accordingly, since the human 20 can travel to the store 30 via the shortest path of the human, the human 20 will become a customer of the store 30, thereby suppressing the opportunity loss of the store 30.

[0246] In addition, it is not limited to the case where the guiding robot 10 displays "being guided by the guiding robot 10 to the middle of the shortest path of the human, and then being guided by the employee of the store 30 for the human 20". The guiding robot 10 may also display "being guided by the store side from the middle".

[0247] Moreover, when the calculated shortest path of the robot and the shortest path of the human are different, the content notified by the guiding robot 10 to the store may also include information indicating which location (e.g., location A) the guiding robot 10 can guide to, information indicating the scheduled arrival time at the location that can be guided (e.g., location A), and the identification number of the guiding robot 10, etc. Accordingly, the store 30 side can guide the human 20.

[0248] Moreover, although the case where "being guided by the guiding robot 10 to the middle of the shortest path of the human, and then being guided by the employee of the store 30 for the human 20" is specified for this store, it is not limited thereto. This store may also specify the starting guiding location. This is because, as long as it is the shortest path of the robot between the departure location and the location (e.g., location A) that the guiding robot 10 can guide to, the store employee can start guiding in place of the guiding robot 10 at any location. Accordingly, the guiding robot 10 can display "being guided by the guiding robot 10 to the starting guiding location of the employee of the store 30 on the shortest path of the human, and then being guided by the employee of the store 30 for the human 20".

[0249] In addition, although the case where the employee of the store 30 guides the human 20 from the starting guiding location is taken as an example for illustration, it is not limited thereto. It may also be that another guiding robot 10 that can travel with the shortest path of the human as the shortest path of the robot guides the human 20 from the starting guiding location.

[0250] (Variant 16)

[0251] The example where the employee of the store 30 guides the human 20 from the middle of the shortest path of the human is not limited by the example given in the above Variant 15.

[0252] The human 20 is Figure 10BIn the case where the guiding robot 10 guides the person 20 through the shortest path for the robot rather than the shortest path for a human for the reserved customer of the shown store 30, it may cause the person 20 who becomes a customer of the store 30 to walk an extra distance, which may lead to the loss of customers for the store 30.

[0253] Then, when the store 30, which is the guiding destination (destination) designated by the person 20, is the reserved store of the person 20 and the shortest path for the robot calculated by the guiding robot 10 is different from the shortest path for a human, the store 30 can also be notified so that the store 30 can specify to guide the robot until the middle of the shortest path for a human. Accordingly, the guiding robot 10 can display that "the guiding robot 10 guides until the middle of the shortest path for a human, and then the employee on the side of the store 30 guides the person 20".

[0254] (Variation 17)

[0255] Alternatively, when guiding the person 20, the guiding robot 10 can display not only the information of the store 30 that is the guiding destination but also the advertisement of the store 30. In this case, when the guiding robot 10 guides the person 20 through the shortest path for the robot, the content of the advertisement of the store 30 that becomes the guiding destination in the case where the shortest path for a human is different from the shortest path for the robot can be different from the content of the advertisement of the store 30 that becomes the guiding destination in the same case. In the case where the shortest path for a human is different from the shortest path for the robot, since the time for the person 20 to walk through the shortest path for the robot is longer than the time for the person 20 to walk through the shortest path for a human, the advertisement content can be made more or the advertisement time can be made longer.

[0256] Moreover, in the case where the shortest path for a human is different from the shortest path for the robot, since the person 20 who selects the shortest path for the robot instead of the shortest path for a human will go to the store 30 regardless of the walking burden, the store 30 can give the person 20 preferential treatments such as points. The preferential content can be changed according to the distance difference between the shortest path for a human and the shortest path for the robot, for example, the greater the distance difference between the shortest path for a human and the shortest path for the robot, the greater the preferential treatment.

[0257] (Variation 18)

[0258] Although the examples described in the above-described Embodiment 1 and Variation Examples 1 to 17 are use cases where the guiding robot 10 is arranged in a shopping mall in such a way that it can guide a person 20, such as a customer in the shopping mall, to a desired store, it is not limited thereto. For example, for a person 20 who is a customer going to a venue for an event such as an amusement park, a case where the guiding robot 10 is arranged in an area around the venue such as around a station in such a way that it can guide the person 20 to a desired venue will be described. That is, in Variation Example 18, a case where the guiding robot 10 guides a person 20 as a customer from the current position to a facility or the like that is a venue for an event will be described. When described by taking the example shown in Figure 8 as an example, the current location of the guiding robot 10 is in the area around the venue, and the store 30 corresponds to a facility or the like that is a desired venue for the event.

[0259] More specifically, first, the guiding robot 10 only needs to use the event information stored in the storage unit 18 to retrieve and determine an event that starts from the current time until a specified time later. And the event information stored in the storage unit 18 only needs to include a guide for the event, the venue for the event, the start time of the event, and the like. Next, the guiding robot 10 only needs to determine that the event is an event where the shortest path for the robot from the current position of the robot to the determined venue for the event and the shortest path for the person are the same path, and the person 20 can be guided before the start time of the event. In this way, the guiding robot 10 only needs to display the guide for the determined event and be able to guide to the venue for the event.

[0260] Accordingly, the guiding robot 10 can guide a person 20 as a customer from the current position to a facility or the like that is a venue for an event.

[0261] In addition, there are cases where the shortest path for the robot from its current position to the venue of the determined event is different from the shortest path for a person. In such a case, even if the guiding robot 10 guides the person 20 along the shortest path for the robot, when the person 20 can be guided to the venue of the event before the start time of the event, the guide for the event and the ability to be guided to the venue of the event can be displayed. In such a case, the guiding robot 10 can also display in a recognizable manner the situation where the shortest path for the person is different from the shortest path for the robot. Further, the guiding robot 10 can also display together the information on the scheduled arrival time in the case of guiding along the shortest path for the robot and the information on the scheduled arrival time in the case where the person 20 goes to the venue alone along the shortest path for the person. With such a display form of the guiding route, since the person 20 can recognize whether they can move on the shortest path for the person when being guided by the guiding robot 10, the person 20 can easily judge whether to let the guiding robot 10 guide them to the venue of the event. This is because, when the person 20 wants to watch the event from a good position, the priority of arriving at the venue earlier is higher.

[0262] And it can also be that the person 20 specifies the speed (guiding speed) when the guiding robot 10 guides the person 20. Here too, it can be that the guiding speed can be selected and specified from four levels such as slow walking, normal walking, fast walking, and trotting. This is because, in the case of an event, there is a need to get good seats and good positions, and there is a need to arrive at the venue of the event as early as possible.

[0263] And it can also be that the guiding robot 10 displays whether it is possible to arrive before the start time of the event when guiding at the specified guiding speed. This is because, depending on the venue and start time of the event, there are cases where it is possible to make it in time if the guiding speed is fast.

[0264] Here, for example, the guiding robot 10 can also display the situation that in the guiding to the venue of the event, it will not make it in time if walking slowly or normally, but it will make it in time if walking fast or trotting. In addition, the guiding robot 10 can further display the scheduled arrival time at the venue of the event. And the guiding robot 10 can display whether it is possible to guide before the start time of the event and the scheduled arrival time according to the guiding speed specified by each person 20. With such a display form of the guiding route, the person 20 can easily judge whether to let the guiding robot 10 guide them to the venue of the event.

[0265] [1.4 Effects, etc.]

[0266] As described above, according to this embodiment, there are non-drivable areas based on the performance of the guiding robot 10 and the like. Even if the drivable areas of the person 20 and the guiding robot 10 are different, the guiding robot 10 calculates not only its own shortest path but also the shortest path for the person. In this way, the guiding robot 10 displays the guiding route in a display form that enables the person 20 to recognize whether they can be guided through the shortest path for the person. Accordingly, since the person 20 can recognize whether they can be guided through the shortest path for the person, the person 20 can easily determine whether to let the guiding robot 10 guide them to the guiding destination based on considerations such as the burden of walking to the guiding destination.

[0267] (Variant Example 1)

[0268] Although in the above-described Embodiment 1 and Variant Examples 1 to 18, it is described that the guiding robot 10 calculates the shortest path for the robot and the shortest path for the person on the premise that it can guide to the guiding destination, and displays the guiding route in a display form corresponding to the comparison result, it is not limited thereto.

[0269] For example, when the guiding robot 10 that can only guide to the first floor displays the guiding route to a store 30 on the second floor or the like, although the guiding robot 10 can display the guiding route, it cannot move to the second floor. Thus, when the shortest path for the person is shown as "entrance of the escalator → escalator → store on the second floor", as the location at the boundary of the drivable area of the robot (the drivable limit location), the guiding robot 10 can also display that it can guide up to the location where there is an escalator.

[0270] Figure 11A Conceptually shows a case where there is a drivable limit in the guiding robot 10 according to Variant Example 1 of this embodiment. In Figure 11A it shows a case where location C is the drivable limit location of the guiding robot 10. In this case, since the shortest path for the robot and the shortest path for the person are the same path up to location C, the guiding robot 10 only needs to display that it can guide to location C through the shortest path for the person.

[0271] Specifically, first, the guiding robot 10 determines, based on the obtained current position information of the robot, the guiding destination position information, and the robot's drivable area information, that the guiding robot 10 cannot drive to the guiding destination position. In this case, as the shortest path of the robot, the guiding robot 10 can also calculate the shortest path from the current position of the guiding robot 10 to the guiding destination position, from the current position to the drivable limit point where the guiding robot 10 can drive. Next, the guiding robot 10 compares the calculated shortest path of the robot and the shortest path of the person, and obtains a comparison result showing the situation that the guiding robot 10 cannot drive to the guiding destination position and the boundary point where the shortest path of the robot in the shortest path of the person overlaps and ends. Next, the guiding robot 10 only needs to change the display form on the display to a display form showing that it can guide from the current position to the boundary point in the shortest path of the person. In addition, the guiding robot 10 is not limited to showing that it can guide up to the drivable limit point, and can also show that it cannot guide after the drivable limit point. Accordingly, since the guiding robot 10 can enable the person 20 to recognize whether it can be guided to the drivable limit point through the shortest path of the person, the person 20 can easily judge whether to let the guiding robot 10 guide to the drivable limit point in the middle as the guiding destination.

[0272] Alternatively, in the case where it is determined that the guiding robot 10 cannot drive to the guiding destination position, the guiding robot 10 does not calculate the shortest path of the robot. In this case, assume that the guiding robot 10 drives along the shortest path of the person from the starting point in the calculated shortest path of the person, determines the position where the shortest path of the person intersects the drivable area of the robot, and can guide to that position.

[0273] Figure 11B Conceptually shows another example in the case where the guiding robot 10 according to the first modification of the present embodiment has a drivable limit. In Figure 11B it, the case where point C is taken as the drivable limit point of the guiding robot 10 is also shown. As Figure 11B shown, since the shortest path of the person and the shortest path of the robot are different, the guiding robot 10 can also display that it can guide to point A through the shortest path of the person instead of displaying that it can guide to point C.

[0274] (Variant 1)

[0275] There is also a case where the guiding robot 10 can only guide to the drivable limit point, while other guiding robots 10 can guide from the drivable limit point to the guiding destination. This case will be described as Variant 1.

[0276] Figure 12 Conceptually shows an example where the guiding robot 10a involved in Variation 1 of Variation Example 1 has a travel limit. In Figure 12 , it shows a case where Location C is the travel limit location of the guiding robot 10a, and the guiding robot 10b is another robot that takes over the guidance starting from Location C.

[0277] As Figure 12 shown, when the guiding robot 10b can take over the guidance starting from Location C, the guiding robot 10a can also display such a situation.

[0278] In this case, it is only necessary to store in the storage unit 18 of the guiding robot 10a information related to other robots such as the communication addresses of other robots and the travelable area information. For each of the other robots, the guiding robot 10a generates the shortest path for the robot from Location C to the guiding destination, and determines the guiding robot 10b, which is another robot for which the shortest path for a person and the shortest path for the robot from Location C to the guiding destination are the same path. The guiding robot 10a asks the guiding robot 10b whether it can take over the guidance, and when receiving the information agreeing to take over from the guiding robot 10b, it can also display "It is possible to guide along the shortest path for a person". It is also possible to include Location C, the arrival time at Location C, the guiding destination, etc. in the inquiry. The guiding robot 10a can also display the situation where the guiding is taken over by the guiding robot 10b in the middle of the guidance.

[0279] More specifically, assume that the guiding robot 10a has obtained a comparison result showing a position where it cannot travel to the guiding destination and a boundary point where the shortest path of the robot in the shortest path of the person overlaps and ends with the shortest path of the person. In this case, the guiding robot 10a only needs to obtain the current position information of each of one or more other robots (other robots) different from the guiding robot 10a and the information on the area where the robot can travel. Next, the guiding robot 10a only needs to calculate, for each of the one or more other robots, the shortest path of the other robot from the boundary point to the position of the guiding destination based on the obtained current position information of each of the one or more other robots, the information on the area where the robot can travel, and the guiding destination position information. Next, the guiding robot 10a only needs to determine the other robot (guiding robot 10b), which is the robot whose shortest path of the other robot overlaps with the shortest path of the person from the boundary point to the position of the guiding destination among the shortest paths of the other robots. In this way, the guiding robot 10a only needs to change the display form on the display to a display form showing that the guiding robot 10a can guide from the current position to the boundary point in the shortest path of the person and showing that the determined guiding robot 10b can guide from the boundary point to the position of the guiding destination.

[0280] Accordingly, even if there is a limit point where the guiding robot 10a can travel, by handing over to the guiding robot 10b, it is possible to display that the person 20 can be guided to the store 30, which is the guiding destination desired by the person 20, through the shortest path of the person.

[0281] In addition, the object that takes over the guidance from the limit point where the guiding robot 10a can travel is not limited to other robots such as the guiding robot 10b. As described in the modification example 15 related to the first embodiment, it can be an employee of the store 30 that is the guiding destination or a person who can perform the guidance and has received a notification from the guiding robot 10a.

[0282] And, in the modification example 1, it is assumed that the guiding robot 10b takes over the guidance from the limit point where it can travel, but it is not limited thereto. The guiding robot 10b can also take over the guidance from any point from the current position to the limit point where it can travel. Accordingly, for example, when the guiding robot 10a has a scheduled other task, the guiding robot 10a can hand over the guidance to the guiding robot 10b in advance so that the guiding robot 10a can catch up with the scheduled other task. And when a plurality of guiding robots 10 are evenly arranged in a specified area, it is possible to prevent the determined guiding robot 10a among the plurality of guiding robots 10 from performing a long-distance guidance and destroying the balance in the arrangement of the plurality of guiding robots 10.

[0283] (Variation Example 2)

[0284] Although the example described in Variation Example 1 related to Variation Example 1 is that the guiding robot 10 can only guide to the drivable limit point, but the guiding from this drivable limit point to the guiding destination is taken over by another guiding robot 10, it is not limited thereto. If the person 20 can recognize another guiding robot 10 that takes over the guiding, then the other guiding robot 10 can take over the guiding, so the position where the guiding of the guiding robot 10 ends can also be different from the position where the other guiding robot 10 that takes over the guiding starts guiding. This situation is described as Variation Example 2.

[0285] Figure 13 Conceptually shows an example in the case where the guiding robot 10a related to Variation Example 2 of Variation Example 1 has a drivable limit. In Figure 13 shows an example where the person 20 is guided to the drivable limit point of the guiding robot 10a, that is, the escalator entrance, and then only the person 20 moves by taking the escalator, and the guiding is taken over by the guiding robot 10b from the location after the person 20 gets off the escalator. As Figure 13 shown, in the case where the guiding robot 10b can take over the guiding, the guiding robot 10a can also display this situation, and display the position where the guiding of the guiding robot 10a ends and the position where the guiding robot 10b takes over and starts guiding. The timing of displaying the position where the guiding of the guiding robot 10a ends and the position where the guiding robot 10b takes over and starts guiding can be arbitrary, for example, before the guiding robot 10a starts guiding, before approaching the end of the guiding of the guiding robot 10a, or immediately after the guiding of the guiding robot 10a ends, etc.

[0286] More specifically, assume that the guiding robot 10a has obtained a comparison result showing a situation where it cannot travel to the guiding destination location and a boundary location where the shortest path of the robot in the shortest path of the person overlaps and ends. In this case, the guiding robot 10a only needs to further obtain the current robot position information and the robot drivable area information of each of one or more other robots different from the guiding robot 10a. Next, the guiding robot 10a only needs to calculate, for each of the one or more other robots, the shortest path of the other robot from a position within a specified range from the boundary location to the guiding destination location based on the obtained current robot position information and the robot drivable area information of each of the one or more other robots and the guiding destination location information. Next, the guiding robot 10a only needs to determine the takeover robot (guiding robot 10b), which is the other robot whose shortest path of the other robot from a position within a specified range from the boundary location to the guiding destination location overlaps with the shortest path of the person. In this way, the guiding robot 10a only needs to change the display form shown on the display to the following. That is, it is changed to a display form showing that in the shortest path of the person, the guiding robot 10a can guide from the current position to the boundary location, the determined guiding robot 10b can guide from a position within the specified range to the guiding destination location, and the starting position of the guiding of the guiding robot 10b.

[0287] Accordingly, even if there is a drivable limit location for the guiding robot 10a, by handing over to the guiding robot 10b, it is possible to display that the person 20 can be guided to the store 30, which is the guiding destination desired by the person 20, through the shortest path of the person.

[0288] (Variation 3)

[0289] Although it is described in Variation 1 and Variation 2 related to Variation Example 1 that the guiding robot 10 can only guide to the drivable limit location, but is taken over by another guiding robot 10 to guide to the guiding destination, it is not limited thereto.

[0290] Another guiding robot 10 can also act as an agent of the guiding robot 10 and guide from the starting point to the guiding destination. That is, regardless of whether there is a drivable limit location for the guiding robot 10, in a case where it is not possible to guide through the shortest path of the person (i.e., the person's path is not entirely included in the robot drivable area information), another guiding robot 10 that can guide through the shortest path of the person can act as an agent to guide. In this case, the guiding robot 10 can display to the person 20 to let another guiding robot 10 guide the person 20.

[0291] Figure 14 Conceptually shows an example in the case where the guiding robot 10b involved in Variation 3 of Variation Example 1 guides the person 20. In Figure 14 shows an example in the case where the guiding robot 10b is summoned to the departure location of the guiding robot 10a and guides the person 20 instead of the guiding robot 10a.

[0292] As Figure 14 shown, in the case where the guiding robot 10b can take over and start guiding from the departure location, the guiding robot 10a can also display that it can guide through the shortest path for the person. In this case, the guiding robot 10 can also display that the summoned guiding robot 10b can guide through the shortest path for the person, and further can also display the time (waiting time) from the arrival of the summoned guiding robot 10b until it can start guiding.

[0293] More specifically, when the guiding robot 10a obtains the comparison result showing that the shortest path for the person and the shortest path for the robot are not the same path, it only needs to further obtain the current position information of each of one or more other guiding robots different from the guiding robot 10a and the information on the area where the robot can travel. Then, the guiding robot 10a only needs to calculate, for each of the one or more other guiding robots, the shortest path for the other robot from the current position of each of the one or more other guiding robots to the guiding destination position based on the current position information of each of the one or more other guiding robots, the information on the area where the robot can travel, and the guiding destination position information. Then, the guiding robot 10a only needs to determine that the shortest path for the other robot is the other guiding robot 10b (i.e., the proxy robot) that has the same path as the shortest path for the person among the shortest paths for the other robots, and summon the determined guiding robot 10b to the current position. Then, the guiding robot 10a only needs to change the display form shown on the display to a display form showing that the guiding robot 10b can guide from the current position to the guiding destination position in the shortest path for the person. In addition, in this case, it only needs to store in the storage unit 18 of the guiding robot 10a the information related to other robots such as the position information, communication address, area where the robot can travel, and task status of other robots.

[0294] In this way, the guiding robot 10a can also search for other guiding robots 10 near itself when the shortest path for the robot and the shortest path for the person are different, determine the other guiding robot 10b that can guide the person 20 through the shortest path for the person, and summon it.

[0295] Accordingly, when the shortest path of the guiding robot 10a is different from the shortest path of the person, by summoning the guiding robot 10b, it is possible to display that the person 20 can be guided to the desired guiding destination through the shortest path of the person. That is to say, the guiding robot 10 can display to the person 20 to let the guiding robot 10b guide the person 20.

[0296] (Variant 4)

[0297] Although it is described in the above Variant 4 that by the guiding robot 10a summoning the guiding robot 10b, the guiding robot 10b can guide the person 20 to the desired guiding destination through the shortest path of the person, it is not limited thereto. In the case where another guiding robot 10 guides as an agent of the guiding robot 10 to the guiding destination, the person 20 can also be moved to the position where the other guiding robot 10 is located.

[0298] That is to say, when the guiding robot 10b can take over and guide from a position within a specified range from the departure location, the guiding robot 10a can also display the situation that if it can move to the position of the guiding robot 10b, it can be guided through the shortest path of the person. In this case, the guiding robot 10a can further display the time (travel time) required to move to the position of the guiding robot 10b. In this way, the guiding robot 10a can display to the person 20 to let the guiding robot 10b guide the person 20.

[0299] More specifically, when the guiding robot 10a obtains a comparison result indicating that the shortest path of a person and the shortest path of the robot are not the same path, it is further sufficient to obtain the current position information of each of one or more other guiding robots different from the guiding robot 10a and the information on the area where the robot can travel. Then, the guiding robot 10a only needs to calculate, for each of the one or more other robots, the shortest path of the other robot from a position within a specified range from the current position of the guiding robot 10a to the guiding destination position, based on the current position information and the information on the area where the robot can travel of each of the one or more other guiding robots, as well as the guiding destination position information. Then, the guiding robot 10a only needs to determine that the shortest path of the other robot is the same as the shortest path of the person among the shortest paths of the other robots, that is, the other guiding robot 10b, namely the proxy robot, and this proxy robot is another robot existing around a position within the specified range. Then, the guiding robot 10a only needs to change the display form on the display to a display form showing the starting position of the guiding robot 10b that can guide from a position within a specified range from the current position to the guiding destination position in the shortest path of the person.

[0300] In this case, it is sufficient to store in the storage unit 18 of the guiding robot 10a information related to other robots, such as the position information, communication address, area where the robot can travel, and task status of other robots.

[0301] In addition, when the determined guiding robot 10b exists around a position within a specified range from the current position of the guiding robot 10a, it is sufficient to instruct the guiding robot 10b to wait at this position. In this case, by the person 20 moving to the current position of the determined guiding robot 10b itself, the person 20 can be guided by the guiding robot 10b to the guiding destination position. And it can also be that, when the determined guiding robot 10b exists around a position within a specified range from the current position of the guiding robot 10a, the guiding robot 10a summons the guiding robot 10b to a position within the specified range. In this case, the determined guiding robot 10b is summoned to a position within a specified range from the current position of the guiding robot 10a, and by the person 20 moving to a position within the specified range, the person 20 can be guided by the guiding robot 10b from a position within the specified range to the guiding destination position.

[0302] In this way, when the shortest path of the guiding robot 10a is different from the shortest path of the person, the guiding robot 10b that can guide the person 20 through the shortest path of the person is determined, and it can be displayed that if the person 20 can move to the position of the determined guiding robot 10b, the person 20 can be guided through the shortest path of the person.

[0303] Alternatively, it can also be that the guiding robot 10a summons the guiding robot 10b, which can more effectively reduce the walking burden of the person 20 than having the person 20 move to the position of the guiding robot 10b. Therefore, the process described in Variation 3 is first executed, and then the process described in Variation 4 is executed.

[0304] (Variation 2)

[0305] In Variation 2, the case where the guiding robot 10 further has a mechanism capable of carrying the luggage of the person 20 is described. Additionally, the following processes can be implemented by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0306] There are situations where the person 20 wishes to help transport the luggage to the destination. In such cases, when the guiding robot 10 detects through sensors that the person 20 is carrying luggage, it can also display the situation where "only the luggage moves through the shortest path of the robot, and the customer moves through the shortest path of the person". Additionally, the display is not limited to the case where it is detected that the person 20 is carrying luggage. In the case where the shortest path of the person is different from the shortest path of the robot, it can also display the situation where "only the luggage moves through the shortest path of the robot, and the customer moves through the shortest path of the person".

[0307] Figure 15 Conceptually shows the shortest path of the robot and the shortest path of the person related to Variation 2 of the present embodiment. In Figure 15 An example is shown where, when the shortest path of the robot is different from the shortest path of the person, the luggage is transported to the store 30 through the shortest path of the robot, and the person 20 goes to the store 30 through the shortest path of the person. Accordingly, the person 20 can go to the store 30 through the shortest path of the person without carrying the luggage.

[0308] More specifically, assume that the guiding robot 10 further obtains a comparison result showing that it can carry the luggage and the shortest path of the person is not the same as the shortest path of the robot. In this case, the guiding robot 10 can also change the display form on the display to a display form showing that the luggage can be delivered to the guiding destination through the shortest path of the robot, and the person 20 can move to the guiding destination through the shortest path of the person.

[0309] In this way, the guiding robot 10 can prompt the person 20 that only the luggage of the person 20 can be transported along the shortest path of the robot, and the person 20 can move along the shortest path for the person.

[0310] Accordingly, while the guiding robot 10 transports the luggage of the person 20 to the destination along the shortest path of the robot, the person 20 can go to the destination along the shortest path for the person. Therefore, the burden of walking of the person 20 is not increased and the opportunity for the person 20 to utilize the guiding robot 10 can be improved.

[0311] Alternatively, the guiding robot 10 can transport the luggage along a robot path when a specified condition is satisfied. Here, the above-specified condition is, for example, (a) the condition that the moving distance is the shortest, (b) the condition that the vibration / shaking of the luggage is small, (c) the condition that the moving time is the shortest, and the like.

[0312] Alternatively, in order for the guiding robot 10 to be able to meet the person 20 at the destination, for example, the guiding robot 10 further displays the meeting place such as the destination and the scheduled arrival time. The guiding robot 10 can also further display the predicted scheduled arrival time when the person 20 arrives at the meeting place such as the destination.

[0313] The scheduled arrival time can be calculated based on the normal traveling speed of the guiding robot 10, the normal walking speed of the person 20, and the distance from the departure place to the destination. The walking speed can be the walking speed of an ordinary person, and this walking speed only needs to be stored in the storage unit 18 in advance.

[0314] In addition, in the case where the path from location B to the position of the store 30 as the destination overlaps with the shortest path for the person and the shortest path for the robot as shown in Figure 15 the meeting place can also be a place other than the destination.

[0315] Here, for example, the guiding robot 10 can also be displayed in a display form that allows the person 20 to select any place on the path from location B to the destination as the meeting place.

[0316] More specifically, the guiding robot 10 is equipped with a touch screen as a display, which displays Figure 15 the shortest path for the robot and the shortest path for the person as shown. As long as any position on the shortest path for the robot or the shortest path for the person from location B to the destination can be selected by touch. Accordingly, the position selected by the person 20 can be determined as the meeting place.

[0317] And for example, it can also be that the guiding robot 10 determines the meeting place and displays it.

[0318] The guiding robot 10 can also determine the location where they will meet again as the meeting place, for example, after the shortest path of the person and the shortest path of the robot diverge. Accordingly, the guiding robot 10 can be freed from the guiding task earlier and perform other tasks, so that the operating efficiency of the guiding robot 10 can be improved. Also, it can be that the guiding robot 10 determines, for example, the place that the person 20 has selected as the meeting place in the past as the meeting place. It can be estimated that the place that the person 20 has selected as the meeting place in the past is a convenient meeting place for the person 20, so that the convenience of the user can be improved. Also, it can be that the guiding robot 10 determines, for example, a place where there is less foot traffic, a place with prominent buildings, etc., which has been pre-associated with the destination as the meeting place. The place associated with the destination can be set by the manager of the target area or determined by the remote monitor.

[0319] In addition, when the shortest path of the robot and the shortest path of the person are the same path, the guiding robot 10 can not only display "carry the luggage to the destination", but also display "walk side by side with the person 20 and carry the luggage to the destination". And the sensor for detecting the situation where the person 20 is carrying luggage is, for example, a camera equipped on the guiding robot 10, and can be detected by performing image recognition on the image obtained by the camera.

[0320] (Variant 1)

[0321] Although it is described above that when the shortest path of the robot and the shortest path of the person are different, the guiding robot 10 transports the luggage to the store 30 through the shortest path of the robot, while the person 20 goes to the store 30 through the shortest path of the person, it is not limited thereto. The guiding robot 10 can calculate the shortest path of the robot not only by using the robot drivable area information, but also by using the robot extended drivable area information that adds information related to the area where the guiding robot 10 can drive and is not used for guiding the person 20. The information related to the area where the guiding robot 10 can drive and is not used for guiding the person 20 is, for example, a passage that only employees can pass through in a shopping mall, etc. And the robot extended drivable area information only needs to be obtained from the cloud or the like and stored in the storage unit 18 of the guiding robot 10.

[0322] Also, it is possible that when guiding the robot 10 to transport luggage to the store 30 along the shortest path for the robot without guiding the person 20, the robot travels at a faster speed compared to the case of guiding the person 20. The faster speed compared to the case of guiding the person 20 means a speed faster than the normal traveling speed set for the robot 10. Although this faster speed can be, for example, the upper limit of the speed to be achieved set in terms of performance or operation, it is not limited thereto. As long as the determined speed is such that the robot can reach the meeting point with the person 20 earlier than the person 20. Accordingly, even when guiding the robot 10 along the shortest path for the robot, which is a longer distance compared to the shortest path for the person, the robot can reach the destination (the guiding destination) as early as possible. Therefore, not only can the person 20 go to the destination along the shortest path for the person without carrying luggage, but also the waiting time of the person 20 becomes less until the person retrieves the luggage after arriving at the destination.

[0323] (Variation 2)

[0324] There may be a case where one guiding robot 10 cannot transport all the luggage of the person 20 because the person 20 has a lot of luggage. In such a case, multiple guiding robots 10 can also be used to transport the luggage brought by the person.

[0325] More specifically, when it is not sufficient to transport the luggage of the person 20 with only one guiding robot 10, one guiding robot 10 can also display a request for inputting another guiding robot 10. When receiving a request from the person 20, the guiding robot 10 only needs to search whether there is another guiding robot 10 capable of transporting luggage around itself and gather the other guiding robots 10 found by the search to its current robot position. The guiding robot 10 can further display the time when the other guiding robots 10 will arrive at the current robot position, and can further request the person 20 to decide whether to gather other guiding robots 10.

[0326] Alternatively, when the guiding robot 10 and other guiding robots 10 pick up luggage from the person 20, they can travel to the destination in a convoy. Accordingly, since the guiding robot 10 and other guiding robots 10 can reach the destination at the same time, the person 20 can complete the response to retrieve the luggage at one time. Therefore, not only can the person 20 go to the destination along the shortest path for the person without carrying luggage, but also the person 20 can retrieve the luggage at one time after arriving at the destination, thus improving convenience.

[0327] Alternatively, the mechanism for carrying luggage that the guiding robot 10 and other guiding robots 10 are equipped with can be a luggage locker that can be locked and unlocked. In this case, information for locking and unlocking, such as the password of the luggage lockers of the guiding robot 10 and other guiding robots 10, can be shared between the guiding robot 10 and other guiding robots 10 and can be set with just one setting process. Accordingly, the person 20 can easily handle the handover of luggage and the retrieval of luggage.

[0328] (Variant Example 3)

[0329] In Variant Example 3, a case where the guiding robot 10 further has a mechanism such as a chair that can carry one person for movement is described. Additionally, the following processes can be implemented by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0330] There is a case where the person 20 is not an individual but a member of a group consisting of multiple people. In this case, when the guiding robot 10 detects a group, i.e., multiple people 20, through the sensor, it can also display that "only one person can ride and move along the shortest path of the robot, and the remaining people move along the shortest path for people". The guiding robot 10 can also display the shortest path for people to the remaining people. Additionally, the display is not limited to the case where a group, i.e., multiple people 20, is detected through the sensor. When the shortest path for people and the shortest path for the robot are different, it can also display that "only one person can ride and move along the shortest path of the robot, and the remaining people move along the shortest path for people".

[0331] Figure 16 Conceptually shows the shortest path for the robot and the shortest path for people related to Variant Example 3 of the present embodiment. In Figure 16 An example is shown where, when the shortest path for the robot and the shortest path for people are different, one person 20 rides and moves to the store 30 along the shortest path for the robot, and the remaining people 20 move to the store 30 along the shortest path for people. Accordingly, one person 20 in the group can ride on the guiding robot 10 and go to the store 30.

[0332] More specifically, assume that the guiding robot 10 obtains a comparison result indicating that it can only transport one person and the shortest path for people and the shortest path for the robot are not the same path. In this case, the guiding robot 10 can also change the display form on the display to a display form showing that one person among multiple people 20 can be transported to the guiding destination along the shortest path for the robot and the people among multiple people 20 other than one person can move to the guiding destination along the shortest path for people.

[0333] In this way, the guiding robot 10 can prompt multiple people 20 that only one person 20 can be transported through the shortest path for the robot, and the remaining people 20 can move through the shortest path for people.

[0334] Accordingly, the guiding robot 10 can transport only one person 20 to the destination through the shortest path for the robot, and the remaining people 20 can go to the destination through the shortest path for people. This is because when the shortest path for people and the shortest path for the robot are the same, they can move together as a group, and when the shortest path for people and the shortest path for the robot are different, the people 20 other than the passengers can move through the shortest path for people with less walking burden. Accordingly, it is possible to make it so that one person 20 has no walking burden at all and at the same time does not increase the walking burden of the remaining people 20, and thus the opportunity to use the guiding robot 10 can be increased.

[0335] Alternatively, the group can be multiple people 20 composed of family members of three families, for example. In this case, only the person 20 who is the grandfather needs to ride on the guiding robot 10 and go to the destination. And it can also be that the group is multiple people 20 who act together and the destination of the group is the same for multiple people 20.

[0336] Moreover, when the guiding robot 10 shows that "only one person can ride and move through the shortest path for the robot, and the remaining people move through the shortest path for people", it can either further show the shortest path for people to the remaining people or further show the shortest path for the robot and the shortest path for people. Accordingly, the remaining people 20 can judge whether to use the guiding robot 10 or move together with the guiding robot 10.

[0337] And the sensor for detecting the case where the people 20 are a group composed of multiple people is, for example, a camera equipped on the guiding robot 10. The guiding robot 10 can detect that the people 20 are a group composed of multiple people by performing image recognition on the image obtained by the camera. The image recognition performed on the image obtained by the camera can also be triggered by the touch of a person in the group on the display of the guiding robot 10.

[0338] When image recognition is performed and it is determined that, for example, a person 20 is in contact with the people around him / her, such as holding hands or carrying a child, it is possible to detect that the person 20 is a group composed of multiple people. Also, when the guiding robot 10 performs image recognition and determines that, for example, the distance between the person 20 and the people around him / her is smaller than a specified distance and this state has continued for a specified period or more, it is possible to detect that the person 20 is a group composed of multiple people. Through such a determination, the guiding robot 10 will not regard a person who simply passes by near the person 20, such as a person passing by near the person 20, as a member of the group. Alternatively, the guiding robot 10 may not perform image recognition but detect that the person 20 is a group composed of multiple people by being input with information indicating that the person 20 is a group composed of multiple people.

[0339] (Modification Example 4)

[0340] In Modification Example 4, it should be noted that when the guiding robot 10 guides the person 20 to the midpoint of the shortest path for the person, after guiding to the midpoint, a process of guarding the movement of the person 20 on the subsequent shortest path for the person is performed. In addition, the following guarding process can be implemented by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18.

[0341] Figure 17A And Figure 17B Conceptually shows the guarding process of the guiding robot 10 according to Modification Example 4 of the present embodiment. Figure 17A Shows an example in the case where the guiding robot 10 guides the person 20 to point A, which is the bifurcation point of the shortest path for the person and the shortest path for the robot and is the reachable limit point, and then switches to the guarding mode. The guiding robot 10 guards the movement of the person 20 until reaching the destination store 30 after passing through point C after point A, that is, the person 20 moves along the shortest path for the person until reaching the destination. Figure 17B Shows an example in the case where the person 20 is guided to point C, which is the reachable limit point of the guiding robot 10, and then switches to the guarding mode. The guiding robot 10 guards the person 20 until reaching the destination store 30 on the shortest path for the person from point C onwards. The person 20 is, for example, a child or a woman, and through the guarding process of the guiding robot 10, the safety of a child walking alone or a woman moving at night can be improved.

[0342] More specifically, assume that the guiding robot 10 guides the person 20 to a midway point on the shortest path for the person to reach the drivable limit point, and then switches to the guarding mode. In this case, based on the calculated shortest path for the person, the guiding robot 10 determines the direction in which the person 20 travels from the midway point to the destination, and only needs to judge whether the person 20 is moving in the determined direction while tracking the actions of the person 20 through sensors such as a camera.

[0343] When the guiding robot 10 judges that the person 20 is moving in the determined direction, it only needs to track the actions of the person 20 until a specified guarding end condition is satisfied. When the specified guarding end condition is satisfied, the guiding robot 10 notifies the guardian terminal of the person 20 registered in advance that the person 20 has reached the destination. Here, not only can it notify that the person has arrived, but it can also include evidence such as an image and time information at the moment when the person 20 enters the destination. On the other hand, when the guiding robot 10 judges that the person 20 is not moving in the determined direction, it only needs to notify the person 20, for example, through a display or sound, which direction the person 20 should face.

[0344] The guarding end condition is, for example, the case where the person 20 has reached the destination. The guiding robot 10 can identify the destination and can identify that the person 20 has reached the destination by performing image recognition on the images obtained by sensors such as a camera. In addition, the guiding robot 10 further judges whether the distance from itself to the person 20 and the distance from itself to the destination are approximately the same by using sensors such as a distance measuring sensor, so as to be able to judge that the person 20 has reached the destination and the guarding end condition is satisfied. In addition, the guarding end condition is not limited to, for example, the case where the person 20 has reached the destination, but can also be the case where the person 20 has reached a place where guarding can be carried out, the case where a specified time has passed, or the case where the person 20 has moved a specified distance. If there is a location where the shortest path for the person from the midway point where the guiding robot 10 has guided to the destination has a left or right turn, the place where guarding can be carried out can also be, for example, the location of the left or right turn. This is because the guiding robot 10 can only track the person 20 until a location close to the left or right turn, so the guarding process cannot continue.

[0345] Also, although it is described above that when the guiding robot 10 determines that the person 20 is not moving in a definite direction, the direction in which the person 20 should be oriented is notified, for example, by display on a monitor or by sound, etc., it is not limited thereto. When the guiding robot 10 determines that the person 20 is not moving in a definite direction, it may also perform a guiding display of the direction in which the person 20 should be oriented and the subsequent shortest path for the person. The guiding display is not limited to displaying text such as turning right at the second signal, etc., and may also display a map showing the subsequent shortest path for the person. Accordingly, when the person 20 is moving and looks back, the person 20 can confirm the guiding display, and thus it is possible to avoid getting lost and move on the subsequent shortest path for the person.

[0346] When the person 20 is a child, the guardian using the guardian terminal is, for example, a guardian or a manager of a facility such as a missing child service center. Also, when the person 20 is a female, the guardian may be, for example, a police station.

[0347] In addition, although it is described that when a specified guard end condition is satisfied, the guiding robot 10 notifies the guardian terminal of the person 20 registered in advance that the person 20 has reached the destination or a place where the person can be guarded, it is not limited thereto. When the guiding robot 10 determines that the person 20 is not moving in a definite direction, it may further notify the guardian terminal that the person 20 has moved in a direction different from the direction of the destination.

[0348] Also, it may be that when the guiding robot 10 is to perform a guarding process, the person 20 to be guided is authenticated to determine whether the person is a guarding object, and the guarding process is performed only when the person 20 is a guarding object.

[0349] (Modification Example 5)

[0350] Although it is described in the modification example 1 of the above-described embodiment 1, etc., that the guiding robot 10 not only calculates its own shortest path for the robot but also calculates the shortest path for a person other than itself, and displays the guiding route in a display form that enables the person 20 to recognize whether the person can be guided through the shortest path for the person according to the comparison result, it is not limited thereto. It is also possible to perform control to display an advertisement instead of displaying the guiding route according to the comparison result. More specifically, the guiding robot 10 may also compare the calculated shortest path for the person and the shortest path for the robot, and control the display of a determined advertisement according to the comparison result obtained by the comparison. Accordingly, when the person 20 sees the advertisement displayed on the guiding robot 10, the person 20 can recognize whether the person can be guided to the store 30 that is the object of the advertisement through the shortest path for the robot that is the same path as the shortest path for the person.

[0351] Alternatively, the guiding robot 10 may display an advertisement for a store that can be guided from the current position via the shortest path for a person. Specifically, the guiding robot 10 may have the position information of each store, determine whether it can be guided from the current position to each store via the shortest path for a person, and display an advertisement for a store that can be guided from the current position via the shortest path for a person. Also, the guiding robot 10 may display an advertisement for one or more stores that exist on the shortest path for a person starting from the current position. Accordingly, since the guiding robot 10 advertises to a non-specific large number of people, a person 20 who has seen the advertisement can commission the guiding robot 10 that has displayed the advertisement to guide them.

[0352] Also, compared with an advertisement for a store that can be guided via a path that is not the shortest path for a person, the guiding robot 10 may preferentially display an advertisement for a store that can be guided from the current position via the shortest path for a person. For example, the guiding robot 10 can preferentially display an advertisement for a store that can be guided via the shortest path for a person by making changes to the display form such as increasing the screen size, lengthening the advertisement time, or increasing the advertisement frequency. Also, as a change to the display form, the guiding robot 10 may superimpose a display of "can be guided via the shortest path for a person" on an advertisement for a store that can be guided via the shortest path for a person. Preferential display may mean displaying in a recognizable manner, or it may mean making the background color of an advertisement for a store that can be guided via the shortest path for a person different.

[0353] Also, the guiding robot 10 may not only display an advertisement for a store that can be guided via a path that is not the shortest path for a person, but also display the distance difference from the shortest path for a person. Also, the guiding robot 10 may change the display form such as the screen size, advertisement time, and advertisement frequency according to the distance difference from the shortest path for a person to make the display control of the advertisement different.

[0354] The control of such advertisement display can be achieved by the control unit 17 of the guiding robot 10 executing various programs stored in the storage unit 18. The advertisement for the guiding destination can be obtained by acquiring advertisement information stored in the cloud or the like, or the acquired advertisement information can be stored in the storage unit 18.

[0355] Alternatively, it can also be that while guiding robot 10 displays the guiding route described in Embodiment 1, Variation 1, etc., it also controls the display of advertisements. More specifically, guiding robot 10 can not only display the guiding route in a display form that enables person 20 to recognize whether they can be guided through the shortest path for a person, but also control the display of the determined advertisement according to the comparison result. For example, it can also be that when guiding robot 10 obtains a comparison result indicating that the shortest path for a person and the shortest path for the robot are not the same path, for the display form shown on the display, it is further changed to a display form that displays the advertisement of the store located on the shortest path for a person. Additionally, regarding the process by which guiding robot 10 obtains the robot's current position information, guiding destination position information, person's movable area information, and robot's drivable area information, since it has been described in Embodiment 1, the description is omitted here.

[0356] For example, guiding robot 10 can also, when obtaining a comparison result indicating that the shortest path for a person and the shortest path for the robot are not the same path, only display the advertisement related to the store located on the shortest path for a person, or can also only change the color of the advertisement related to the store located on the shortest path for a person, etc. for emphasized display. Additionally, the display method of guiding robot 10 when obtaining this comparison result is not limited to the above examples.

[0357] For example, it can also be that guiding robot 10 only displays the advertisement of the store located on the path where the shortest path for a person and the shortest path for the robot overlap. And it can also be that compared with the advertisement of the store located on the path where the shortest path for a person and the shortest path for the robot do not overlap, guiding robot 10 preferentially displays the advertisement of the store located on this overlapping path larger in the screen, or for a longer time, or increases the display frequency, etc.

[0358] And it can also be that when guiding robot 10 obtains this comparison result, it can display the advertisement of the store located on this overlapping path and the advertisement of the store located on the non - overlapping path in a distinguishable manner. For example, guiding robot 10 can overlap - display information such as "can be guided through the shortest path for a person" and "can be guided through a path that is not the shortest path for a person" on the advertisement of the store, or make the background color of the advertisement of the store different, so as to be able to display them in a distinguishable manner.

[0359] Moreover, it is also possible that, when the guiding robot 10 obtains the comparison result, it further changes the display form according to the distance difference between the shortest path of a person and the shortest path of the robot. For example, the guiding robot 10 may not display an advertisement when the distance difference is greater than a specified value, or may give priority to displaying such an advertisement as the distance difference becomes smaller. When the distance difference is small, although there is a case where the guiding is performed through the shortest path of the robot, when the distance difference is greater than the specified value, it is inappropriate to guide through the shortest path of the robot because it is less burdensome for the person 20 to move through the shortest path of the person.

[0360] (Variant Example 1)

[0361] As described in Variant Example 1, for example, when the guiding robot 10 that can only guide to the first floor displays a guiding route to a store 30 on the second floor, etc., the guiding robot 10 can only travel to the elevator entrance and cannot move to the second floor. That is to say, there is a case where the guiding robot 10 has a travel limit. This case will be described as Variant Example 1.

[0362] The guiding robot 10 can also determine whether the guiding robot 10 can travel to the guiding destination according to the current position information of the robot, the guiding destination position information, and the robot's travelable area information, and control the display of the advertisement according to the judgment result of whether it can travel to the store that is the destination (guiding destination) of the person 20.

[0363] For example, it is also possible that the guiding robot 10 overlays and displays whether it can guide or cannot guide to the destination of the person 20 according to the judgment result. Moreover, it is also possible that, compared with the case of overlapping and displaying the inability to guide, the guiding robot 10 gives priority to displaying the case of overlapping and displaying the ability to guide by increasing the display frequency or enlarging the display area. When the display area is enlarged, for example, the advertisement of the store can be displayed on the entire screen. When the display area is not enlarged, multiple advertisements of the store can also be displayed on the entire screen, etc.

[0364] Moreover, for example, it is also possible that the guiding robot 10 makes the display forms of the advertisements of the stores existing on the path to the travel limit point and the advertisements of the stores existing on the path that cannot be guided after the travel limit point different according to the judgment result. When making the display forms different, the guiding robot 10 can also make the content of the message displayed on the background, background color, or advertisement different, etc., for the advertisements of the stores existing on the path to the travel limit point and the advertisements of the stores existing on the path that cannot be guided. The content of the message displayed by the overlay is as described above, such as being able to guide, unable to guide, able to guide until the middle (travel limit point), etc.

[0365] Further, for example, when the guiding robot 10 cannot guide a person 20 to a destination, the display forms of advertisements for stores that can be guided midway on the path up to the drivable limit point and advertisements for stores that cannot be guided on the path that cannot be guided after the drivable limit point may be different.

[0366] Moreover, the guiding robot 10 may superimpose and display the fact that it can guide up to the drivable limit point on advertisements for stores, etc., or may superimpose and display the fact that it cannot guide from the drivable limit point to the destination on advertisements for stores, etc.

[0367] As described in Variation 1 of Modification 1, there is also a case where although the guiding robot 10 can only guide up to the drivable limit point, if it is another guiding robot 10, it can guide from this drivable limit point to the guiding destination. That is, the guiding robot 10 according to this Modification 1 can also let another guiding robot 10 take over the guidance of the path from the drivable limit point where it cannot guide to the guiding destination.

[0368] In this case, the guiding robot 10 searches for and determines another guiding robot 10 that can perform guidance, sends a guidance request including the takeover position to the other guiding robot 10, and when consent is obtained, it may superimpose and display in a recognizable manner the fact that the other guiding robot 10 takes over the guidance.

[0369] More specifically, assume that the guiding robot 10 has obtained a comparison result indicating a situation where it cannot travel to the guiding destination and the boundary location where the overlap between the shortest robot path and the shortest human path in the shortest human path ends. In this case, as long as the guiding robot 10 acquires the current robot position information and the robot drivable area information of each of the other guiding robots 10 different from itself, for each of the other guiding robots 10, it can calculate the shortest path of the other robot from the boundary location to the guiding destination position respectively. Then, as long as the guiding robot 10a determines that the shortest path of the other robot is the other guiding robot 10 that overlaps with the shortest human path from the boundary location to the guiding destination position in the shortest path of the other robot. In this way, the guiding robot 10 sends a guiding request including the boundary location (takeover location) to the determined other guiding robot 10, and in the case of obtaining consent, it can display the takeover of the guiding by the other guiding robot 10 in a recognizable manner. Alternatively, when displaying the takeover of the guiding by the other guiding robot 10 in a recognizable manner, the guiding robot 10 can further display a query to the person 20 asking whether the takeover of the guiding by the other guiding robot 10 is required.

[0370] (Variation 2)

[0371] When there is a store that is the guiding destination (destination) of the person 20 within a specified range such as the range visible from the current robot position, compared with a store outside the specified range such as the range not visible from the current robot position, the guiding robot 10 can make the display forms or display methods of the two different. For example, it can also be that the guiding robot 10 displays the advertisement of the store and the position of the store together in a recognizable manner for the store that is the guiding destination within the range visible from the current robot position. Accordingly, even without being guided, the person 20 can visually grasp the position of the store. Therefore, since the guiding robot 10 can guide the person 20 to the destination while displaying the advertisement of the store, the workload required for the guiding robot 10 in the service of guiding the person 20 can be reduced. In addition, the specified range such as the visible range can be determined by whether it is reflected in the image obtained by sensors such as the camera possessed by the guiding robot 10.

[0372] (Embodiment 2)

[0373] Although the example described in Embodiment 1 is a use case where the guiding robot 10 is configured in a shopping mall in such a way that it can guide a person 20 to a desired store, and the person 20 moves in front of the guiding robot 10 to receive a guiding route, it is not limited thereto. There may also be a reception robot at a specified location, and the person 20 moves in front of the reception robot to receive the allocation of the guiding robot 10 and thus receive a guiding route.

[0374] [2 Guidance System]

[0375] Figure 18 FIG. shows an example of a guidance system 1A including a guiding robot 10A according to the present embodiment. For elements that are the same as those described in Figure 1 Embodiment 1 and the like, since the same reference numerals are given, detailed description thereof is omitted.

[0376] Figure 18 The shown guidance system 1A is composed of a plurality of guiding robots 10A, a reception robot 10B, and a cloud 40.

[0377] The guiding robot 10A is the same as the guiding robot 10 according to Embodiment 1, and is a robot that can autonomously move to guide a person to a guiding destination. The guiding robot 10A can also be remotely monitored and remotely controlled by a remote monitor via a network (not shown) when necessary.

[0378] The reception robot 10B is a robot located at a specified location and used to allocate the guiding robot 10A, which is a robot for guiding a person 20 to a store 30 as a destination, for example.

[0379] The cloud 40 is composed of, for example, one or more servers, and is connected to the guiding robot 10A and the reception robot 10B via a network (not shown) so as to be able to communicate.

[0380] The following example to be described is a use case where the person 20 is a customer in a shopping mall, the reception robot 10B receives the desired store (destination) from the person 20, and by allocating the guiding robot 10 that can guide to the desired store, the guiding robot 10A guides the person 20 to the desired store.

[0381] [2.1 Cloud 40]

[0382] Figure 19 FIG. is a block diagram showing an example of the functional configuration of the cloud 40 according to the present embodiment.

[0383] As Figure 19 shown, the cloud 40 includes a communication unit 41, a control unit 42, and a storage unit 43.

[0384] The communication unit 41 is, for example, a communication interface capable of connecting to a network. The communication unit 41 is connected to each of the reception robot 10B and the plurality of guiding robots 10A via the network so as to be capable of communication.

[0385] In the present embodiment, the communication unit 41 obtains guiding request information including information on the destination of the person 20, the position of the reception robot 10B, and the guiding start position from the reception robot 10B, or transmits an instruction for moving one or more guiding robots 10A determined based on the guiding request information to the guiding start position included in the guiding request information.

[0386] The control unit 42 performs the following control according to the obtained guiding request information: determining one or more guiding robots 10A; or creating an instruction for allocating the determined one or more guiding robots 10A for guiding the person 20; or determining information to be displayed by the determined one or more guiding robots 10A. The control unit 42 is implemented, for example, by a computer including at least a processor, and various functions are realized by the processor executing a program stored in the memory or storage unit 43.

[0387] In the present embodiment, as Figure 19 shown, the control unit 42 includes a guiding request information acquisition unit 421, a vehicle allocation control unit 422, a shortest path calculation unit 423 for a person, a shortest path calculation unit 424 for a robot, and a comparison processing unit 425. In addition, since the shortest path calculation unit 423 for a person, the shortest path calculation unit 424 for a robot, and the comparison processing unit 425 have the same functional configuration as the shortest path calculation unit 173 for a person, the shortest path calculation unit 174 for a robot, and the comparison processing unit 175 according to the first embodiment, the description thereof is omitted.

[0388] The guiding request information acquisition unit 421 acquires guiding request information including information on the destination of the person 20 received by the reception robot 10B, the position of the reception robot 10B, and the guiding start position. In the present embodiment, the guiding request information acquisition unit 421 is the same as the acquisition unit 171 according to the first embodiment, and further acquires information related to the guiding destination, guiding destination position information indicating the position of the guiding destination, and robot current position information indicating the current positions of the plurality of guiding robots 10A. And the guiding request information acquisition unit 421 acquires person movable area information and robot drivable area information for each of the plurality of guiding robots 10A. Regarding the information related to the guiding destination, the guiding destination position information, the robot current position information, the person movable area information, and the robot drivable area information, since they are the same as those described in the first embodiment, the description thereof is omitted.

[0389] The vehicle allocation control unit 422 determines one or more guiding robots 10A based on the obtained guiding request, or creates an instruction for allocating the determined one or more guiding robots 10A to guide a person 20.

[0390] In the present embodiment, the vehicle allocation control unit 422 determines the guiding robot 10A for which both the shortest path for a person and the shortest path for a robot are the same path. The vehicle allocation control unit 422 creates an instruction for allocating the determined guiding robot 10A to the guiding start position. Alternatively, the vehicle allocation control unit 422 may determine multiple guiding robots 10A when a single guiding robot 10A cannot guide the person 20 along the shortest path for a person, but multiple guiding robots 10A can guide the person 20 along the shortest path for a person. In this case, the vehicle allocation control unit 422 only needs to create an instruction for allocating the multiple guiding robots 10A to the guiding start position or taking over the guiding start position.

[0391] The storage unit 43 is a database storing various information, implemented by an HDD, an SSD, or the like. In the present embodiment, the storage unit 43 stores the person movable area information and the robot drivable area information. Further, the storage unit 43 stores the store information obtained by the communication unit 41, the robot information which is information related to the multiple guiding robots 10A, and a program for processing by the control unit 42 and the like. Since the store information is the same as that described in the first embodiment, the description thereof is omitted. The robot information includes the identification information (robot identification information) of each of the multiple guiding robots 10A, the position information (current robot position), the service status information, and the robot drivable area information identification number associated with the robot drivable area information. The service status information is, for example, information indicating whether the corresponding guiding robot 10A is in a guiding state or a non-guiding state.

[0392] [2.2 Reception robot 10B]

[0393] Figure 20 It is a block diagram showing an example of the functional configuration of the reception robot 10B according to the present embodiment.

[0394] As Figure 20 shown, the reception robot 10B includes a communication unit 11B, an input unit 12B, a display unit 13B, a sensor unit 15B, a control unit 17B, and a storage unit 18B.

[0395] The communication unit 11B is, for example, a communication interface that can connect to a network. The communication unit 11B is connected to an external device such as the cloud 40 via the network so as to be able to communicate. In the present embodiment, the communication unit 11B includes the position of the reception robot 10B in the information of the destination of the person 20 input by the person 20 via the reception robot 10B and the guiding start position, and sends it to the cloud 40, or receives information about one or more guiding robots 10A determined based on the guiding request information.

[0396] The input unit 12B receives an input from the person 20. The input unit 12B is a user interface such as an input button, a touch panel, a touch display, etc. Alternatively, the input unit 12B may be configured to receive operations by sound and remote operations by a remote controller in addition to receiving contact operations of the person 20, and may be integrated with the display unit 13B. In the present embodiment, the input unit 12B receives an input of information about the destination of the person 20 and the guiding start position, etc. In addition, when the guiding start position may be the position of the reception robot 10B, the input of the guiding start position may be omitted. Further, the input unit 12B may start receiving an input when the sensor unit 15B obtains that the person 20 is present near the reception robot 10B.

[0397] The display unit 13B outputs information to the person 20. The display unit 13B may be, for example, an LCD monitor, or may also serve as an input device 106 as a touch display. In the present embodiment, the display unit 13B displays a guiding route. In addition, the display unit 13B can display the guiding route in various display forms described in Embodiment 1. Further, the display unit 13B may display that the guiding robot 10A for guiding to the store 30 as the destination has been allocated, and further display the guiding start position, the takeover guiding start position in the case of performing takeover guiding, etc.

[0398] The sensor unit 15B obtains sensing information from a sensor that senses the surrounding conditions of the reception robot 10B, etc.

[0399] The control unit 17B performs control for enabling the person 20 to recognize whether the person can be guided along the shortest path of the person by controlling the guiding route displayed on the display unit 13B and the display form of the displayed guiding route. The control unit 17B is implemented by, for example, a computer including at least a processor, and various functions are implemented by the processor executing a program stored in the memory or the storage unit 18B.

[0400] In the present embodiment, as Figure 20 shown, the control unit 17B includes a display control unit 176.

[0401] The display control unit 176 displays the guidance route corresponding to the comparison result obtained from the cloud 40 side. The display control unit 176 also displays the guidance route in the display form indicated by the cloud 40 side.

[0402] The storage unit 18B is a database storing various information, implemented by an HDD or an SSD, etc.

[0403] In the present embodiment, the storage unit 18B stores programs for the control unit 17B, the communication units 11 to 15B to perform processing.

[0404] [2.3 Guiding robot 10A]

[0405] The guiding robot 10A is the same as the guiding robot 10 according to Embodiment 1, and is a robot or the like that can guide a person 20 to a guiding destination and can move autonomously, and can perform at least one of remote operation and remote monitoring by a remote monitor. And, the guiding robot 10A is provided with a display, and enables the person 20 to recognize whether it can be guided through the shortest path for the person by the display form of the guidance route on the display. In addition, if the guiding robot 10A can guide the person 20, it may have a mechanism capable of carrying the luggage of the person 20, or may have a mechanism capable of allowing one person among the person 20, etc. to board and move.

[0406] The guiding robot 10A is implemented, for example, by Figure 2 a computer configured by the hardware shown, and can guide the person 20 to the guiding destination desired by the person 20.

[0407] Figure 21 is a block diagram showing an example of the functional configuration of the guiding robot 10A according to the present embodiment.

[0408] As Figure 21 shown, the guiding robot 10A includes a communication unit 11, an input unit 12, a display unit 13, a position information acquisition unit 14, a sensor unit 15, and a drive unit 16 as basic functional configurations, and further includes a control unit 17A and a storage unit 18A. For the elements that are the same as the elements Figure 3 shown and described in Embodiment 1, since the same reference numerals are given, detailed description thereof is omitted.

[0409] Figure 21 shown, the guiding robot 10A Figure 3 compared with the guiding robot 10 Figure 3The store guide information generation unit 172, the human shortest path calculation unit 173, the robot shortest path calculation unit 174, and the comparison processing unit 175 included in the control unit 17 shown are configured on the cloud 40. Thus, by obtaining the result processed by the cloud 40, the guiding robot 10A can enable the person 20 to recognize whether they can be guided along the human shortest path in the form of the guiding route displayed on the display, as described in Embodiment 1.

[0410] [2.4 Working example of the cloud 40]

[0411] A working example of the cloud 40 will be described below. Additionally, since the following description focuses on the characteristic processes in this embodiment, there may be cases where the processes identical to those described in Embodiment 1 are omitted.

[0412] (Working example 1)

[0413] Based on the obtained guiding start position, guiding destination position information, and human movable area information, the cloud 40 calculates the human shortest path, which is the shortest path for the person 20 to move from the guiding start position to the guiding destination position. Also, based on the guiding start position, guiding destination position information, and the robot drivable area information of each guiding robot 10A, the cloud 40 calculates the robot shortest path, which is the shortest path for each guiding robot 10A to move from its current position to the guiding destination position.

[0414] Next, the cloud 40 compares the human shortest path with the robot shortest paths of each guiding robot 10A and determines the guiding robot 10A for which the human shortest path and the robot shortest path are the same path.

[0415] Next, the cloud 40 creates an instruction for allocating the determined guiding robot 10A to the guiding start position and sends it to the determined guiding robot 10A. Accordingly, the cloud 40 can allocate the determined guiding robot 10A to the guiding start position. As a result, this guiding robot 10A can reach the guiding start position and thus can start guiding the person 20 until reaching the guiding destination.

[0416] Alternatively, it is also possible to compare the shortest path of a person with the shortest path of each guiding robot 10A. When there are multiple guiding robots 10A for which the shortest path of the person and the shortest path of the robot are the same path, the cloud 40 selects and determines the guiding robot 10A with the smallest drivable area from among the multiple guiding robots 10A. This is because, when the cloud 40 later obtains guiding request information about another person 20, leaving a guiding robot 10 with a larger drivable area can increase the likelihood of being able to select a guiding robot 10A for which the shortest path of another person 20 and the shortest path of the robot are the same path.

[0417] And it is also possible to compare the shortest path of a person with the shortest path of each guiding robot 10A. When there are multiple guiding robots 10A for which the shortest path of the person and the shortest path of the robot are the same path, the cloud 40 selects and determines the guiding robot 10A closest to the guiding start position from among the multiple guiding robots 10A.

[0418] (Working Example 2)

[0419] There are cases where even if the cloud 40 compares the shortest path of a person with the shortest path of each guiding robot 10A, there is no shortest path of the robot that is the same path as the shortest path of the person. However, when using multiple guiding robots 10A, it is also possible to guide the person 20 along the shortest path of the person. In such a case, the cloud 40 can also allocate multiple guiding robots 10A to the guiding start position or the takeover guiding start position.

[0420] More specifically, when there is no guiding robot 10A for which the shortest path of the robot is the same path as the shortest path of the person, the cloud 40 only needs to first determine a guiding robot 10A that can guide from the guiding start position and whose shortest path of the robot overlaps with the shortest path of the person. Next, the cloud 40 only needs to identify a guiding robot 10A that can guide starting from the point where the path bifurcates from the shortest path of the person and whose shortest path of the robot overlaps with the shortest path of the person, and determine multiple other guiding robots 10 that can guide to the guiding destination (destination).

[0421] Accordingly, it is possible to guide the person 20 from the guiding start position to the destination.

[0422] Alternatively, in the case of takeover guidance, the cloud 40 obtains the bootable end position and the takeover guidance start position from the storage unit 43. In this case, the cloud 40 only needs to determine the guiding robot 10A that can start guiding from the boot start position and can guide the person to the takeover guidance position through the shortest path for the person. Next, the cloud 40 only needs to determine based on the guiding robot 10A that can start guiding from the takeover guidance position and can guide the person to the next takeover guidance position through the shortest path for the person, and also determine multiple other guiding robots 10A that can guide from the takeover guidance position to the guiding destination (destination).

[0423] Accordingly, the person 20 can be guided from the boot start position to the destination.

[0424] In addition, the bootable end position and the takeover guidance start position can be set in advance or set by a remote monitor. Moreover, the bootable end position and the takeover guidance start position do not necessarily have to be the same position and can also be different positions. Accordingly, for example, from the boot start position to the escalator entrance or elevator entrance, the first guiding robot 10A can guide, and from the escalator exit or elevator exit to the destination, the next guiding robot 10A can guide.

[0425] Moreover, the bootable end position and the takeover guidance start position are not limited to within a specified distance. When it is possible to see that the path from the bootable end position to the takeover guidance start position has no bifurcations, the means of movement for the person from the bootable end position to the takeover guidance start position can be specified means such as the entrances and exits of escalators or elevators.

[0426] [2.5 Other application examples]

[0427] In this embodiment, although the guidance system 1A is applied to the use case of guiding the person 20 to a desired store in the shopping mall, it is not limited thereto. For example, it can also be applied to the use case of guiding the person 20 to a desired place in the city hall (hereinafter referred to as "the first use case").

[0428] In the case of the first use case, the person 20 uses the reception robot 10B arranged at the front desk of the city hall to input the purpose of visiting the city hall (for example, obtaining a resident card). The reception robot 10B determines the destination (for example, the residents' section on the second floor) and the guiding destination (for example, in front of the elevator on the first floor) corresponding to the input purpose of visiting the city hall by referring to the corresponding information showing the correspondence among the purpose of visiting the city hall, the destination, and the guiding destination. Accordingly, the reception robot 10B assigns the guiding robot 10A that can guide the person 20 to the determined guiding destination.

[0429] Alternatively, the guidance system 1A can also be applied to, for example, a use case (hereinafter referred to as the "second use case") of guiding a person 20 to a desired location within a hospital.

[0430] In the case of the second use case, the person 20 uses the reception robot 10B arranged at the front desk of the hospital to input the purpose of the visit (for example, X-ray examination). The reception robot 10B determines the guidance destination (for example, in front of the examination room) corresponding to the input purpose of the visit by referring to the correspondence information showing the correspondence between the purpose of the visit and the guidance destination. Accordingly, the reception robot 10B assigns the guidance robot 10A capable of guiding the person 20 to the determined guidance destination.

[0431] For example, after guiding the person 20 in front of the examination room, the guidance robot 10A moves to another location without waiting in front of the examination room. For example, when the person 20 needs to move to the consulting room after the examination, the initially guiding guidance robot 10A determines another guidance robot 10A capable of guiding from in front of the examination room to in front of the consulting room. At this time, it is preferable that the other guidance robot 10A takes over the information related to the next guidance destination from the initially guiding guidance robot 10A. Accordingly, the other guidance robot 10A moves to in front of the examination room at the end of the examination and guides the person 20 from in front of the examination room to in front of the consulting room. Accordingly, the person 20 can avoid getting lost in the hospital and move smoothly.

[0432] Alternatively, the other guidance robot 10A can estimate the time required for the examination based on the past examination history to determine the end timing of the examination. Or alternatively, by sending a notice of the end of the examination from the equipment or operator in the examination room to the other guidance robot 10A, the other guidance robot 10A can determine the end timing of the examination. And it can also be that, when the entrance and exit of the examination room are different, the other guidance robot 10A moves to the exit of the examination room. And it can also be that the guidance robot 10A guiding from in front of the examination room to in front of the consulting room is the same as the initially guiding guidance robot 10A.

[0433] (Embodiment 3)

[0434] Although in Embodiment 1 and Embodiment 2, it is mainly described that the person 20 is, for example, a customer in a shopping mall, and use cases where a guiding robot 10 or the like can guide the person 20 to a desired store are described, it is not limited thereto. For example, when the person 20 is a customer participating in an event such as a concert, the guiding robot 10 or the like can be pre-configured around the station or around the venue according to the time period. That is, use cases will be described where the guiding robot 10 or the like guides the person 20 as a customer from around the station to the facilities of the event venue or the like, or guides the person 20 from the facilities of the event venue or the like to around the station. In addition, the content already described in Embodiment 1 and Embodiment 2 will be omitted below for description.

[0435] Figure 22 Conceptually illustrates the configuration of the guiding robot 10C in the time period before the event related to this embodiment. Figure 23 Conceptually illustrates the configuration of the guiding robot 10C in the time period after the event related to this embodiment. The guiding robot 10C has a functional configuration that combines the functions of the guiding robot 10A and the reception robot 10B related to Embodiment 2. That is, it is assumed that the guiding robot 10C is a Figure 19 robot in which most of the processing of the guiding robot 10A described in Embodiment 1 is performed by the cloud 40 shown, and this will be described.

[0436] In the case of an event such as a concert, the requested guiding destination depends to some extent on the time period. For example, as Figure 22 shown, in the time period before an event such as before a concert, since many people 20 travel from the station 30A to the event venue, it can be expected that the guiding destination is mostly a facility 30B such as a concert hall. However, for example Figure 23 shown, in the time period after an event such as after a concert, since many people 20 travel from a facility 30B such as a concert hall to the station 30A, it can be expected that the guiding destination is mostly the station 30A. Thus, as long as the guiding robot 10C that can guide a person along the shortest path to the guiding destination is pre-configured around the station or around the venue according to the time period. Accordingly, the convenience of the person 20 using the guiding robot 10C can be improved.

[0437] Hereinafter, a working example of the cloud 40 will be described. Hereinafter, since the description will focus on the characteristic processing in this embodiment, there will be cases where the same processing as that described in Embodiment 2 etc. will be omitted.

[0438] (Working example)

[0439] In this working example, the robot information stored in the storage unit 43 further includes historical information on the guidance performed by each of the plurality of guiding robots 10C in the past. The historical information includes, for example, at least the robot identification number, the guidance start position, the guidance end position, the guidance start time, and the guidance end time.

[0440] The cloud 40 (for example, the vehicle allocation control unit 422) predicts the area including the guidance start position, the guidance destination, and the time period during which a guidance request may occur in the future based on the historical information included in the robot information stored in the storage unit 43. For example, based on the historical information, the vehicle allocation control unit 422 can know that the guidance of the plurality of guiding robots 10C occurs regularly, or that the guiding robots 10C performed guidance before and after activities in the past, etc., so it can predict the area including the guidance start position, the guidance destination, and the time period of the future guidance requests that will occur. In addition, any existing technology can be used as the prediction method.

[0441] Next, the cloud 40 calculates the shortest path for a person and the shortest path for each guiding robot 10C based on the predicted area where a guidance request may occur and the information on the guidance destination. Next, the cloud 40 compares the shortest path for a person and the shortest path for each guiding robot 10C, and determines a plurality of guiding robots 10C among the plurality of guiding robots 10C whose shortest path for the robot is the same as the shortest path for a person. Next, the cloud 40 determines whether the determined plurality of guiding robots 10C can reach the predicted guidance start position where a guidance request may occur within the predicted time period during which a guidance request may occur. Next, when it is determined that they can reach, the cloud 40 creates an instruction for allocating the determined plurality of guiding robots 10C to the guidance start position and sends it to the determined plurality of guiding robots 10C. Accordingly, the cloud 40 can allocate the determined plurality of guiding robots 10C to the predicted guidance start position where a guidance request may occur within the predicted time period during which a guidance request may occur.

[0442] (Remark 1)

[0443] Based on the description of the above embodiment, the following technology is disclosed.

[0444] (Technology 1) A control method is a control method for a robot that can autonomously move and guide a person to a guiding destination. In this control method, robot current position information indicating the current position of the robot is obtained, guiding destination position information indicating the position of the guiding destination is obtained, person movable area information indicating the area where the person can move is obtained, and robot drivable area information indicating the area where the robot can travel is obtained. Based on the obtained robot current position information, the guiding destination position information, and the robot drivable area information, the shortest path of the robot is calculated. The shortest path of the robot is the shortest path from the current position of the robot to the position of the guiding destination. Based on the obtained robot current position information, the guiding destination position information, and the person movable area information, the shortest path of the person is calculated. The shortest path of the person is the shortest path from the current position of the person to the position of the guiding destination. The calculated shortest path of the person and the shortest path of the robot are compared, and according to the comparison result obtained through the comparison, the display form of the guiding route to the guiding destination on the display of the robot is changed.

[0445] Accordingly, it is possible to identify whether the person can be guided along the shortest path of the person.

[0446] More specifically, the guiding robot has an undrivable area in terms of performance, etc. Even when the drivable areas of the person and the guiding robot are different, the guiding robot not only calculates its own shortest path but also calculates the shortest path of the person other than itself. In this way, the guiding robot displays the guiding route in a display form that enables the person to identify whether the person can be guided along the shortest path of the person. Accordingly, since it is possible to make the person identify whether the person can be guided along the shortest path of the person, it is possible for the person to easily judge whether to let the guiding robot guide to the guiding destination based on considerations such as the burden of walking to the guiding destination.

[0447] (Technology 2) In the control method as described in Technology 1, when a comparison result indicating that the shortest path of the person and the shortest path of the robot are not the same path is obtained, the display form on the display is changed to a display form indicating that the person can be guided to a midway point that is the bifurcation point between the shortest path of the person and the shortest path of the robot in the shortest path of the person.

[0448] In this way, the guiding robot can display on its display that it can guide from its current position, which is also the current position of the person, to the midway point. Through such a display form of the guiding route, the person can judge whether to let the guiding robot guide to the midway point of the path to the store.

[0449] (Technology 3) For the control method as described in Technology 2, in the case where a comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, for the display form shown on the display, it is further changed to a display form showing that by converging on the shortest path of the person, the shortest path of the person and the shortest path of the robot overlap again, so that the guidance can continue.

[0450] Through such a display form of the guidance route, even if the person is not guided for a specified distance in the middle of the shortest path of the person, the person can judge whether to let the guiding robot guide to the store. When the guiding robot receives a guiding commission, it can guide to the guiding destination by converging after traveling on a non-overlapping path.

[0451] (Technology 4) For the control method as described in any one of Technologies 1 to 3, in the case where a comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, for the display form shown on the display, it is further changed to a display form showing the distance difference between the shortest path of the person and the shortest path of the robot that can be recognized.

[0452] Through such a display form of the guidance route, the person can judge whether to let the guiding robot guide to the guiding destination considering the burden of walking to the guiding destination.

[0453] (Technology 5) For the control method as described in any one of Technologies 2 to 4, in the case where a comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, for the display form shown on the display, it is further changed to a display form showing the reason why the shortest path of the person and the shortest path of the robot are not the same path.

[0454] Through such a display form of the guidance route, the person can judge whether to let the guiding robot guide to the guiding destination considering the reason.

[0455] (Technique 6) For the control method as described in Technique 1, when calculating the shortest path of the robot, in the case where it is determined that the robot cannot travel to the position of the guiding destination based on the obtained current position information of the robot, the guiding destination position information, and the drivable area information of the robot, the shortest path from the current position to the drivable limit point of the robot from the current position to the position where the robot can travel is calculated as the shortest path of the robot between the current position and the guiding destination position. By comparison, in the case where the comparison result showing the situation that the robot cannot travel to the guiding destination position and the boundary point where the shortest path of the robot overlaps and ends with the shortest path of the person among the shortest path of the robot is obtained, the display form displayed on the display is changed to a display form showing that the person can be guided from the current position to the boundary point in the shortest path of the person.

[0456] Accordingly, the guiding robot can not only display the situation where the shortest path of the person is different from the shortest path of the robot, but also display the reason why the shortest path of the robot is different from the shortest path of the person on the display.

[0457] Through such a display form of the guiding route, a person can consider the reason to judge whether to let the guiding robot guide to the guiding destination.

[0458] (Technique 7) For the control method as described in Technique 6, in the case where the robot obtains the comparison result showing the situation that it cannot travel to the guiding destination position and the boundary point where the shortest path of the robot overlaps and ends with the shortest path of the person among the shortest path of the robot, the current position information of each of one or more other robots different from the robot and the drivable area information of the robot are further obtained. According to the obtained current position information of each of the one or more other robots and the drivable area information of the robot, and the guiding destination position information, for each of the one or more other robots, the shortest path from the boundary point to the guiding destination position, that is, the shortest path of the other robot, is calculated respectively. The other robot whose shortest path from the boundary point to the guiding destination position overlaps with the shortest path of the person among the shortest paths of the other robots is determined, and the display form displayed on the display is changed to a display form showing that the robot can be guided from the current position to the boundary point in the shortest path of the person and showing that the determined other robot can be guided from the boundary point to the guiding destination position.

[0459] Accordingly, even if there is a location where the guiding robot has a driving limit, by handing over to other guiding robots, it is possible to display a shortest path for guiding a person to the guiding destination desired by the person. With such a display form of the guiding route, a person can determine whether to let the guiding robot and other guiding robots guide to the guiding destination.

[0460] (Technique 8) As the control method described in Technique 6, in the case where the robot has obtained a comparison result showing a situation where it cannot drive to the position of the guiding destination and a boundary location where the shortest path of the robot among the shortest paths of the person overlaps and ends, further obtain the current position information of each of one or more other robots different from the robot and the information on the drivable area of the robot. According to the obtained current position information and the information on the drivable area of each of the one or more other robots, and the guiding destination position information, for each of the one or more other robots, calculate the shortest path of the other robot as the shortest path from a position within a specified range from the boundary location to the position of the guiding destination, determine the takeover robot, which is the other robot whose shortest path of the other robot overlaps with the shortest path of the person from the position within the specified range to the position of the guiding destination, and change the display form displayed on the display to a display form showing that the robot can guide from the current position to the boundary location in the shortest path of the person, the determined takeover robot can guide from the position within the specified range to the position of the guiding destination, and the position where the guiding of the takeover robot starts is the position within the specified range.

[0461] Accordingly, even if there is a location where the guiding robot has a driving limit, by handing over to other guiding robots, it is possible to display a shortest path for guiding a person to the guiding destination desired by the person.

[0462] (Technique 9) For the control method as described in Technique 1, when the comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, further obtain the current position information of each of one or more other robots different from the robot and the information on the area where the robot can travel. According to the obtained current position information of each of the one or more other robots and the information on the area where the robot can travel, and the guiding destination position information, for each of the one or more other robots, calculate the shortest path of the other robot as the shortest path from the current position to the guiding destination position respectively. Determine the proxy robot, which is the other robot whose shortest path of the other robot is the same path as the shortest path of the person among the shortest paths of the other robots. Call the determined proxy robot to the current position, and change the display form shown on the display to a display form showing that the proxy robot can guide from the current position to the guiding destination position in the shortest path of the person.

[0463] In this way, the guiding robot can display to let other guiding robots replace it to guide in order to provide guidance for people. Through such a display form of the guiding route, people can judge whether to let other guiding robots replace the guiding robot to guide to the guiding destination.

[0464] (Technique 10) For the control method as described in Technique 1, when the comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, further obtain the current position information of each of one or more other robots different from the robot and the information on the area where the robot can travel. According to the obtained current position information of each of the one or more other robots and the information on the area where the robot can travel, and the guiding destination position information, for each of the one or more other robots, calculate the shortest path of the other robot as the shortest path from a position within a specified range from the current position to the guiding destination position respectively. Determine the proxy robot, which is the other robot whose shortest path of the other robot is the same path as the shortest path of the person from the position within the specified range to the guiding destination position and exists around the position within the specified range. Change the display form shown on the display to a display form showing that the proxy robot can guide from the position within the specified range to the guiding destination position in the shortest path of the person, and taking the position where the proxy robot starts guiding as the position within the specified range.

[0465] In this way, the guiding robot can display that if a person can move to the position of another guiding robot, the person can be guided along the shortest path for the person. Through such a display form of the guiding route, a person can judge whether to move to the position of another guiding robot, and let the other guiding robot replace the guiding robot to guide to the guiding destination.

[0466] (Technology 11) For the control method as described in Technology 1, when the robot can also transport luggage and obtains a comparison result showing that the shortest path for the person and the shortest path for the robot are not the same path, change the display form shown on the display to a display form showing that the luggage can be delivered to the guiding destination along the shortest path for the robot and the person can move to the guiding destination along the shortest path for the person.

[0467] In this way, the guiding robot can prompt a person to transport only the person's luggage along the shortest path for the robot while the person can move along the shortest path for the person. Accordingly, the guiding robot can transport the person's luggage to the destination along the shortest path for the robot, and at the same time the person can go to the destination along the shortest path for the person. Therefore, it does not increase the burden of the person's walking and can improve the opportunity to use the guiding robot.

[0468] (Technology 12) For the control method as described in Technology 1, when the robot can also transport only one person and obtains a comparison result showing that the shortest path for the person and the shortest path for the robot are not the same path, change the display form shown on the display to a display form showing that one of the people can be transported to the guiding destination along the shortest path for the robot and the people other than the one person can move to the guiding destination along the shortest path for the person.

[0469] In this way, the guiding robot can prompt a group composed of multiple people to transport only one person along the shortest path for the robot while the remaining people can move along the shortest path for the person. Accordingly, the guiding robot can transport only one person to the destination along the shortest path for the robot, and at the same time the remaining people can go to the destination along the shortest path for the person. Accordingly, it can make one person have no burden of walking at all and does not increase the burden of walking of the remaining people, so the opportunity to use the guiding robot can be improved.

[0470] (Technology 13) For the control method as described in any one of Technologies 2 to 4, when a comparison result showing that the shortest path for the person and the shortest path for the robot are not the same path is obtained, further change the display form shown on the display to a display form for displaying advertisements of stores existing on the shortest path for the person.

[0471] Accordingly, when a person sees an advertisement displayed on a guiding robot, the person can identify whether they can be guided to a store that is the target of the advertisement via the shortest path of the robot, which is the same as the shortest path for the person.

[0472] (Remarks 2)

[0473] Moreover, based on the description of the above embodiments, the following technology is disclosed.

[0474] (Technology 1) A control method for a robot that can autonomously move and is used to guide a person to a guiding destination. In the control method, (a) obtain robot current position information showing the current position of the robot, (b) obtain guiding destination position information showing the position of the guiding destination, (c) obtain person movable area information showing the area where the person can move, (d) obtain robot drivable area information showing the area where the robot can travel, (e) calculate a person path in a manner that satisfies a specified condition for reducing the burden on the person based on the obtained robot current position information, guiding destination position information, and person movable area information. The person path is the path from the current position of the person to the position of the guiding destination, (f) compare the calculated person path with the robot drivable area information, and (g) change the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained.

[0475] (Technology 2) The control method according to Technology 1, in (g), change the display form on the display to a display form showing that the person can be guided to a boundary point. The boundary point is the boundary between the area included in the robot drivable area information in the person path and the area not included in the robot drivable area information in the person path.

[0476] (Technology 3) The control method according to Technology 2, in (g), further change the display form on the display to a display form showing that the person can be continuously guided by converging at a point that is again included in the robot drivable area information in the person path.

[0477] (Technique 4) For the control method according to any one of Techniques 1 to 3, further in the control method, (h) calculate the shortest path of the robot based on the obtained current position information of the robot, the guiding destination position information, and the information on the area where the robot can travel. The shortest path of the robot is the shortest path from the current position of the robot to the guiding destination position. In (e), calculate the shortest path of the person as the path of the person. The shortest path of the person is the shortest path from the current position of the person to the guiding destination position. In (f), compare the calculated shortest path of the person and the shortest path of the robot. In (g), when a comparison result showing that the shortest path of the person and the shortest path of the robot are not the same path is obtained, further change the display form shown on the display to a display form capable of identifying the distance difference between the shortest path of the person and the shortest path of the robot.

[0478] (Technique 5) For the control method according to Technique 2 or 3, in (g), further change the display form shown on the display to a display form showing the reason why a part of the path of the person is not included in the information on the area where the robot can travel.

[0479] (Technique 6) For the control method according to Technique 1, further in the control method, (i) when the robot can guide the person to a boundary location, determine another robot. The other robot is a robot different from the robot that can guide the person from the boundary location in the path of the person to the guiding destination position. The boundary location is the boundary between the area in the path of the person included in the information on the area where the robot can travel and the area in the path of the person not included in the information on the area where the robot can travel. In (g), change the display form shown on the display to a display form showing that the robot can guide from the current position to the boundary location in the path of the person and showing that the determined other robot can guide from the boundary location to the guiding destination position.

[0480] (Technology 7) For the control method as described in Technology 6, further in the control method, (j) when the robot is capable of guiding the person to a boundary location, determine a takeover robot, which is a different robot from the robot and is capable of guiding the person from a position within a specified range from the boundary location in the person's path to the position of the guiding destination. The boundary location is the boundary between the area in the person's path included in the robot's drivable area information and the area in the person's path not included in the robot's drivable area information. In (g), change the display form shown on the display to a display form showing that in the person's path, the robot can guide from the current position to the boundary location, and the determined takeover robot can guide from the position within the specified range to the position of the guiding destination.

[0481] (Technology 8) For the control method as described in Technology 1, further in the control method, (k) when the entire person's path is not included in the robot's drivable area information, determine a proxy robot capable of guiding the entire person's path, and this proxy robot is a different robot from the robot. In (g), change the display form shown on the display to a display form showing that in the person's path, the proxy robot can guide from the current position to the position of the guiding destination.

[0482] (Technology 9) For the control method as described in Technology 1, further in the control method, (l) when the entire person's path is not included in the robot's drivable area information, determine a proxy robot capable of guiding from a position within a specified range from the current position to the position of the guiding destination, and this proxy robot is a different robot from the robot. In (g), change the display form shown on the display to a display form showing that in the person's path, the proxy robot can guide from the position within the specified range to the position of the guiding destination.

[0483] (Technology 10) In the control method as described in Technology 1, further, (m) a robot path is calculated based on the obtained current position information of the robot, the guiding destination position information, and the robot's drivable area information. The robot path is the path for the robot to move from the current position to the guiding destination position. The robot is also capable of transporting luggage. In (g), the display form shown on the display is changed to a display form showing that the luggage can be delivered to the guiding destination through the robot path and the person can move to the guiding destination through the person path.

[0484] (Technology 11) In the control method as described in Technology 1, further, (n) a robot path is calculated based on the obtained current position information of the robot, the guiding destination position information, and the robot's drivable area information. The robot path is the path for the robot to move from the current position to the guiding destination position. The robot is also capable of transporting only one person. In (g), the display form shown on the display is changed to a display form showing that one of the people can be transported to the guiding destination through the robot path and the people other than the one person can move to the guiding destination through the person path.

[0485] (Technology 12) In the control method as described in any one of Technologies 1 to 3, in (g), the display form shown on the display is further changed to a display form for displaying advertisements of stores existing on the person path.

[0486] (Technology 13) A robot is a robot that guides a person to a guiding destination and can move autonomously. The robot includes: an acquisition unit that acquires robot current position information showing the current position of the robot, guiding destination position information showing the position of the guiding destination, person movable area information showing the area where the person can move, and robot drivable area information showing the area where the robot can drive; a calculation unit that calculates a person path in a manner that satisfies a specified condition for reducing the burden on the person based on the obtained robot current position information, the guiding destination position information, and the person movable area information. The person path is the path for the person to move from the current position to the guiding destination position; a comparison processing unit that compares the calculated person path with the robot drivable area information; and a display control unit that changes the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained through the comparison.

[0487] (Technology 14) A program for controlling a robot that can autonomously move and guide a person to a guiding destination, the program causing a computer to perform the following processes: obtaining robot current position information indicating the current position of the robot, obtaining guiding destination position information indicating the position of the guiding destination, obtaining person movable area information indicating the area where the person can move, obtaining robot drivable area information indicating the area where the robot can travel, calculating a person path, which is a path for the person from the current position to the position of the guiding destination, in a manner that satisfies a specified condition for reducing the burden on the person, based on the obtained robot current position information, the guiding destination position information, and the person movable area information, comparing the calculated person path with the robot drivable area information, and changing the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained by the comparison.

[0488] (Other embodiments, etc.)

[0489] Although the control method and the like related to one or more modes have been described above based on the embodiments, the present disclosure is not limited to these embodiments and modification examples. Within the scope not departing from the gist of the present disclosure, various modifications conceivable by those skilled in the art can also be included in the scope of the present disclosure when executed in the embodiments and modification examples.

[0490] In addition, in the above embodiments, each component may be constituted by dedicated hardware or may be implemented by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

[0491] In addition, the following cases are also included in the present disclosure.

[0492] (1) Specifically, the above at least one device is a computer system constituted by a microprocessor, a ROM, a RAM, a hard disk device, a display device, a keyboard, a mouse, etc. A computer program is stored in the RAM or the hard disk device. The above at least one device realizes its function by the microprocessor working according to the computer program. Here, the computer program is composed of a combination of a plurality of command codes that issue instructions to the computer in order to realize a specified function.

[0493] (2) Part or all of the components constituting the above-described at least one device may be constituted by a system LSI (Large Scale Integration). A system LSI is a super multi-functional LSI in which multiple components are integrally manufactured on one chip. Specifically, it is a computer system constituted by including a microprocessor, a ROM, a RAM, etc. A computer program is stored in the RAM. The microprocessor operates according to the computer program, whereby the system LSI realizes its functions.

[0494] (3) Part or all of the components constituting the above-described at least one device may be constituted by an IC card or a single module that can be attached to and detached from the device. The IC card or the module is a computer system constituted by a microprocessor, a ROM, a RAM, etc. The IC card or the module may include the above-described super multi-functional LSI. The IC card or the module realizes its functions by the microprocessor operating according to the computer program. The IC card or the module may also have tamper resistance.

[0495] (4) The present disclosure can also be utilized as the method shown above. And it can be realized by a computer program for a computer to execute these methods, or can be realized by a digital signal constituted by a computer program.

[0496] Furthermore, the present disclosure can also be realized as a computer-readable recording medium that records a computer program or a digital signal. Examples of the computer-readable recording medium are a floppy disk, a hard disk, a CD (Compact Disc)-ROM, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, etc. And it can also be realized as a digital signal recorded on these recording media.

[0497] Furthermore, the present disclosure can transmit a computer program or a digital signal via an electronic communication line, a wireless or wired communication line, a network represented by the Internet, data broadcasting, etc.

[0498] And it can be transmitted by recording a program or a digital signal on a recording medium, or by transmitting a program or a digital signal via a network or the like. Accordingly, it can be executed by an independent other computer system.

[0499] Industrial Applicability

[0500] The present disclosure can be utilized for a control method, a guiding robot, etc. that enable identification of whether a guiding robot can guide a person to a destination such as a store, an event venue, a station, an amusement park, etc. within a shopping mall via the shortest path.

[0501] Symbol Description

[0502] 1A Wizard System

[0503] 10, 10a, 10A, 10b, 10C Guiding Robots

[0504] 10B Receiving Robot

[0505] 11, 11B, 41 Communication Unit

[0506] 12, 12B Input Unit

[0507] 13, 13B Display Unit

[0508] 13a Display

[0509] 14 Location Information Acquisition Unit

[0510] 15, 15B Sensor Unit

[0511] 16 Driving Unit

[0512] 17, 17A, 17B, 42 Control Unit

[0513] 18, 18A, 18B, 43 Storage Unit

[0514] 30, 30a, 30b Stores

[0515] 30A Station

[0516] 30B Facilities

[0517] 40 Cloud

[0518] 101 Processor

[0519] 102 Memory

[0520] 103 Communication IF

[0521] 104 Input / Output IF

[0522] 105 Sensor

[0523] 106 Input Device

[0524] 107 Display Device

[0525] 108 Driving Device

[0526] 171 Acquisition Unit

[0527] 172 Store Guide Information Generation Unit

[0528] 173, 423 Shortest Path Calculation Unit for People

[0529] 174, 424 Shortest Path Calculation Unit for Robots

[0530] 175, 425 Comparison Processing Unit

[0531] 176 Display Control Unit

[0532] 421 Guidance Request Information Acquisition Unit

[0533] 422 Vehicle Allocation Control Unit

Claims

1. A control method, which is a control method for a robot that can autonomously move and guide a person to a guiding destination. In this control method, (a) Obtain robot current position information showing the current position of the robot. (b) Obtain guiding destination position information showing the position of the guiding destination. (c) Obtain person movable area information showing the area where the person can move. (d) Obtain robot drivable area information showing the area where the robot can travel. (e) Calculate a person path in a manner that satisfies a specified condition for reducing the burden on the person based on the obtained robot current position information, guiding destination position information, and person movable area information. The person path is the path for the person to move from the current position to the position of the guiding destination. (f) Compare the calculated person path with the robot drivable area information. (g) Change the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained from the comparison.

2. The control method according to claim 1, in (g), change the display form shown on the display to a display form showing that the person can be guided to a boundary location, where the boundary location is the boundary between the area included in the robot drivable area information in the person path and the area not included in the robot drivable area information in the person path.

3. The control method according to claim 2, in (g), further change the display form shown on the display to a display form showing that the person can be continuously guided by converging at a location that is again included in the robot drivable area information in the person path.

4. The control method according to any one of claims 1 to 3, further in this control method, (h) Calculate a robot shortest path based on the obtained robot current position information, guiding destination position information, and robot drivable area information. The robot shortest path is the shortest path for the robot to move from the current position to the position of the guiding destination. in (e), calculate a person shortest path as the person path. The person shortest path is the shortest path for the person to move from the current position to the position of the guiding destination. (f) Compare the calculated person shortest path with the robot shortest path. (g) In the case where a comparison result showing that the person shortest path and the robot shortest path are not the same path is obtained, further change the display form shown on the display to a display form showing the distance difference between the person shortest path and the robot shortest path.

5. The control method according to claim 2 or 3, in (g), further change the display form shown on the display to a display form showing the reason why a part of the person path is not included in the robot drivable area information.

6. The control method according to claim 1, Further in the control method, (i) When the robot is capable of guiding the person to a boundary location, other robots are determined. The other robots are robots different from the robot and are capable of guiding the person from the boundary location in the person's path to the position of the guiding destination. The boundary location is the boundary between the area included in the drivable area information of the robot in the person's path and the area not included in the drivable area information of the robot in the person's path. In (g), change the display form shown on the display to a display form showing that in the person's path, the robot can guide from the current position to the boundary location, and the determined other robot can guide from the boundary location to the position of the guiding destination.

7. The control method according to claim 6, Further in the control method, (j) When the robot is capable of guiding the person to a boundary location, a takeover robot is determined. The takeover robot is a robot different from the robot and is capable of guiding the person from a position within a specified range from the boundary location in the person's path to the position of the guiding destination. The boundary location is the boundary between the area included in the drivable area information of the robot in the person's path and the area not included in the drivable area information of the robot in the person's path. In (g), change the display form shown on the display to a display form showing that in the person's path, the robot can guide from the current position to the boundary location, and the determined takeover robot can guide from the position within the specified range to the position of the guiding destination.

8. The control method according to claim 1, Further in the control method, (k) When the entire person's path is not included in the drivable area information of the robot, a proxy robot capable of guiding the entire person's path is determined, and the proxy robot is a robot different from the robot. In (g), change the display form shown on the display to a display form showing that in the person's path, the proxy robot can guide from the current position to the position of the guiding destination.

9. The control method according to claim 1, Further in the control method, (l) When the entire person's path is not included in the drivable area information of the robot, a proxy robot capable of guiding from a position within a specified range from the current position to the position of the guiding destination is determined, and the proxy robot is a robot different from the robot. In (g), change the display form shown on the display to a display form showing that the agent robot can guide from a position within the specified range to the position of the guiding destination in the human path.

10. The control method according to claim 1, Further in the control method, (m) Calculate a robot path based on the obtained robot current position information, the guiding destination position information, and the robot drivable area information, where the robot path is the path for the robot to move from the current position to the position of the guiding destination. The robot is also capable of transporting luggage. In (g), change the display form shown on the display to a display form showing that the luggage can be delivered to the guiding destination through the robot path and the person can move to the guiding destination through the human path.

11. The control method according to claim 1, Further in the control method, (n) Calculate a robot path based on the obtained robot current position information, the guiding destination position information, and the robot drivable area information, where the robot path is the path for the robot to move from the current position to the position of the guiding destination. The robot is also capable of transporting only one person. In (g), change the display form shown on the display to a display form showing that one person among the people can be transported to the guiding destination through the robot path and the people other than the one person can move to the guiding destination through the human path.

12. The control method according to any one of claims 1 to 3, In (g), further change the display form shown on the display to a display form for displaying advertisements of stores existing on the human path.

13. A robot is a robot that guides a person to a guiding destination and can move autonomously. The robot includes: An acquisition unit that acquires robot current position information showing the current position of the robot, guiding destination position information showing the position of the guiding destination, human movable area information showing the area where the person can move, and robot drivable area information showing the area where the robot can drive; A calculation unit that calculates a human path in a manner that satisfies specified conditions for reducing the burden on the person based on the obtained robot current position information, the guiding destination position information, and the human movable area information, where the human path is the path for the person to move from the current position to the position of the guiding destination; A comparison processing unit that compares the calculated human path with the robot drivable area information; And A display control unit that changes the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained by the comparison.

14. A program for controlling a robot that can autonomously move and guide a person to a guiding destination, the program causing a computer to perform the following processing: Obtain robot current position information showing the current position of the robot, Obtain guiding destination position information showing the position of the guiding destination, Obtain person movable area information showing the area where the person can move, Obtain robot drivable area information showing the area where the robot can travel, Calculate a person path, which is the path of the person from the current position to the position of the guiding destination, in a manner that satisfies a specified condition for reducing the burden on the person, based on the obtained robot current position information, guiding destination position information, and person movable area information, Compare the calculated person path with the robot drivable area information, Change the display form of the guiding route to the guiding destination on the display of the robot according to the comparison result obtained by the comparison.

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