Guidance control device, guidance control method, and guidance control program

Abstract

To provide a guidance control device, a guidance control method, and a guidance control program capable of dealing with the departure of a person being guided by a guide robot when the person leaves the guide robot.SOLUTION: A guidance control device comprises: an acquisition unit (72) for acquiring a communication state between a guide robot (20) that guides a person and a portable terminal (50) possessed by the person; a determination unit (73) for determining whether the person has left a communication range of the guide robot based on the communication state acquired by the acquisition unit; and an output unit (74) for outputting departure data when the determination unit determines that the person has left the communication range of the guide robot.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] Patent Document 1 discloses a humanoid guide robot that leads humans to a destination. The guide robot includes a task setting means for setting a guide task, and a first movement control means for controlling the robot to move with its body facing backwards when the guide task set in the task setting means targets an unspecified number of humans. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-000656 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 does not assume that the person being guided by the guide robot will leave the guide robot.

[0005] As an example, the present disclosure aims to provide a guidance control device, a guidance control method, and a guidance control program that can respond when a person being guided by a guide robot leaves the guide robot. [Means for solving the problem]

[0006] The guidance control device according to the present disclosure includes an acquisition unit (72) that acquires a communication status between a guide robot (20) that guides a person and a mobile terminal (50) carried by the person, a determination unit (73) that determines whether or not the person has left the communication range of the guide robot based on the communication status acquired by the acquisition unit, and an output unit (74) that outputs departure data when the determination unit determines that the person has left the communication range of the guide robot.

[0007] The guidance control method according to the present disclosure is a method in which a computer executes processing including acquiring a communication status between a guide robot (20) that guides a person and a mobile terminal (50) carried by the person, determining whether or not the person has left the communication range of the guide robot based on the communication status, and outputting departure data when it is determined that the person has left the communication range of the guide robot.

[0008] The guidance control program according to the present disclosure is a program for causing a computer to execute processing including acquiring the communication status between a guide robot (20) that guides a person and a mobile terminal (50) carried by the person, determining whether or not the person has left the communication range of the guide robot based on the communication status, and outputting departure data when it is determined that the person has left the communication range of the guide robot. Effect of the Invention

[0009] According to the present disclosure, as an example, a guidance control device, a guidance control method, and a guidance control program are provided that can respond when a person being guided by a guide robot leaves the guide robot. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 illustrates an example of a guidance system. [Diagram 2] FIG. 13 is a diagram showing an example of a state in which a plurality of members are being guided by a guide robot; [Diagram 3] FIG. 1 is a diagram showing a guidance system to which a guidance control device according to a first embodiment is applied, showing a state in which no members have left the system. [Figure 4] FIG. 1 is a diagram showing a guidance system to which a guidance control device according to a first embodiment is applied, showing a state in which a member has left the guidance system. [Diagram 5] 5 is a flowchart showing the flow of a first half of a guidance control process according to the first embodiment. [Figure 6] 10 is a flowchart showing the flow of a second half of the guidance control process according to the first embodiment. [Figure 7] 13 is a diagram showing an example of an image displayed on a touch panel display of a guide robot when starting to use the guidance system. FIG. [Figure 8] 11 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal when starting to use the guidance system. FIG. [Figure 9] 13 is a diagram showing an example of an image displayed on the touch panel display of the guide robot when a member is present in the boundary area of ​​the communication range. FIG. [Figure 10] 13 is a diagram showing an example of an image displayed on the touch panel display of the guide robot when it is determined that a member has left the group. FIG. [Figure 11] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a remaining member when it is determined that a member has left; FIG. [Figure 12] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a leaving member when it is determined that a leaving member exists; FIG. [Figure 13] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a remaining member when a leaving member is discovered; FIG. [Figure 14] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a remaining member when a leaving member selects multiple landmarks. FIG. [Figure 15]13 is a diagram showing an example of an image displayed on the touch panel display of the mobile terminal of the leaving member when the returning robot is heading toward a landmark. FIG. [Figure 16] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a leaving member when the leaving member is prompted to select one route from a plurality of routes. FIG. [Figure 17] 13 is a diagram showing an example of an image displayed on the touch panel display of the mobile terminal of the leaving member when the leaving member selects a route. FIG. [Figure 18] 13 is a diagram showing an example of an image displayed on a touch panel display of a mobile terminal of a remaining member when a leaving member selects a route. FIG. [Figure 19] FIG. 11 is a diagram showing a guidance system to which a guidance control device according to a second embodiment is applied. [Figure 20] 13 is a diagram showing an example of an image displayed on the touch panel display of the mobile terminal of the leaving member when the leaving member is discovered by the main camera; FIG. [Figure 21] FIG. 11 is a diagram showing a guidance system to which a guidance control device according to a third embodiment is applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [First embodiment] First, a first embodiment of the present disclosure will be described.

[0012] FIG. 1 shows an example of a guidance system S. The guidance system S is a system for guiding, for example, a plurality of people (hereinafter also referred to as "members") who form a group to a destination. The guidance system S is applied to facilities such as airports, shopping malls, stores, buildings, and exhibition halls. The guidance system S may be applied to any facility as long as it is a facility that is required to guide a plurality of members to a destination.

[0013] The guidance system S includes a server 10, a plurality of guide robots 20, and a plurality of cameras 30. The server 10, the plurality of guide robots 20, and the plurality of cameras 30 each include a computer 40 and a communication device 42. The server 10, the plurality of cameras 30, and the plurality of guide robots 20 are connected to each other via a network 44 by each communication device 42 so as to be able to communicate with each other. The network 44 is, for example, a wide area communication network such as the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network). Below, as an example, a case where the network 44 is the Internet will be described.

[0014] The server 10 processes data obtained by the guide robot 20 and the camera 30, and controls the guide robot 20 and the camera 30. The guide robot 20 may be of any type as long as it can guide a plurality of members. Examples of the guide robot 20 include a drone-type robot, a humanoid robot, an animal-type robot, a character mascot-type robot, and a vehicle-type robot. In the example shown in FIG. 1, a vehicle-type robot is shown as the guide robot 20. The vehicle-type robot may have, for example, a transport function for transporting baggage carried by a member.

[0015] As an example, the camera 30 is installed in the infrastructure 46. The infrastructure 46 may be anything installed in a facility to which the guidance system S is applied. In the example shown in FIG. 1, a traffic light is shown as the infrastructure 46. The camera 30 takes images inside the facility. The number of guide robots 20 and the number of cameras 30 may be any number.

[0016] 2 shows an example of a situation in which multiple members 90 are being guided by the guide robot 20. The guide robot 20 is an autonomous robot that autonomously travels along a designated route to guide the multiple members 90 to a destination. The multiple members 90 guided by the guide robot 20 may be any number of people.

[0017] The guide robot 20 includes a sensor 21, a driving device 22, a wireless communication device 23, and a touch panel display 24, in addition to the above-mentioned computer 40 and communication device 42. The communication device 42, the sensor 21, the driving device 22, the wireless communication device 23, and the touch panel display 24 are controlled by the computer 40 of the guide robot 20.

[0018] The sensor 21 detects information necessary for the guide robot 20 to travel autonomously. Examples of the sensor 21 include a LiDAR (Light Detection And Ranging) sensor, an acceleration sensor, an angular velocity sensor, a motion sensor, and a camera. The guide robot 20 has a plurality of wheels 25. The plurality of wheels 25 includes steering wheels and driving wheels. The driving device 22 includes a motor actuator for driving the driving wheels and steering the steering wheels.

[0019] Each of the members 90 guided by the guide robot 20 carries a mobile terminal 50. Examples of the mobile terminal 50 include a mobile phone, a smartphone, a tablet terminal, a notebook personal computer, and a wearable terminal. The mobile terminal 50 may be any device that can be carried by a person. In the example shown in FIG. 2, a smartphone is shown as the mobile terminal 50.

[0020] The mobile terminal 50 has a camera 51 and a touch panel display 52. ​​The mobile terminal 50 also includes a wireless communication device 23 similar to the wireless communication device 23. The wireless communication device 23 may be of any standard as long as it is capable of wireless communication. Examples of wireless communication standards include Wi-Fi (registered trademark), Bluetooth (registered trademark), and other mesh communication standards. When authentication for wireless communication with the guide robot 20 is obtained, the mobile terminal 50 is connected to the guide robot 20 by each wireless communication device 23 so as to be able to communicate with the guide robot 20. In other words, the mobile terminal 50 is connected to the guide robot 20 so as to be able to communicate directly without going through a center computer such as the server 10.

[0021] For example, an identification code is used for authentication of wireless communication. The identification code may be, for example, a QR code (registered trademark). Authentication of wireless communication between the mobile terminal 50 and the guide robot 20 will be described later with reference to Figs. 7 and 8. The touch panel display 24 of the guide robot 20 displays buttons for using various services, an identification code, and information to the destination.

[0022] Incidentally, when a plurality of members 90 are being guided by the guide robot 20, it is conceivable that any one of the plurality of members 90 may follow another group or become interested in a place other than the destination and leave the original group. If any one of the members 90 leaves the original group (in other words, the guide robot 20 guiding the group), there is a risk that all the members 90 of the group will not be able to arrive at the destination together.

[0023] The guidance system S has been configured in consideration of the above-mentioned problems, and is configured to be able to deal with the case where a member 90 being guided by the guide robot 20 leaves the guide robot 20. This will be specifically described below.

[0024] 3 and 4 show a guidance system S to which a guidance control device 60 according to the first embodiment is applied. Hereinafter, a member 90 remaining in a group is referred to as a "remaining member 90A," and a member 90 who has left a group is referred to as a "leaving member 90B." In the example shown in FIG. 3, all members 90 of the group are remaining members 90A, and in the example shown in FIG. 4, one member 90 of the group is leaving member 90B. The remaining member 90A is an example of a "remainer" in the present disclosure, and the leaving member 90B is an example of a "leaver" in the present disclosure.

[0025] In the following description, among the multiple guide robots 20, the guide robot 20 in charge of guiding the group will be referred to as the "guide robot 20A," and the guide robot 20 not in charge of guiding the group will be referred to as the "non-guide robot 20B." The non-guide robot 20B is usually located outside the communication range of wireless communication performed by the guide robot 20A. However, the non-guide robot 20B may be located inside the communication range of the guide robot 20A depending on the situation. The guidance system S may be equipped with multiple non-guide robots 20B.

[0026] The guidance control device 60 is a device for controlling the guidance system S, and in the first embodiment, as an example, is configured by a computer 40 provided in the server 10. The guidance control device 60 has, as a hardware configuration, a CPU 61, a ROM 62, a RAM 63, and a storage 64. The CPU 61, the ROM 62, the RAM 63, and the storage 64 are connected to each other via a bus so as to be able to communicate with each other.

[0027] The CPU 61 executes various programs. Specifically, the CPU 61 reads out various programs stored in the ROM 62 or the storage 64, and executes the programs using the RAM 63 as a working area. The CPU 61 then performs various arithmetic processing in accordance with the programs.

[0028] The ROM 62 stores various programs and various data. The RAM 63 temporarily stores programs or data as a working area. The storage 64 is composed of a recording medium such as a hard disk drive (HDD), a solid state drive (SSD) or a flash memory. The storage 64 stores various programs including an operating system and various data for arithmetic processing.

[0029] A guidance control program 70 is stored in the ROM 62. The guidance control program 70 may be stored in the storage 64. The CPU 61 reads out the guidance control program 70 and executes the guidance control program 70 using the RAM 63 as a working area. The CPU 61 then executes a guidance control process for controlling the guidance system S in accordance with the guidance control program 70. The guidance control process is executed by the CPU 61 operating as an adjustment unit 71, an acquisition unit 72, a determination unit 73, and an output unit 74 in accordance with the guidance control program 70.

[0030] 5 and 6 are flowcharts showing the flow of guidance control processing according to the first embodiment. Hereinafter, the operation of the guidance system S and the guidance control method will be specifically described together with the flow of the guidance control processing with reference to the flowcharts shown in FIGS.

[0031] First, in step ST10, the output unit 74 outputs display data for displaying an identification code to the guiding robot 20A. When the display data is input to the guiding robot 20A, the guiding robot 20A displays the identification code on the touch panel display 24 based on the display data. The display data may be data representing an instruction to display an identification code registered in advance in the guiding robot 20A on the touch panel display 24, or may be data representing a specific shape of the identification code to be displayed on the touch panel display 24.

[0032] 7 shows an example of an image displayed on the touch panel display 24 of the guide robot 20A when starting to use the guide system S. A button 80 displaying a message saying "Start use" is displayed on the touch panel display 24. When a member 90 of the group presses the button, the image changes, and the touch panel display 24 displays a message saying "Please read the QR code with your device", an identification code 81 for registering with the guide robot 20A, a message showing the number of members 90 registered with the guide robot 20A (for example, "0 registered"), and a button 82 displaying a message saying "Start guidance". When the member 90 presses the button 82, the guide robot 20A starts wireless communication with the mobile terminal 50 of the member 90.

[0033] 8 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 when starting to use the guidance system S. When an application for using the guidance system S is installed in the mobile terminal 50 and the application is started, the camera 51 is started. When a member 90 (hereinafter also referred to as a "user") who possesses the mobile terminal 50 points the camera 51 at an identification code 81, the identification code 81 is displayed on the touch panel display 52.

[0034] The identification code is read by the mobile terminal 50, and authentication for wireless communication between the mobile terminal 50 and the guide robot 20A is obtained based on the information of the read identification code. The mobile terminal 50 that has been authenticated for wireless communication with the guide robot 20A is registered with the guide robot 20A. When the mobile terminal 50 is registered with the guide robot 20A, the image changes, and a registration completion message (for example, "Registration completed, connected to robot No. XX") is displayed on the touch panel display 52.

[0035] The mobile terminal 50 registered with the guiding robot 20A can connect to the Internet through the guiding robot 20A, so that the user can be actively encouraged to connect the mobile terminal 50 to the guiding robot 20A. In this way, when the multiple members 90 are each authenticated for wireless communication with the guiding robot 20A for their mobile terminal 50, a group is formed by the multiple members 90 guided by the guiding robot 20A.

[0036] 7 and 8, the identification code 81 is used for authentication of wireless communication, but an identification code other than the identification code 81 may be used. Also, identification information of the mobile terminal 50 (for example, a terminal individual number, an email address, or a telephone number) may be used for authentication of wireless communication, or information manually input to the mobile terminal 50 may be used.

[0037] The guiding robot 20A outputs headcount data indicating the number of members 90 registered in the guiding robot 20A to the server 10. When the headcount data is input to the server 10, in step ST12, the adjustment unit 71 outputs adjustment data to the guiding robot 20A for adjusting the communication range of wireless communication according to the number of members 90 registered in the guiding robot 20A based on the headcount data. The adjustment data is, for example, data specifying the communication range of wireless communication.

[0038] When the adjustment data is input to the guiding robot 20A, the guiding robot 20A adjusts the communication range of the wireless communication according to the number of members 90 registered in the guiding robot 20A based on the adjustment data. Specifically, the guiding robot 20A expands or reduces the communication range according to an increase or decrease in the number of members 90. The communication range is adjusted, for example, by communication strength. The communication strength is adjusted by the output of the wireless communication device 23 provided in the guiding robot 20A. Note that the guiding robot 20A may adjust the communication range of the wireless communication according to the number of members 90 registered in the guiding robot 20A without going through the adjustment unit 71.

[0039] For example, the guiding robot 20A and each mobile terminal 50 communicate bidirectionally at regular intervals. In step ST14, the acquisition unit 72 acquires the communication state between the guiding robot 20A and each mobile terminal 50 (i.e., a detection result including whether or not bidirectional communication is being performed and the communication strength when bidirectional communication is being performed). Specifically, the acquisition unit 72 acquires the communication state from the wireless communication device 53 provided in the guiding robot 20A. In this way, by acquiring the communication state between the guiding robot 20A and each mobile terminal 50, it is possible to detect the presence of a leaving member 90B.

[0040] The acquisition unit 72 may acquire the communication state based on an image obtained from the camera 30. That is, the acquisition unit 72 may identify the relative positions between the guiding robot 20A and each member 90 based on the image, and estimate the communication state based on the relative positions. The acquisition unit 72 may estimate the communication state based on position information obtained from the mobile terminal 50. That is, the acquisition unit 72 may identify the relative positions between the guiding robot 20A and each mobile terminal 50 based on the position information, and estimate the communication state based on the relative positions.

[0041] Furthermore, if each member 90 has a GPS (Global Positioning System) unit, the acquisition unit 72 may estimate the communication state based on position information obtained from the GPS unit. That is, the acquisition unit 72 may identify the relative positions between the guide robot 20A and each mobile terminal 50 based on the position information, and estimate the communication state based on the relative positions. Furthermore, the acquisition unit 72 may estimate the communication state based on a combination of two or more of the image obtained from the camera 30, the position information obtained from the mobile terminal 50, and the position information obtained from the GPS unit.

[0042] In step ST16, the determination unit 73 determines whether or not there is a member 90 (i.e., a member 90 who is likely to leave) in the boundary area of ​​the communication range of the guiding robot 20A based on the communication state acquired by the acquisition unit 72. The boundary area of ​​the communication range corresponds to an area of ​​a certain width on the outer edge side of the communication range and can be set arbitrarily. Specifically, the determination unit 73 estimates the relative position between the guiding robot 20A and each mobile terminal 50 based on the communication strength included in the communication state acquired by the acquisition unit 72, and determines whether or not there is a member 90 in the boundary area of ​​the communication range based on the relative position.

[0043] If the determination unit 73 determines that there is a member 90 in the boundary area of ​​the communication range, the guidance control process proceeds to step ST18. On the other hand, if the determination unit 73 determines that there is no member 90 in the boundary area of ​​the communication range, the guidance control process proceeds to step ST14.

[0044] In step ST18, the output unit 74 outputs warning data for warning that there is a member 90 in the boundary area of ​​the communication range. The output unit 74 may output the warning data to the guide robot 20A, may output the warning data to the mobile terminal 50 of the member 90 in the boundary area of ​​the communication range, or may output the warning data to the mobile terminal 50 of the member 90 inside the boundary area of ​​the communication range (i.e., the member 90 who is unlikely to leave).

[0045] The warning data may be data representing an instruction to issue a preset warning, or may be data representing specific contents of the warning. When the warning data is input to the guide robot 20, the guide robot 20 may issue a warning representing the possibility of departure based on the warning data. Similarly, when the warning data is input to the mobile terminal 50, the mobile terminal 50 may issue a warning representing the possibility of departure based on the warning data. The warning may be a warning by sound, voice, light, vibration, or screen display.

[0046] In this way, by issuing a warning from at least one of the guide robot 20 and the plurality of mobile terminals 50, it is possible to warn the members 90 who are likely to leave that there is a high possibility of the members leaving.

[0047] 9 shows an example of an image displayed on the touch panel display 24 of the guide robot 20A when a member 90 is present in the boundary area of ​​the communication range. As shown in FIG. 9, the touch panel display 24 may display, as specific warning contents, a message such as "5 / 6 people are near the robot" and a message such as "XXX is about to leave the robot detection area." In addition, the touch panel display 24 may display a map showing a route to the destination.

[0048] The adjustment unit 71 may adjust the communication range of wireless communication to be wider when there is a member 90 who is likely to leave. This can prevent the member 90 who is likely to leave from leaving the group. When there is no member 90 who is likely to leave, the output unit 74 may output normal data indicating that there is no member 90 who is likely to leave to at least one of the guide robot 20 and the multiple mobile terminals 50, instead of warning data.

[0049] In step ST20, the determination unit 73 determines whether or not there is a leaving member 90B based on the communication state acquired by the acquisition unit 72. Specifically, the determination unit 73 determines that there is no leaving member 90B when the communication state acquired by the acquisition unit 72 includes a detection result indicating that two-way communication is being performed between the guiding robot 20A and each mobile terminal 50. On the other hand, the determination unit 73 determines that there is a leaving member 90B when the communication state acquired by the acquisition unit 72 includes a detection result indicating that two-way communication is not being performed between the guiding robot 20A and any mobile terminal 50.

[0050] The determination unit 73 may monitor the communication state acquired by the acquisition unit 72 for a certain period of time to determine whether or not there is a leaving member 90B. That is, the determination unit 73 may acquire a time during which a detection result indicating that no two-way communication is being performed between the guidance robot 20A and any of the mobile terminals 50 is obtained (hereinafter, referred to as a "non-communication time"), and may determine that there is a leaving member 90B when the non-communication time exceeds a predetermined time.

[0051] Furthermore, when there is a leaving member 90B, the adjustment unit 71 may adjust the wireless communication range to be expanded in order to include the leaving member 90B in the wireless communication range. This can increase the possibility that a member 90 that has once left will return to the inside of the communication range again. Furthermore, when there is a leaving member 90B, the adjustment unit 71 may adjust the wireless communication range to be narrowed in accordance with the number of remaining members 90A. This can reduce power consumption by lowering the communication strength.

[0052] When the determination unit 73 determines that the leaving member 90B is present, the guidance control process proceeds to step ST22. On the other hand, when the determination unit 73 determines that the leaving member 90B is not present, the guidance control process proceeds to step ST14.

[0053] In step ST22, the output unit 74 generates departure data indicating the presence of the leaving member 90B. The output unit 74 may identify the leaving member 90B based on the communication state between the guiding robot 20A and each mobile terminal 50 acquired by the acquisition unit 72, and include the identification data identifying the leaving member 90B in the departure data. The identification data may include at least any of identification information of the mobile terminal 50 carried by the leaving member 90B, identification information of the leaving member 90B, and face authentication information of the leaving member 90B. In addition, the output unit 74 may acquire position data indicating the position of the guiding robot 20 when it is determined that the leaving member 90B is present (i.e., the position where the departure of the leaving member 90B is detected), and include the position data in the departure data.

[0054] In step ST24, the output unit 74 generates, as the withdrawal data for the leaving member 90B, withdrawal data including first notification data for notifying the mobile terminal 50 of the leaving member 90B that the leaving member 90B has left. Also, the output unit 74 generates, as the withdrawal data for the remaining member 90A, withdrawal data including second notification data for notifying the mobile terminal 50 of the remaining member 90A that the leaving member 90B is present. Then, the output unit 74 outputs the withdrawal data for the leaving member 90B to the mobile terminal 50 of the leaving member 90B, and outputs the withdrawal data for the remaining member 90A to the mobile terminal 50 of the remaining member 90A.

[0055] Since the leaving member 90B is outside the communication range of the wireless communication, the leaving data for the leaving member 90B is input to the mobile terminal 50 of the leaving member 90B from the server 10 via the Internet. Meanwhile, since the remaining member 90A remains inside the communication range of the wireless communication, the leaving data for the remaining member 90A is input to the mobile terminal 50 of the remaining member 90A from the server 10 via the Internet, the guide robot 20A, and the wireless communication.

[0056] When the withdrawal data for the leaving member 90B is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 notifies the fact that the leaving member 90B has left based on the first notification data included in the withdrawal data. Similarly, when the withdrawal data for the remaining member 90A is input to the mobile terminal 50 of the remaining member 90A, the mobile terminal 50 notifies the fact that the leaving member 90B is present based on the second notification data included in the withdrawal data. The notification may be by sound, voice, light, vibration, or screen display. In this way, the leaving member 90B can be notified that he has left the group, and the remaining members 90A can be notified that the leaving member 90B has left the group.

[0057] Note that, based on the identification data included in the withdrawal data, information for identifying the leaving member 90B may be notified from the mobile terminal 50. In this way, it is possible to identify the leaving member 90B.

[0058] The output unit 74 may generate, as the departure data for the guiding robot 20A, departure data including notification data for notifying the guiding robot 20A of the presence of the leaving member 90B, and output the generated departure data to the guiding robot 20A. When the departure data for the guiding robot 20A is input to the guiding robot 20A, the guiding robot 20A may notify the guiding robot 20A of the presence of the leaving member 90B based on the notification data included in the departure data.

[0059] 10 shows an example of an image displayed on the touch panel display 24 of the guide robot 20A when it is determined that a member 90B has left the area. As shown in FIG. 10, the touch panel display 24 may display a message such as "XXX has left the area!" as a specific content indicating the departure.

[0060] 11 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the remaining member 90A when it is determined that a leaving member 90B is present. As shown in FIG 11, the touch panel display 52 of the mobile terminal 50 of the remaining member 90A may also display a message such as "XXX has left the area!" as a specific indication of the departure.

[0061] 12 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the leaving member 90B when it is determined that the leaving member 90B is present. As shown in FIG 12, the touch panel display 52 of the mobile terminal 50 of the leaving member 90B may display a message such as "It appears that the leaving member 90B is away from the guide robot 20" as a specific content indicating that the leaving member 90B has left.

[0062] Furthermore, the mobile terminals 50 of the remaining members 90A and the leaving members 90B may generate departure position information showing the position where the departure of the leaving member 90B was detected on a map based on the position data included in the departure data, and display the departure position information on the touch panel display 52. ​​This allows the remaining members 90A and the leaving members 90B to be informed of the position where the leaving member 90B left.

[0063] Furthermore, the output unit 74 may output the leaving data to equipment (e.g., a speaker or a display) of the facility to which the guidance system S is applied. Then, the equipment of the facility may notify the inside of the facility that the leaving member 90B is present based on the leaving data. This allows the group to be notified of the presence of the leaving member 90B without checking the mobile terminal 50.

[0064] In step ST26, the output unit 74 outputs the departure data to the non-assigned robot 20B. The number of non-assigned robots 20B to which the departure data is output may be one or more. In addition, the output unit 74 includes search data indicating that the leaving member 90B is to be searched for in the departure data output to the non-assigned robot 20B.

[0065] When the departure data is input to the non-responsible robot 20B, the non-responsible robot 20B executes a search for the leaving member 90B according to the search data included in the departure data. Since the search for the leaving member 90B is executed by the non-responsible robot 20B, it is possible to avoid interrupting the task of the guide robot 20A. The non-responsible robot 20B is an example of a "search device" and "another guide robot 20" in this disclosure.

[0066] The non-responsible robot 20B may identify the position of the guide robot 20A and perform a search outside the communication range of the guide robot 20A. This makes it possible to avoid the communication range of the guide robot 20A overlapping with the search range of the non-responsible robot 20B.

[0067] Furthermore, at least one of the search range and the search route of the non-responsible robot 20B may be determined in advance.

[0068] Furthermore, the non-assigned robot 20B may determine that it has found the leaving member 90B when it detects that the mobile terminal 50 of the leaving member 90B has become able to communicate with the non-assigned robot 20B via wireless communication. In this case, the authentication information of the wireless communication between the mobile terminal 50 of the leaving member 90B and the guide robot 20A may be shared with the non-assigned robot 20B, and the non-assigned robot 20B may identify the found person as the leaving member 90B based on the authentication information.

[0069] Furthermore, when performing a search, the non-assigned robot 20B may perform the search based on the identification data included in the leaving data. Then, when the information included in the identification data (for example, at least one of the identification information of the mobile terminal 50 held by the leaving member 90B, the identification information of the leaving member 90B, and the face authentication information of the leaving member 90B) is obtained from the discovered person, the non-assigned robot 20B may identify the discovered person as the leaving member 90B.

[0070] Furthermore, the output unit 74 may output the departure data to the camera 30. The number of non-reserved robots 20B to which the departure data is output may be one or more. The camera 30 may execute a search for the leaving member 90B according to the search data included in the departure data. The camera 30 is an example of a "search device" in this disclosure.

[0071] In addition, when performing a search, the camera 30 may perform the search based on the identification data included in the leaving data. For example, the camera 30 may perform image processing based on the information included in the identification data (for example, an image of the leaving member 90B) and the captured image, and may identify the found person as the leaving member 90B when the information included in the identification data matches the information obtained from the found person.

[0072] Furthermore, when the server 10 determines that there is a leaving member 90B, the leaving data may be shared among the guide robot 20A, the non-robot 20B, the camera 30, the mobile terminal 50 of the remaining member 90A, and the mobile terminal 50 of the leaving member 90B. This allows efficient search for the leaving member 90B.

[0073] When the non-responsible robot 20B and the camera 30 find the leaving member 90B as a result of searching for the leaving member 90B, they generate discovery data indicating that they have found the leaving member 90B and output the generated discovery data to the server 10.

[0074] In step ST28, the determination unit 73 determines whether or not the leaving member 90B has been found. In this case, when the discovery data output by either the non-responsible robot 20B or the camera 30 is input to the server 10, the determination unit 73 determines that the leaving member 90B has been found based on the discovery data. On the other hand, when the discovery data has not been input to the server 10, the determination unit 73 determines that the leaving member 90B has not been found.

[0075] When the discovery data is input to the server 10, the output unit 74 may output the discovery data to the mobile terminal 50 of the remaining member 90A. When the discovery data is input to the mobile terminal 50 of the remaining member 90A, the mobile terminal 50 may notify the fact that the leaving member 90B has been discovered based on the discovery data.

[0076] 13 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the remaining member 90A when the leaving member 90B is found. As shown in FIG 13, the touch panel display 52 may display a message such as "XXX has been found" as a specific content indicating that the leaving member 90B has been found.

[0077] When the determination unit 73 determines that the leaving member 90B has been found, the guidance control process proceeds to step ST38. On the other hand, when the determination unit 73 determines that the leaving member 90B has not been found, the guidance control process proceeds to step ST30.

[0078] In step ST30, the determination unit 73 determines whether or not a predetermined specified time (e.g., n minutes) has elapsed since it was determined in step ST20 that there is a leaving member 90B. The specified time is set to an arbitrary time. If the determination unit 73 determines that the specified time has elapsed, the guidance control process proceeds to step ST32. On the other hand, if the determination unit 73 determines that the specified time has not elapsed, the guidance control process proceeds to step ST28.

[0079] In step ST32, the output unit 74 extracts a plurality of landmarks from the map data stored in the storage 64, and generates landmark data representing the plurality of landmarks. The landmarks may be any facilities or equipment that serve as landmarks, such as an information center, a reception desk, a lobby, a store, a clock tower, a display, an elevator, an escalator, etc. Then, the output unit 74 outputs the generated landmark data to the mobile terminal 50 of the leaving member 90B. The landmark data is input to the mobile terminal 50 of the leaving member 90B from the server 10 via the Internet.

[0080] When the landmark data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B displays multiple landmarks on the touch panel display 52 based on the landmark data. This allows the leaving member 90B to select the landmark that is closest or easiest to reach from the multiple landmarks. The leaving member 90B may select a destination landmark before departing for any of the multiple landmarks, or may select a landmark that the leaving member 90B has arrived at after arriving at any of the multiple landmarks.

[0081] When the leaving member 90B selects a landmark, the mobile terminal 50 of the leaving member 90B outputs selection data representing the selected landmark to the server 10. The selection data is input from the mobile terminal 50 of the leaving member 90B to the server 10 via the Internet.

[0082] When the selection data is input to the server 10, the output unit 74, in step ST34, identifies the landmark selected by the leaving member 90B based on the selection data, and generates message data representing a message to direct the leaving member 90B to the identified landmark. Then, the output unit 74 outputs the generated message data to the mobile terminal 50 of the leaving member 90B.

[0083] When the message data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B displays a message on the touch panel display 52 based on the message data. The message may be output by voice from a speaker of the mobile terminal 50. This makes it possible to direct the leaving member 90B to the landmark.

[0084] Fig. 14 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the remaining member 90A when the leaving member 90B selects multiple landmarks. As shown in Fig. 14, the touch panel display 52 may display a message such as "Please head to one of the landmarks below. Please let us know where you are when you arrive" as a message directing the leaving member 90B to the landmark. Also, buttons 83A, 83B, and 83C for selecting multiple landmarks may be displayed.

[0085] The output unit 74 may extract one landmark closest to the position of the guiding robot 20 when the leaving member 90B leaves the guiding robot 20A, based on the position data representing the position of the guiding robot 20 when the leaving member 90B leaves the guiding robot 20A and the map data. The output unit 74 may output message data representing a message to direct the leaving member 90B to the landmark, together with the landmark data representing the closest landmark, to the mobile terminal 50 of the leaving member 90B.

[0086] Furthermore, the output unit 74 may output the landmark data and the message data to equipment (e.g., a speaker or a display) of the facility to which the guidance system S is applied. Then, the equipment of the facility may notify the inside of the facility that the leaving member 90B is heading to the landmark based on the landmark data and the message data. This allows the leaving member 90B to head to the landmark even if the leaving member 90B does not check the mobile terminal 50.

[0087] In step ST36, the output unit 74 generates instruction data representing an instruction to direct the non-assigned robot 20B (hereinafter referred to as the "returning robot"), which executes the task of guiding and returning the leaving member 90B, toward the landmark, and outputs the generated instruction data to the returning robot. The returning robot may be the non-assigned robot 20B that was searching for the leaving member 90B in step ST26, or may be a non-assigned robot 20B different from the non-assigned robot 20B that was searching for the leaving member 90B. In addition, the returning robot may be the non-assigned robot 20B that is closest to the landmark among the multiple non-assigned robots 20B.

[0088] Furthermore, the non-assigned robot 20B may output task data indicating whether or not it is in a task to the server 10. Then, the output unit 74 may identify the non-assigned robot 20B that is not in a task based on the task data, and select the identified non-assigned robot 20B as the robot in charge of returning. When the instruction data is input to the robot in charge of returning, the robot in charge of returning moves toward the landmark.

[0089] The output unit 74 may generate message data representing a message that the robot in charge of returning is heading toward the landmark, and output the generated message data to the mobile terminal 50 of the leaving member 90B. When the message data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B may display on the touch panel display 52 a message that the robot in charge of returning is heading toward the landmark.

[0090] 15 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the leaving member 90B when the robot in charge of returning is heading toward a landmark. As shown in FIG 15, the touch panel display 52 may display a message such as "Robot is on its way, please wait" as a message indicating that the robot in charge of returning is heading toward a landmark.

[0091] When the robot in charge of returning finds the leaving member 90B as a result of moving toward the landmark, the robot in charge of returning generates discovery data indicating that the robot has found the leaving member 90B, and outputs the generated discovery data to the server 10. After step ST36, the guidance control process proceeds to step ST28.

[0092] In step ST38, when the determination unit 73 determines in step ST28 that the leaving member 90B has been found, the output unit 74 outputs return data, which indicates that the leaving member 90B is to be guided to the inside of the communication range of the original guide robot 20A and returned, to the returning robot that found the leaving member 90B. This allows the mode of the returning robot to be set to a return mode in which the leaving member 90B is guided to the inside of the communication range of the original guide robot 20A and returned. The return mode may be a mode in which new tasks are not accepted.

[0093] In step ST40, the output unit 74 outputs notification data to the mobile terminal 50 of the remaining member 90A, notifying the remaining member 90A that the leaving member 90B will be guided to the inside of the communication range of the guide robot 20A and returned. When the notification data is input to the mobile terminal 50 of the remaining member 90A, the mobile terminal 50 notifies the remaining member 90A that the leaving member 90B will return based on the notification data. This makes it possible to inform the remaining member 90A that the leaving member 90B is scheduled to return.

[0094] In step ST42, the output unit 74 selects a plurality of routes for guiding the leaving member 90B to return to the inside of the communication range of the guide robot 20A, and generates route data representing the selected plurality of routes. The plurality of routes may be, for example, a route toward the current location of the guide robot 20A, a route toward a midpoint between the guide robot 20A and the return robot, and a route toward the destination. The output unit 74 may determine a route from the return robot to the guide robot 20A based on the position data of the guide robot 20A, the position data of the return robot, and the map data stored in the storage 64. Then, the output unit 74 outputs the generated route data to the mobile terminal 50 of the leaving member 90B.

[0095] When the route data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B displays multiple routes on the touch panel displays 24, 52 based on the route data. This allows the leaving member 90B to select one route from the multiple routes.

[0096] Fig. 16 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the leaving member 90B when the leaving member 90B is made to select one route from a plurality of routes. As shown in Fig. 16, on the touch panel display 52, a button 84A with a message "Go to everyone" is displayed as a button indicating a route to the current position of the guidance robot 20A, a button 84B with a message "Meet at the midpoint" is displayed as a button indicating a route to a midpoint between the guidance robot 20A and the return robot, and a button 84C with a message "Go to destination" is displayed as a button indicating a route to the destination.

[0097] When the route is selected by the leaving member 90B, the mobile terminal 50 of the leaving member 90B outputs to the server 10 selection data indicating the selected route.

[0098] When the selection data is input to the server 10, the output unit 74, in step ST44, identifies the selected route based on the selection data and generates route data representing the identified route. Then, the output unit 74 outputs the generated route data to the mobile terminal 50 of the leaving member 90B.

[0099] When the route data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B displays the selected route on the touch panel display 52 based on the route data. This allows the leaving member 90B to confirm the route for returning to the inside of the communication range of the guide robot 20A.

[0100] Furthermore, when the route data is input to the mobile terminal 50 of the leaving member 90B, the mobile terminal 50 of the leaving member 90B may display a message to the leaving member 90B urging him or her to return.

[0101] 17 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the leaving member 90B when the leaving member 90B selects a route. As shown in FIG 17, the touch panel display 52 may display a message such as "Guidance will be provided. Please search for the robot" as a message encouraging the leaving member 90B to return.

[0102] Furthermore, when the leaving member 90B selects a route, the output unit 74 may output the route data to the mobile terminal 50 of the remaining member 90A. Then, the mobile terminal 50 of the remaining member 90A may display the route on the touch panel display 52 based on the route data. This allows the leaving member 90B to confirm the route along which the leaving member 90B will return.

[0103] Furthermore, when the route data is input to the mobile terminal 50 of the remaining member 90A, the mobile terminal 50 of the remaining member 90A may display a message indicating that the leaving member 90B will return. The indication that the leaving member 90B will return may include a meeting point where the leaving member 90B will meet up. The meeting point corresponds to the end point of the selected route, and is any one of the current position of the guiding robot 20A, a midpoint between the guiding robot 20A and the returning robot, and the destination.

[0104] 18 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the remaining member 90A when the leaving member 90B selects a route. As shown in FIG 18, the touch panel display 52 may display a message such as "XXX is scheduled to meet you at XX" as a message indicating that the leaving member 90B will return.

[0105] In step ST46, the output unit 74 outputs route data representing the route selected by the leaving member 90B to the guiding robot 20A and the returning robot. When the returning data and the route data are input to the returning robot, the returning robot moves toward the guiding robot 20A according to the returning data and the route data. This allows the leaving member 90B to be guided to within the communication range of the guiding robot 20A and returned.

[0106] When the returning robot is guiding the leaving member 90B, the output unit 74 may acquire position data of the returning robot guiding the leaving member 90B at regular intervals and output the acquired position data to the mobile terminal 50 of the remaining member 90A. Then, the mobile terminal 50 of the remaining member 90A may display the position of the returning robot on the touch panel display 52 in real time based on the position data.

[0107] The mobile terminal 50 of the remaining member 90A may display the position of the returning robot on the touch panel display 52 in a manner superimposed on the route for returning to the inside of the communication range of the guide robot 20A. This allows the remaining member 90A to confirm the position of the returning leaving member 90B.

[0108] In step ST48, the output unit 74 generates junction data indicating a junction point where the remaining member 90A and the leaving member 90B will join based on the route data generated in step ST44, and outputs the generated junction data to the guide robot 20A and the return robot. The junction point corresponds to the end point of the selected route, and is either the current position of the guide robot 20A, a midpoint between the guide robot 20A and the return robot, or the destination. The output unit 74 may determine the junction point based on the position data of the guide robot 20A, the position data of the return robot, the map data stored in the storage 64, and the route data.

[0109] When the junction data is input to the guide robot 20A, the guide robot 20A moves toward the junction point, thereby guiding the remaining member 90A to the junction point.

[0110] In addition, when the joining data is input to the robot in charge of returning, the robot in charge of returning notifies the remaining member 90A that the remaining member 90A is moving toward the joining point. This allows the leaving member 90B to be informed that the remaining member 90A is heading toward the joining point.

[0111] When the guiding robot 20A detects that the mobile terminal 50 of the leaving member 90B is able to communicate with the guiding robot 20A by wireless communication at the meeting point, the guiding robot 20A determines that it has met up with the leaving member 90B. When the guiding robot 20A determines that it has met up with the leaving member 90B, the guiding robot 20A generates completion data indicating that the meeting has been completed, and outputs the generated completion data to the server 10.

[0112] In step ST50, the determination unit 73 determines whether or not the merging of the leaving member 90B is complete. If the completion data has been input to the server 10, the determination unit 73 determines that the merging is complete, and if the completion data has not been input to the server 10, the determination unit 73 determines that the merging is not complete. If the determination unit 73 determines that the merging is complete, the guidance control process proceeds to step ST52. On the other hand, if the determination unit 73 determines that the merging is not complete, the guidance control process executes the process of step ST50 again.

[0113] In step ST52, the determination unit 73 determines whether the guide robot 20A has arrived at the destination based on the position data of the guide robot 20A. If the determination unit 73 determines that the guide robot 20A has not arrived at the destination, the guidance control process proceeds to step ST12. On the other hand, if the determination unit 73 determines that the guide robot 20A has arrived at the destination, the guidance control process ends.

[0114] As described above in detail, according to the guidance control device 60 according to the first embodiment, when a member 90 being guided by the guidance robot 20A leaves the guidance robot 20A, various measures can be taken in response to the departure. This allows all members 90 of the group to reach the destination.

[0115] [Second embodiment] Next, a second embodiment of the present disclosure will be described.

[0116] FIG. 19 shows a guidance system S to which a guidance control device 60 according to the second embodiment is applied. The second embodiment differs from the first embodiment in that the guidance control device 60 is configured by the computer 40 of the server 10 in that the guidance control device 60 is configured by the computer 40 of the camera 30. The camera 30 equipped with the guidance control device 60 may be any of the multiple cameras 30. Hereinafter, in order to distinguish between the camera 30 equipped with the guidance control device 60 and the camera 30 not equipped with the guidance control device 60, the camera 30 equipped with the guidance control device 60 will be referred to as the "main camera 30A" and the camera 30 not equipped with the guidance control device 60 will be referred to as the "sub camera 30B."

[0117] As described later, the main camera 30A has a function of searching for the leaving member 90B, and therefore may be realized by a camera 30 installed at a position off the route along which the guiding robot 20A moves. The guidance control device 60 is not limited to a computer 40 provided in a specific camera 30, but may be realized by a plurality of computers 40 provided in the plurality of cameras 30, respectively. For example, the camera 30 functioning as the main camera 30A may be switched according to the route along which the guiding robot 20A moves.

[0118] In the second embodiment, the hardware configuration and the functional configuration of the guidance control device 60 are similar to those in the first embodiment. Furthermore, in the second embodiment, the flow of the guidance control process is also similar to that in the first embodiment.

[0119] However, in the second embodiment, the guidance control device 60 of the main camera 30A functions as a center computer, so that the data output from the guide robot 20 is input to the main camera 30A as well as the server 10. Then, the main camera 30A executes the guidance control process in the same manner as in the first embodiment. Also, the data generated by the guidance control device 60 is output from the main camera 30A to the guide robot 20 and the server 10 as appropriate. The server 10 functions as a management computer that manages the data output from the guide robot 20 and the main camera 30A. The server 10 may function as a search device based on the departure data.

[0120] In the second embodiment, in step ST26, the main camera 30A may execute a search for the leaving member 90B according to the search data included in the leaving data. In addition, when the main camera 30A finds the leaving member 90B, the main camera 30A may output the discovery data to the server 10.

[0121] Furthermore, in step ST28, if the main camera 30A finds the leaving member 90B as a result of searching for the leaving member 90B, the determination unit 73 may determine that the leaving member 90B has been found.

[0122] Also, in step ST32, the output unit 74 may extract the landmark where the main camera 30A is installed from the map data stored in the storage 64, and generate landmark data representing the extracted landmark. Then, the output unit 74 may output the generated landmark data to the mobile terminal 50 of the leaving member 90B.

[0123] Furthermore, the mobile terminal 50 of the leaving member 90B may display the landmark where the main camera 30A is installed on the touch panel display 52 based on the landmark data. Then, in step ST34, the output unit 74 may generate message data representing a message to direct the leaving member 90B to the landmark where the main camera 30A is installed, and output the generated message data to the mobile terminal 50 of the leaving member 90B. This allows the leaving member 90B to be directed to the landmark where the main camera 30A is installed, so that when the leaving member 90B arrives at the landmark where the main camera 30A is installed, the leaving member 90B can be found by the main camera 30A.

[0124] In step ST36, the output unit 74 may generate instruction data representing an instruction to direct the robot in charge of returning to the landmark where the main camera 30A is installed, and output the generated instruction data to the robot in charge of returning. This allows the robot in charge of returning to go and pick up the leaving member 90B who arrives at the landmark where the main camera 30A is installed.

[0125] 20 shows an example of an image displayed on the touch panel display 52 of the mobile terminal 50 of the leaving member 90B when the leaving member 90B is discovered by the main camera 30A. As shown in FIG. 20, the touch panel display 52 may display a message such as "The infrastructure camera has discovered you. A robot is on its way. Please wait where you are" as a message when the leaving member 90B is discovered by the main camera 30A.

[0126] As in the first embodiment, the guidance control device 60 according to the second embodiment described above can also take various measures in response to a departure of a member 90 being guided by the guidance robot 20A when the member 90 leaves the guidance robot 20A. This allows all members 90 of the group to reach the destination.

[0127] [Third embodiment] Next, a third embodiment of the present disclosure will be described.

[0128] FIG. 21 shows a guidance system S to which a guidance control device 60 according to the third embodiment is applied. The third embodiment differs from the first embodiment in that the guidance control device 60 is configured by the computer 40 of the server 10 in that the guidance control device 60 is configured by the computer 40 of the guide robot 20. The guide robot 20 equipped with the guidance control device 60 may be any one of the multiple guide robots 20. Hereinafter, in order to distinguish between the guide robot 20 equipped with the guidance control device 60 and the guide robot 20 not equipped with the guidance control device 60, the guide robot 20 equipped with the guidance control device 60 will be referred to as the "main robot 20C" and the guide robot 20 not equipped with the guidance control device 60 will be referred to as the "sub robot 20D."

[0129] The main robot 20C may be the guide robot 20A or the non-guide robot 20B. In the example shown in FIG. 21, the main robot 20C is realized by the guide robot 20A. The guidance control device 60 is not limited to the computer 40 provided in a specific guide robot 20, but may be realized by a plurality of computers 40 provided in the plurality of guide robots 20, respectively. Also, the guide robot 20 functioning as the main robot 20C may be switched depending on the route traveled by the guide robot 20A.

[0130] In the third embodiment, the hardware configuration and the functional configuration of the guidance control device 60 are similar to those in the first embodiment. Furthermore, in the third embodiment, the flow of the guidance control process is also similar to that in the first embodiment.

[0131] However, in the third embodiment, since the guidance control device 60 of the main robot 20C functions as a center computer, the data output from the sub robot 20D and the camera 30 is input to the main robot 20C as well as the server 10. Then, the main robot 20C executes the guidance control process in the same manner as in the first embodiment. Also, the data generated by the guidance control device 60 is output from the main robot 20C to the sub robot 20D, the camera 30, and the server 10 as appropriate. Also, when the leaving member 90B is found, the main robot 20C may output the finding data to the server 10. The server 10 functions as a management computer that manages the data output from the main robot 20C, the sub robot 20D, and the camera 30. The server 10 may function as a search device based on the leaving data.

[0132] As in the first embodiment, the guidance control device 60 according to the third embodiment described above can also take various measures in response to a departure of a member 90 being guided by the guidance robot 20A when the member 90 leaves the guidance robot 20A. This allows all members 90 of the group to reach the destination.

[0133] Next, a modification common to the above-described embodiments will be described.

[0134] In each of the above embodiments, the guidance system S is a system for guiding a group made up of a plurality of members to a destination, but it may also be a system for guiding a single person to a destination.

[0135] In each of the above embodiments, the guidance system S includes a plurality of guide robots 20, but the number of guide robots 20 may be one.

[0136] In each of the above embodiments, the guidance control device 60 is configured by a computer 40 provided in any one of the server 10, the camera 30, and the guide robot 20, but may be configured by a plurality of computers 40 provided in each of the server 10, the camera 30, and the guide robot 20. In addition, when the guidance control device 60 is configured by a plurality of computers 40 provided in each of the server 10, the camera 30, and the guide robot 20, the combination of the plurality of computers 40 constituting the guidance control device 60 may be any combination.

[0137] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications and applications are possible without departing from the gist of the present disclosure.

[0138] Furthermore, the configuration of the guidance control device described in each of the above embodiments is merely an example, and it goes without saying that unnecessary parts may be deleted or new parts may be added without departing from the spirit of the present disclosure.

[0139] Furthermore, the flow of the guidance control processing described in each of the above embodiments is also one example, and it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged within the scope that does not deviate from the gist of this disclosure.

[0140] The apparatus and methods described herein may be implemented by a special-purpose computer having a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by a special-purpose computer having a processor configured with dedicated hardware logic circuits. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may also be stored on a computer-readable non-transitory tangible recording medium as instructions that are executed by the computer.

[0141] The features of the present disclosure are as follows: (Appendix 1) an acquisition unit (72) that acquires a communication state between a guide robot (20) that guides a person and a portable terminal (50) carried by the person; a determination unit (73) that determines whether or not the person has left the communication range of the guide robot based on the communication state acquired by the acquisition unit; an output unit (74) that outputs departure data when the determination unit determines that the person has left the communication range of the guide robot; A guidance control device (60) comprising: (Appendix 2) The determination unit determines whether or not the person is present in a boundary area of ​​the communication range based on the communication state acquired by the acquisition unit, The output unit outputs warning data when the determination unit determines that the person is present in a boundary area of ​​the communication range. 2. A guidance control device as described in appended claim 1. (Appendix 3) The guide robot guides a plurality of the people, The guidance control device further includes an adjustment unit (71) that adjusts the width of the communication range according to the number of the plurality of people. 3. A guidance control device according to claim 1 or 2. (Appendix 4) The output unit outputs the withdrawal data to the mobile terminal. 4. A guidance control device according to any one of claims 1 to 3. (Appendix 5) The guide robot guides a plurality of the people, The output unit outputs the departure data to a mobile terminal carried by a remaining person remaining within the communication range among the plurality of people. 5. A guidance control device according to any one of claims 1 to 4. (Appendix 6) The output unit outputs the departure data to a search device (10, 20B, 30) that searches for the person who has left the communication range. 6. A guidance control device according to any one of claims 1 to 5. (Appendix 7) The search device includes another guide robot (20B) that exists outside the communication range. 7. The guidance control device according to claim 6. (Appendix 8) The search device includes a camera (30). 8. A guidance control device according to claim 6 or 7. (Appendix 9) The search device includes a server (10) communicatively connected to at least one of another guide robot and a camera that is outside the communication range. 9. A guidance control device according to any one of appendix 6 to appendix 8. (Appendix 10) The output unit outputs landmark data representing a landmark when the person who has left the communication range has not been found by the search device. 10. A guidance control device according to any one of claims 1 to 9. (Appendix 11) The output unit outputs message data for directing the person who has left the communication range to a landmark. 11. A guidance control device according to any one of claims 1 to 10. (Appendix 12) The output unit outputs instruction data for directing another guide robot existing outside the communication range to a landmark. 12. A guidance control device according to any one of claims 1 to 11. (Appendix 13) The output unit outputs discovery data when a leaver who has left the communication range is discovered by a search device. 13. A guidance control device according to any one of claims 1 to 12. (Appendix 14) The output unit outputs return data for guiding the person who has left the communication range to the inside of the communication range by another guide robot that is present outside the communication range and returning the person. 14. A guidance control device according to any one of claims 1 to 13. (Appendix 15) The guide robot guides a plurality of the people, The output unit outputs notification data to a portable terminal carried by a remaining person among the plurality of people who remains within the communication range, notifying the remaining person who has left the communication range that the remaining person will be guided back into the communication range. 15. A guidance control device according to any one of claims 1 to 14. (Appendix 16) The output unit outputs route data representing a route for guiding the person who has left the communication range back into the communication range. 16. A guidance control device according to any one of claims 1 to 15. (Appendix 17) The guide robot guides a plurality of the people, The output unit outputs meeting data for making a remaining person who remains within the communication range and a leaving person who has left the communication range, among the plurality of people, meet at a meeting point. 17. A guidance control device according to any one of claims 1 to 16. [Explanation of symbols]

[0142] S Guidance System 10 Server 20 Guide Robot 20A Guide Robot 20B Unassigned robot 20C Main Robot 20D Sub Robot 21 Sensors 22 Drive unit 23 Wireless communication device 24 Touch Panel Display 25 wheels 30 Camera 30A Main Camera 30B Sub camera 40 Computer 42 Communication device 44 Network 46 Infrastructure 50 Mobile Devices 51 Camera 52 Touch Panel Display 53 Wireless communication device 60 Guidance control device 61 CPU 62 ROM 63 RAM 64 Storage 70 Guidance control program 71 Adjustment section 72 Acquisition Department 73 Judgment section 74 Output section 80 Buttons 81 Identification Code 82 Buttons 83A, 83B, 83C buttons 84A, 84B, 84C buttons 90 Members 90A Remaining members 90B Withdrawn Member

Claims

1. an acquisition unit (72) for acquiring a communication state between a guide robot (20) for guiding a person and a portable terminal (50) carried by the person; a determination unit (73) that determines whether or not the person has left a communication range of the guide robot based on the communication state acquired by the acquisition unit; an output unit (74) for outputting departure data when the determination unit determines that the person has left the communication range of the guide robot; A guidance control device (60) comprising:

2. The determination unit determines whether or not the person is present in a boundary area of ​​the communication range based on the communication state acquired by the acquisition unit, The output unit outputs warning data when the determination unit determines that the person is present in a boundary area of ​​the communication range. The guidance control device according to claim 1 .

3. The guide robot guides a plurality of the people, The guidance control device further includes an adjustment unit (71) that adjusts the width of the communication range according to the number of the plurality of people. The guidance control device according to claim 1 .

4. The output unit outputs the withdrawal data to the mobile terminal. The guidance control device according to claim 1 .

5. The guide robot guides a plurality of the people, The output unit outputs the departure data to a mobile terminal carried by a remaining person remaining within the communication range among the plurality of people. The guidance control device according to claim 1 .

6. The output unit outputs the departure data to a search device (10, 20B, 30) that searches for the person who has left the communication range. The guidance control device according to claim 1 .

7. The search device includes another guide robot (20B) that is outside the communication range. The guidance control device according to claim 6.

8. The search device includes a camera (30). The guidance control device according to claim 6.

9. The search device includes a server (10) communicatively connected to at least one of another guide robot and a camera that is outside the communication range. The guidance control device according to claim 6.

10. The output unit outputs landmark data representing a landmark when the person who has left the communication range has not been found by the search device. The guidance control device according to claim 1 .

11. The output unit outputs message data for directing the person who has left the communication range to a landmark. The guidance control device according to claim 1 .

12. The output unit outputs instruction data for directing another guide robot existing outside the communication range to a landmark. The guidance control device according to claim 1 .

13. The output unit outputs discovery data when a leaver who has left the communication range is discovered by a search device. The guidance control device according to claim 1 .

14. The output unit outputs return data for guiding the person who has left the communication range to the inside of the communication range by another guide robot that is present outside the communication range and returning the person. The guidance control device according to claim 1 .

15. The guide robot guides a plurality of the people, The output unit outputs notification data to a portable terminal carried by a remaining person among the plurality of people who remains within the communication range, notifying the remaining person who has left the communication range that the remaining person will be guided back into the communication range. The guidance control device according to claim 1 .

16. The output unit outputs route data representing a route for guiding the person who has left the communication range back into the communication range. The guidance control device according to claim 1 .

17. The guide robot guides a plurality of the people, The output unit outputs meeting data for making a remaining person who remains within the communication range and a leaving person who has left the communication range, among the plurality of people, meet at a meeting point. The guidance control device according to claim 1 .

18. The computer Acquiring a communication state between a guide robot (20) that guides a person and a portable terminal (50) carried by the person; determining whether the person has left a communication range of the guide robot based on the communication state; and outputting departure data when it is determined that the person has left the communication range of the guide robot; A guidance control method that executes a process including the steps of:

19. On the computer, Acquiring a communication state between a guide robot (20) that guides a person and a portable terminal (50) carried by the person; determining whether the person has left a communication range of the guide robot based on the communication state; and outputting departure data when it is determined that the person has left the communication range of the guide robot; A guidance control program for executing a process including the steps of:

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