Control method, display terminal and program

Abstract

To provide a guidance system for improving the convenience of a user for guiding the user by moving an autonomous mobile robot.SOLUTION: A control method according to the present disclosure is a control method of a guidance system using an autonomous moving robot. The control method acquires information indicating a start location, a start time, an end location, and an end time in the guidance system, enables the autonomous traveling robot to authenticate a second user different from an authenticated first user at a location and time based on the start location and the start time, enables the autonomous traveling robot to travel on a route for guiding the second user to a location based on the end location at a time based on the end time and acquires a result of confirmation of the second user by the first user at a location and time based on the end location and the end time in the guidance system.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, there has been proposed a guidance system that guides a user by moving an autonomous mobile robot together with the user who desires guidance (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 129311 Summary of the Invention [Problem to be solved by the invention]

[0004] In this situation, there was room for improvement in terms of the range of users that the guidance system targeted, in order to further increase convenience.

[0005] The problem to be solved by the present disclosure relates to a guidance system that guides users by moving an autonomous mobile robot, and is to improve convenience for users. [Means for solving the problem]

[0006] A control method according to the present disclosure is a control method for a guidance system using an autonomous mobile robot, which includes acquiring information indicating a start location, a start time, an end location, and an end time in the guidance system, having the autonomous mobile robot authenticate a second user different from an authenticated first user at a location and time based on the start location and the start time, having the autonomous mobile robot travel a route that guides the second user to a location based on the end location at a time based on the end time, and acquiring a confirmation result of the second user by the first user in the guidance system at the location and time based on the end location and the end time. Effect of the Invention

[0007] According to the present disclosure, a guidance system that guides a user by moving an autonomous mobile robot improves convenience for the user. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a guidance system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of each device of the guidance system according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of a functional configuration of the server according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a functional configuration of the robot according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of a functional configuration of a parent terminal according to the embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a functional configuration of a child's terminal according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of a flow of a childcare service realized by the guidance system according to the embodiment. [Figure 8] FIG. 8 is a sequence diagram showing an example of the process of registering a new user in FIG. [Figure 9]FIG. 9 is a flowchart showing an example of the schedule registration flow of FIG. [Figure 10] FIG. 10 is a sequence diagram showing an example of a process for registering a schedule in FIG. [Figure 11] FIG. 11 is a diagram showing the transition of the display screen in the processing of FIG. [Figure 12] FIG. 12 is a diagram illustrating an example of a data configuration of reservation information in a database according to the embodiment. [Figure 13] FIG. 13 is a flowchart showing an example of the flow of starting the schedule of FIG. [Figure 14] FIG. 14 is a sequence diagram showing an example of a process at the start of the schedule in FIG. [Figure 15] FIG. 15 is a diagram showing the transition of the display screen in the processing of FIG. [Figure 16] FIG. 16 is a flow chart showing an example of the flow of childcare provision in FIG. [Figure 17] FIG. 17 is a diagram for explaining an example of a use case when childcare is provided in FIG. [Figure 18] FIG. 18 is a sequence diagram showing an example of a process in the childcare provision of FIG. [Figure 19] FIG. 19 is a flow chart showing an example of the flow of the end of the schedule in FIG. [Figure 20] FIG. 20 is a sequence diagram showing an example of a process at the end of the schedule in FIG. [Figure 21] FIG. 21 is a diagram showing the transition of the display screen in the processing of FIG. [Figure 22] FIG. 22 is a flowchart showing an example of the flow when a schedule change is made due to parental convenience in a childcare service according to this embodiment. [Diagram 23] FIG. 23 is a sequence diagram showing an example of the process of changing the schedule due to parent's convenience in FIG. [Figure 24] FIG. 24 is a diagram showing the transition of the display screen in the processing of FIG. [Diagram 25] FIG. 25 is a flowchart showing an example of a flow when a schedule is changed due to a child's convenience in a childcare service according to the embodiment. [Figure 26] FIG. 26 is a sequence diagram showing an example of the process of changing the schedule due to a child's circumstances in FIG. [Figure 27] FIG. 27 is a diagram showing the transition of the display screen in the processing of FIG. [Figure 28] FIG. 28 is a flowchart showing an example of a flow when a schedule change is made due to a robot in a childcare service according to the embodiment. [Figure 29] FIG. 29 is a sequence diagram showing an example of a process for changing the schedule due to the robot in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, with reference to the drawings, embodiments of a control method, a guidance system, a display terminal, a server, a program, and a recording medium according to the present disclosure will be described.

[0010] In the description of the present disclosure, components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings may be given the same reference numerals, and the description may be omitted as appropriate. In addition, even when the same or substantially the same parts are shown, the dimensions and ratios of the components may be different depending on the drawing. In addition, for example, from the viewpoint of ensuring the visibility of the drawings, reference numerals may be given only to the main components in the description of each drawing, and reference numerals may not be given to components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings.

[0011] In the description of the present disclosure, components having the same or substantially the same functions may be distinguished by adding an alphanumeric character to the end of the reference symbol. Alternatively, when multiple components having the same or substantially the same functions are not distinguished, they may be collectively described by omitting the alphanumeric character at the end of the reference symbol.

[0012] 2. Description of the Related Art Conventionally, there has been proposed a guidance system that guides a user by moving an autonomous mobile robot together with the user who desires guidance.

[0013] In this situation, there was room for improvement in the scope of users targeted by the guidance system from the perspective of further improving convenience. For example, while the system can be used when adults request guidance, it did not take into account cases where parents leave their children at the system and use it as a temporary daycare center, or where two or more people use it to meet up. In other words, it did not take into account cases where the person requesting guidance through the guidance system is different from the person requesting guidance.

[0014] In this embodiment, a guidance system that guides a user by moving an autonomous mobile robot and can improve user convenience will be described.

[0015] In the following embodiment, a guidance system that provides a childcare service for a "guardian" to look after a "child" is described as an example of a guidance system according to the present disclosure, but is not limited to this. For example, the guidance system according to the present disclosure can provide a nursing care service for a "client" to look after a user who needs to be watched over, not limited to a child. Alternatively, the guidance system according to the present disclosure can provide a waiting service for a user who is unfamiliar with the service area, such as a user who does not know the area, to meet up with the "client."

[0016] 1 is a diagram showing an example of the configuration of a guidance system 1 according to an embodiment. The guidance system 1 includes a server 11, a database 12, a robot group 13, a parent terminal 15, and a child terminal 16. The robot group 13 includes a plurality of robots 14-1, 14-2, ..., 14-n (n is any positive integer). The server 11, the plurality of robots 14-1, 14-2, ..., 14-n, the parent terminal 15, and the child terminal 16 are communicatively connected via a network N. The server 11 is also communicatively connected to the database 12.

[0017] The database 12 may be connected to the server 11 via a network N.

[0018] In the following description, when it does not matter which of the multiple robots 14-1, 14-2, . . . 14-n is being referred to, it will simply be referred to as robot 14.

[0019] FIG. 1 illustrates a case where the user of the childcare service provided by the guidance system 1 is a pair of a "guardian" and a "child." Here, the guardian according to the embodiment is an example of a first user. Also, the child according to the embodiment is an example of a second user. For this reason, FIG. 1 illustrates one guardian terminal 15. The user of the childcare service may be at least one pair of a "guardian" and a "child," and each pair may include at least one child and at least one guardian. Here, in this embodiment, the "child" is the person who is guided by the guidance system 1, that is, the person who is the subject of the childcare service. Also, the "guardian" is the person who requests the childcare service and is the person who is the subject of the childcare service to meet up with the "child." The guardian is, for example, a parent, but may also be another family member, relative, or acquaintance of the parent.

[0020] In this embodiment, a case where one robot 14 is assigned to one pair of a "guardian" and a "child" is illustrated, but the present invention is not limited to this. In a case where multiple children meet their guardians at a childcare service, multiple robots may be assigned to one group of users to guide multiple children. Alternatively, multiple children may be guided by one robot 14.

[0021] Furthermore, in cases where one user group includes multiple guardians, multiple guardian terminals 15 may be used for childcare services provided by one robot. Of course, childcare services can be provided to two or more mutually independent user groups, and in such cases, for example, at least one guardian terminal 15 may be used for each user group.

[0022] In the present embodiment, a case where one child's terminal 16 is provided for one robot 14 is illustrated, but the present invention is not limited to this. A plurality of child's terminals 16 may be provided for one robot 14. The child's terminal 16 may be configured integrally with the robot 14, may be configured to be detachable, or may be configured as a terminal for which attachment to the robot 14 is not taken into consideration.

[0023] The server 11 manages the entire childcare service. The server 11 executes various processes involving communication with the parent terminal 15, such as user registration and login to the childcare service, and reservations. The server 11 also executes various processes related to schedule management of multiple robots 14-1, 14-2, ... 14-n. The server 11 may include multiple server devices and be configured to be able to execute each process related to the present disclosure by distributed computing using the multiple server devices.

[0024] The database 12 stores user registration information and reservation information for the childcare service, etc. The database 12 may be mounted on the server 11, may be realized by the memory of at least one robot 14, or may be realized by the memory of at least one child terminal 16.

[0025] The robot 14 of the robot group 13 is configured to be capable of autonomous movement. The robot 14 guides children in a childcare service.

[0026] The parent terminal 15 is a terminal device operated by a parent who leaves their child at the childcare service.

[0027] The child terminal 16 is a terminal device operated by a child left at a childcare service. The child terminal 16 is, for example, a terminal attached to the robot 14, but may be a terminal device owned by the child left at the childcare service or the guardian of the child.

[0028] Fig. 2 is a diagram showing an example of a hardware configuration of each device of the guidance system 1 according to the embodiment. Each of the server 11, database 12, robot 14, parent terminal 15, and child terminal 16 according to the embodiment is realized by, for example, an information processing device 8 of Fig. 2, and has a hardware configuration using a normal computer. The information processing device 8 has a processor 81, a memory 82, an HMI (Human Machine Interface) 83, and a communication I / F (interface) 86. The HMI 83 includes a display 84 and an input I / F 85. The processor 81, the memory 82, the display 84, the input I / F 85, and the communication I / F 86 are communicatively connected by, for example, a bus 89.

[0029] The processor 81 controls the entire information processing device 8. The processor 81 executes a program read from, for example, a ROM (Read Only Memory) of the memory 82 and loaded into a RAM (Random Access Memory), thereby realizing the functions of the information processing device 8. The processor 81 is not limited to executing software, and may be configured as a dedicated circuit. As the processor 81, various processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate Array) can be appropriately used.

[0030] The memory 82 stores various programs, parameters, data, data being processed, and the like used in the information processing device 8. As the memory 82, various recording media and recording devices such as a RAM, a ROM, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and a Flash memory can be appropriately used.

[0031] The display 84 displays a screen for presenting information and a screen for operation in the information processing device 8. The display 84 is an example of an output I / F of the HMI 83. As the display 84, a liquid crystal display (LCD), an organic electroluminescence (EL) display, a projector, etc. can be appropriately used. The display 84 may be configured as a touch panel display. In this case, the touch panel of the display 84 is provided on its surface and outputs information according to the touched position. This touch panel is an example of an input I / F 85 of the HMI 83 that acquires a user's operation input. The display 84 is not an essential component of the server 11, the database 12, and the robot 14, and may not be provided.

[0032] The input I / F 85 acquires, for example, a user's operation input. The above-mentioned touch panel, keyboard, etc. can be appropriately used as the input I / F 85. Note that the input I / F 85 is not an essential component of the server 11, the database 12, and the robot 14, and may not be provided.

[0033] The input I / F 85 of the robot 14 includes a camera that obtains image data of the target child at least during childcare during child authentication and childcare described below. As an example, the robot 14 is equipped with two or more cameras that can capture images of the surroundings of the robot 14. The robot 14 may be equipped with two or more cameras that can obtain data of two or more images with parallax. The robot 14 may also be equipped with other sensors such as an infrared sensor or a distance sensor as the input I / F 85. These sensors may be used to obtain the distance to the child during childcare described below.

[0034] The communication I / F 86 communicates with the outside of the information processing device 8. The communication I / F 86 of the server 11, the database 12, and the child's terminal 16 have communication circuits for wired or wireless communication. The communication I / F 86 of the robot 14 and the parent's terminal 15 have communication circuits for wireless communication. As the communication circuit for wireless communication, communication circuits compatible with various standards such as 3G, 4G, 5G, 6G, Wi-Fi (registered trademark), Bluetooth (registered trademark), and infrared communication can be appropriately used.

[0035] 3 is a diagram showing an example of a functional configuration of the server 11 according to the embodiment. The processor 81 of the server 11 executes a program loaded in, for example, the RAM of the memory 82 to realize functions as a robot management unit 111 and an application management unit 112. For example, the robot management unit 111 executes various processes involving communication with the robot 14, such as management of availability information and schedule of the robot 14. For example, the application management unit 112 executes various processes involving communication with the parent terminal 15, such as user registration, login, and management of reservation information.

[0036] 4 is a diagram showing an example of the functional configuration of the robot 14 according to the embodiment. The processor 81 of the robot 14 executes a program loaded in, for example, the RAM of the memory 82, thereby realizing the functions of an authentication unit 141, a detection unit 142, and a running unit 143. The authentication unit 141 performs child authentication, which will be described later. The detection unit 142 detects a child to be cared for from image data of a camera mounted on the robot 14. The running unit 143 controls the autonomous running of the robot 14.

[0037] FIG. 5 is a diagram showing an example of a functional configuration of the parent terminal 15 according to the embodiment. The processor 81 of the parent terminal 15 executes a program loaded in the RAM of the memory 82, for example, to realize functions as an application execution unit 151, a user registration unit 152, a schedule registration unit 153, and a schedule change unit 154. The application execution unit 151 performs processing such as logging in to the childcare service. The user registration unit 152 performs processing such as user registration to the childcare service. The schedule registration unit 153 performs processing such as reservation for the childcare service. The schedule change unit 154 performs processing such as approval of a request for reservation change by a parent during childcare by the childcare service or a reservation change due to a child's convenience. Here, the application execution unit 151 is an example of an authentication unit and a confirmation unit. Also, the schedule registration unit 153 according to the embodiment is an example of a registration unit.

[0038] 6 is a diagram showing an example of a functional configuration of the child's terminal 16 according to the embodiment. The processor 81 of the child's terminal 16 executes a program loaded in the RAM of the memory 82, for example, to realize functions as an attraction execution unit 161 and a request reception unit 162. The attraction execution unit 161 provides attractions to the child being guided. These attractions are various services provided to the child by the childcare service other than the walk to the meeting place, such as showing videos to the child being guided or providing games. The request reception unit 162 performs processing such as reception of a request to change a reservation made by a child being looked after by the childcare service.

[0039] In addition, a part or all of the functions of the server 11 may be realized by at least one robot 14, at least one parent terminal 15, or at least one child terminal 16.

[0040] Similarly, some of the functions of the robot 14 may be realized by any of the server 11, at least one other robot 14, at least one parent terminal 15, and at least one child terminal 16.

[0041] Similarly, some of the functions of the parent terminal 15 may be realized by either the server 11, at least one robot 14, at least one parent terminal 15 used by other parents of the same user group, and at least one child terminal 16.

[0042] Similarly, some of the functions of the child terminal 16 may be realized by any of the server 11, at least one robot 14, at least one parent terminal 15, and at least one other child terminal 16.

[0043] An example of the operation of the guidance system 1 according to the embodiment will be described below with reference to the drawings. Note that the flow of the childcare service (guidance service) and the flow of the process described below are just an example, and the order of steps can be changed, some steps can be deleted, and other steps can be added as desired.

[0044] (Childcare service process) FIG. 7 is a flowchart showing an example of the flow of a childcare service realized by the guidance system 1 according to the embodiment.

[0045] First, if the guardian has not been registered as a user, that is, if the user is unregistered (S1: Yes), the childcare service performs new user registration to newly register the guardian with the childcare service (S2). If the guardian is already a registered user (S1: No), or after new user registration (S2), the childcare service accepts input by the guardian using guardian terminal 15 and performs schedule registration to register the childcare schedule for use (S3).

[0046] The childcare service then starts the registered childcare schedule (S4). At this time, the guardian leaves the child at the childcare service. The childcare service also provides childcare based on the childcare schedule (S5). The childcare service then ends the childcare schedule (S6). At this time, the guardian picks up the child from the childcare service. The flow in FIG. 7 then ends.

[0047] Hereinafter, the process at each step of the childcare service will be described with reference to the drawings.

[0048] (New user registration process) Fig. 8 is a sequence diagram showing an example of a process in the new user registration of Fig. 7. Here, the process executed in the new user registration (step S2 of Fig. 7) will be described with reference to Fig. 8.

[0049] The user registration unit 152 of the parent terminal 15 displays a new user registration screen for accepting the registration of a new user on the display 84 of the parent terminal 15 (S201). The user registration unit 152 also accepts input of new user information by the parent (S202). Here, in the present disclosure, accepting input of information means acquiring or receiving the information in the guidance system 1. The new user information includes a user ID for uniquely identifying the user (parent) and user terminal identification information for uniquely identifying the parent terminal 15. This user terminal identification information is, for example, a telephone number, but other information such as an email address or an International Mobile Equipment Identifier (IMEI) of the terminal may also be used. When a telephone number is used as the user terminal identification information, it can also be used as an emergency contact when using a childcare service. When a login password for the childcare service is set, the new user information may include information related to the login password linked to the user ID.

[0050] Then, the user registration unit 152 transmits the new user information accepted from the guardian to the server 11. Also, the application management unit 112 of the server 11 receives the new user information from the guardian terminal 15 (S203).

[0051] The application management unit 112 of the server 11 transmits a registration request to the database 12 to register the new user information from the parent terminal 15 in the database 12 (S204). In addition, the database 12 registers the new user information in response to the registration request from the server 11 (S205).

[0052] Thereafter, the application management unit 112 of the server 11 transmits a new user registration completion notification to notify the parent terminal 15 that the new user registration has been completed. In addition, the user registration unit 152 of the parent terminal 15 receives the new user registration completion notification from the server 11 (S206).

[0053] In response to receiving the new user registration completion notification from the server 11, the user registration unit 152 of the parent terminal 15 displays a new user registration completion screen on the display 84 of the parent terminal 15 to indicate that the new user registration has been completed (S207). Then, the process of FIG. 8 ends.

[0054] (Schedule registration process) Fig. 9 is a flow chart showing an example of the flow of schedule registration in Fig. 7. Here, the flow of schedule registration (step S3 in Fig. 7) will be described with reference to Fig. 9.

[0055] First, the guardian logs in to the childcare service using the guardian terminal 15 (S31). If login is not possible (S32: Yes), that is, if a login attempt is made by an unregistered guardian, the childcare service performs new user registration (S33). This new user registration is similar to the process described above with reference to Fig. 8, and therefore will not be described here.

[0056] If login is permitted (S32: No), or after new user registration (S33), the parent logs in to the childcare service and selects the service area to be used (S34) and the reservation time (S35).

[0057] Then, when the childcare service accepts the guardian's selection of the service area and reservation time, the reservation for the childcare service is confirmed (S36), after which the flow of FIG. 9 ends.

[0058] Fig. 10 is a sequence diagram showing an example of the process in schedule registration in Fig. 7. Here, the process executed in schedule registration (step S3 in Fig. 7) will be described with reference to Fig. 10. Fig. 11 is a diagram showing the transition of the display screen in the process in Fig. 10.

[0059] The application execution unit 151 of the parent terminal 15 displays a user login screen 310 for logging in to the childcare service on the display 84 of the parent terminal 15 (S301). The application execution unit 151 also accepts input of login information of the user (parent) via the input I / F 85 (S302). Here, the login information includes a user ID for uniquely identifying the user (parent). Note that, when a login password for the childcare service is set, the login information may include information related to the login password linked to the user ID.

[0060] For example, the user login screen 310 includes a login button 311 as shown in Fig. 11. For example, when the login button 311 is selected, the application execution unit 151 accepts input of login information. Note that the login information may be held in the parent / guardian terminal 15 according to settings made by the parent / guardian, for example, and does not have to be input by the parent / guardian each time.

[0061] The application execution unit 151 of the parent terminal 15 transmits the accepted login information to the server 11. In addition, the application management unit 112 of the server 11 receives the login information from the parent terminal 15 (S303).

[0062] The application management unit 112 of the server 11 requests user information related to the target user ID, which is registered with the childcare service, from the database 12 based on the user ID included in the login information from the parent terminal 15 (S304). In response to the request from the server 11, the database 12 transmits the user information related to the target user ID to the server 11 (S305). Then, the application management unit 112 of the server 11 checks whether the user ID included in the login information from the parent terminal 15 is already registered with the childcare service (S306).

[0063] Here, it is assumed that the target guardian has registered as a user in advance, and that the user ID is registered in the database 12. In this case, the application management unit 112 of the server 11 transmits login completion information to the guardian terminal 15 (S307). Here, the login completion information includes a login completion notification notifying that login has been completed, and service area information indicating the area in which childcare services can be provided.

[0064] Based on the service area information from the server 11, the schedule registration unit 153 of the parent terminal 15 displays a service area selection screen 320 on the display 84 of the parent terminal 15 to accept the selection of which of the available service areas the childcare service will be used in, and accepts the parent's selection of the available service area (S308).

[0065] 11, the service area selection screen 320 includes a message such as "Please select the area in which you would like to use the service" and a number of area selection buttons 321 for selecting an available service area. For example, a guardian can select an area in which to use childcare services by selecting one of the number of area selection buttons 321 on the service area selection screen 320.

[0066] The schedule registration unit 153 of the parent terminal 15 transmits available service area information including an area ID that uniquely identifies the available service area selected by the parent to the server 11. The application management unit 112 of the server 11 also receives the information indicating the available service area from the parent terminal 15 (S309). The application management unit 112 outputs a request to confirm availability information of the robot 14, including the area ID indicating the available service area selected by the parent, to the robot management unit 111 (S310).

[0067] The robot management unit 111 of the server 11 acquires the availability information confirmation request for the robot 14 from the application management unit 112, and requests the availability information of the robot 14 from the database 12 based on the area ID of the availability information confirmation request (S311). The database 12 transmits the availability information of the robot 14 to the server 11 in response to the request from the server 11 (S312). Then, the robot management unit 111 of the server 11 confirms the availability information of the robot 14 from the database 12, i.e., the schedule of the robot 14 linked to the area ID included in the availability information confirmation request for the robot 14 from the application management unit 112 (S313). In addition, the robot management unit 111 generates the available time for the childcare service from the availability time of the robot 14 in the service area selected by the guardian (S314).

[0068] The robot management unit 111 of the server 11 outputs the generated service acceptable time to the application management unit 112 (S315). The application management unit 112 acquires the service acceptable time from the robot management unit 111 and transmits it to the parent terminal 15. In addition, the schedule registration unit 153 of the parent terminal 15 receives the service acceptable time from the server 11 (S316).

[0069] The schedule registration unit 153 of the parent / guardian terminal 15 displays schedule registration screens 330, 340 including the service reception available times from the server 11 on the display 84 (S317). The schedule registration unit 153 also accepts input of reservation details by the parent / guardian via the input I / F 85 (S318). Here, the schedule registration screens 330, 340 are each an example of a registration screen.

[0070] For example, as shown in Fig. 11, schedule registration screen 330 is a screen that accepts input of reservation details such as the location and time for a guardian to leave their child with a childcare service. In the example of Fig. 11, schedule registration screen 330 includes display 331 for selecting a location for leaving the child on a map showing the available service area selected by the guardian. Also, in the example of Fig. 11, schedule registration screen 330 includes display 332 for selecting a time for leaving the child within the range of service reception hours from server 11.

[0071] For example, as shown in Fig. 11, schedule registration screen 340 is a screen that accepts input of reservation details regarding the location and time for a guardian to pick up a child from a childcare service. In the example of Fig. 11, schedule registration screen 340 includes display 341 for selecting a location for picking up a child on a map showing the available service area selected by the guardian. Also, in the example of Fig. 11, schedule registration screen 340 includes display 342 for selecting a time for picking up a child within the range of service acceptance times from server 11.

[0072] In addition, the schedule registration screens 330 and 340 may further accept child information about the child to be handed over to the childcare service. Here, the child information is, for example, image data of the child to be handed over to the childcare service, but is not limited to image data and may include various information used to identify the child from the image captured by the camera of the robot 14, such as physical characteristics such as height and hairstyle.

[0073] The schedule registration unit 153 of the parent terminal 15 transmits reservation content information indicating the reservation content entered on the schedule registration screens 330, 340 to the server 11. The application management unit 112 of the server 11 also receives the reservation content information from the parent terminal 15 (S319). The application management unit 112 also outputs schedule information indicating the starting location, starting time, ending location and ending time of the childcare service to the robot management unit 111 based on the reservation content information from the parent terminal 15. The robot management unit 111 also acquires the schedule information from the application management unit 112 (S320).

[0074] The robot management unit 111 of the server 11 calculates the route and schedule of the robot 14 when the childcare service provides childcare based on the schedule information from the application management unit 112 (S321), and reserves the robot 14 that provides childcare according to the calculated route and schedule (S322). Here, the route is the travel path of the robot 14 that guides a child cared for by the childcare service from a place and time based on a start place and start time previously specified by a guardian to a place based on an end place at a time based on an end time. The robot management unit 111 outputs the machine information of the robot 14 for which the reservation has been confirmed to the application management unit 112. In addition, the application management unit 112 acquires the machine information from the robot management unit 111 (S323). Here, the machine information of the robot 14 includes a machine ID for uniquely identifying the robot 14 and reservation content information. The machine information may further include the calculated route when the childcare service is provided.

[0075] The application management unit 112 of the server 11 transmits a reservation information registration request to the database 12 to register the robot information of the robot 14 whose reservation has been confirmed as reservation information in the database 12 based on the robot information from the robot management unit 111 (S324). In response to the reservation information registration request from the server 11, the database 12 registers the reservation information of the robot 14 (S325).

[0076] FIG. 12 is a diagram showing an example of a data configuration of reservation information 601 in the database 12 according to the embodiment. FIG. 12 illustrates a plurality of childcare schedules registered for each guardian who is a user of the childcare service as the reservation information 601. In the example of FIG. 12, the reservation information 601 includes items of schedule ID, user ID, service area, machine ID, reservation start time, reservation start location, reservation end time, reservation end location, and child information. The schedule ID item stores, for example, information for uniquely identifying each of the plurality of childcare schedules. The user ID item stores, for example, the user ID of the guardian who has reserved the corresponding childcare schedule. The service area item stores, for example, information indicating the available service area selected by the guardian. Note that, as the service area item, information indicating the name of each service area may be stored as exemplified in FIG. 12, or the area ID of each service area may be stored. The machine ID item stores, for example, information indicating the robot 14 that executes the corresponding childcare schedule. The reservation start time, reservation start location, reservation end time, and reservation end location items store, for example, location and date / time information determined based on the reservation details input by the guardian. The child information item stores, for example, image data of a child cared for by the childcare service, which is accepted on the schedule registration screens 330 and 340. Note that the image data stored in the child information item may be image data acquired during authentication at the start of a childcare schedule, as described below.

[0077] Furthermore, the application management unit 112 of the server 11 transmits the machine information of the robot 14 whose reservation has been confirmed as reservation confirmation information to the parent terminal 15 based on the machine information from the robot management unit 111. Also, the schedule registration unit 153 of the parent terminal 15 receives the reservation confirmation information from the server 11 (S326).

[0078] The schedule registration unit 153 of the parent / guardian terminal 15 displays a schedule registration confirmation screen 350 including reservation confirmation information from the server 11 on the display 84. For example, as shown in Fig. 11, the schedule registration confirmation screen 350 includes information 351 indicating the reservation details accepted by the server 11, and an OK button 352 for indicating consent to the reservation details. For example, if the parent is satisfied with the reservation details displayed on the schedule registration confirmation screen 350, the parent operates the OK button 352. In response to the operation of the OK button 352 on the schedule registration confirmation screen 350, the schedule registration unit 153 displays a reservation confirmation screen 360 indicating completion of schedule registration on the display 84 (S327).

[0079] For example, the reservation confirmation screen 360 includes a message 361 such as "Schedule registration completed" as shown in FIG.

[0080] (Schedule start flow) Fig. 13 is a flow chart showing an example of the flow of starting a schedule in Fig. 7. Here, the flow of starting a schedule (step S4 in Fig. 7) will be described with reference to Fig. 13. Note that the flow in Fig. 13 is assumed to be carried out at a time and place based on the start time and start place reserved by the guardian in the schedule registration (see Figs. 9 to 11) after the schedule is registered. Therefore, at the time when the flow in Fig. 13 is disclosed, the childcare service has already placed the robot 14 that performs childcare at the place based on the start place.

[0081] First, the guardian logs in to the childcare service using the guardian terminal 15 (S41). The flow of the login is similar to the process of S31 in FIG.

[0082] A guardian who logs in to the childcare service to start a schedule, i.e., to leave a child, checks the reservation details (S42). The guardian also has the robot 14 recognize the child to be left at the childcare service for child authentication (S43).

[0083] Then, after the robot 14 authenticates the child in care, the robot 14 starts caring for the child. Specifically, the robot 14 starts caring for the child so that the child arrives at a place based on the end place at a time based on the end time reserved by the guardian in the schedule registration (S44). Then, the flow in FIG. 13 ends.

[0084] Note that the guardian who leaves their child at the childcare service, i.e., the authenticated guardian who logs in to the childcare service when the schedule starts, is, for example, the same as the guardian who made the reservation for the childcare service (see, for example, Figs. 9 to 12), but it may be a different guardian. Also, when the child is authenticated based on the recognition by the robot 14 of the child left at the childcare service, for example, the guardian is assumed to be present, but it is not essential that the guardian be present when the child is authenticated. In other words, the child authentication may be at least a process of authenticating the child left at the childcare service in the guidance system 1.

[0085] 13 starts, or the location and time of authentication where the robot 14 performs child authentication may be based on the start location and start time reserved in schedule registration. In other words, the location and time of at least one of the schedule start and authentication does not need to strictly match the reserved start location and start time. However, in the description of this embodiment, the location and time of the schedule start and authentication based on the reserved start location and start time may be simply referred to as the start location and start time.

[0086] For example, the authentication location may be determined in advance, for example, by providing a database of authentication locations in the guidance system 1. In this case, the authentication location may be a reserved start location among the authentication locations registered in the database, or a location closest to the schedule start location. Of course, when registering a schedule, the authentication location registered in this database may be selectable as the start location.

[0087] Also, for example, the guidance system 1 may process a location as a schedule start location or authentication location if the location is within a predetermined distance from a start location reserved in schedule registration.

[0088] Also, for example, the start of a schedule or authentication may be performed prior to or after the start time reserved in the schedule registration. That is, the guidance system 1 may set the time of the schedule start or authentication to be earlier or later than the start time reserved in the schedule registration. The time width by which the reserved start time can be brought forward or later may be determined in advance or on an ad-hoc basis, for example, based on the availability of the robot 14.

[0089] Fig. 14 is a sequence diagram showing an example of processing at the start of a schedule in Fig. 7. Here, the processing executed at the start of a schedule (step S4 in Fig. 7) will be described with reference to Fig. 14. Fig. 15 is a diagram showing the transition of a display screen in the processing in Fig. 14.

[0090] First, the process (S301 to S307) for logging in to the childcare service is performed. Note that this process is similar to the process described above with reference to Fig. 10, and therefore a description thereof will be omitted here. Note that in the flow of Fig. 14, the login completion information includes a login completion notification that notifies the user that login has been completed.

[0091] The application execution unit 151 of the parent terminal 15 displays the reservation confirmation screen 370 for confirming the reservation information on the display 84 (S401). At this time, the application execution unit 151 transmits a reservation confirmation request to the server 11, which requests confirmation of the reservation information. The application management unit 112 of the server 11 also receives the reservation confirmation request from the parent terminal 15 (S402). In response to the reservation confirmation request from the parent terminal 15, the application management unit 112 transmits a reservation information request to the database 12, which requests reservation information related to the logged-in parent. In addition, the database 12 receives the reservation information request from the server 11 (S403). In response to the reservation information request from the server 11, the database 12 transmits the reservation information of the relevant parent to the server 11. In addition, the application management unit 112 of the server 11 receives the reservation information of the relevant parent from the database 12 (S404). Thereafter, the application management unit 112 transmits schedule information indicating the childcare schedule included in the reservation information to the parent terminal 15. Furthermore, the application execution unit 151 of the parent terminal 15 receives the schedule information from the server 11 (S405). The application execution unit 151 displays the schedule information from the server 11 on the reservation confirmation screen 370 (S406).

[0092] For example, as shown in Fig. 15, the reservation confirmation screen 370 includes schedule information 371 indicating the registered childcare schedule, and an OK button 372 for instructing consent to the reservation confirmation. In the example of Fig. 15, the reservation confirmation screen 370 displays the start location and start time of the childcare schedule as the schedule information 371. For example, if the guardian is satisfied with the childcare schedule displayed on the reservation confirmation screen 370, he or she operates the OK button 372. In response to the operation of the OK button 372 on the reservation confirmation screen 370, the application execution unit 151 transmits child authentication start information, which is a trigger for starting child authentication, to the server 11. In addition, the application management unit 112 of the server 11 receives the child authentication start information from the guardian terminal 15 (S407).

[0093] The application management unit 112 of the server 11 transmits child authentication request information for guiding the child authentication to the parent terminal 15 in response to the child authentication start information from the parent terminal 15. The application execution unit 151 of the parent terminal 15 also receives the child authentication request information from the server 11 (S408). Then, the application execution unit 151 displays a child authentication instruction screen 380 on the display 84 in response to the child authentication request information from the server 11 (S409). Here, the child authentication instruction screen 380 is an example of an authentication screen.

[0094] For example, as shown in FIG. 15, the child authentication instruction screen 380 includes message information 381 for guiding the child to be left at the childcare service in a manner recognizable by the robot 14, such as "Please bring the child near the robot."

[0095] Furthermore, the application management unit 112 of the server 11 outputs authentication request information requesting the robot 14 to perform child authentication to the robot management unit 111 in response to child authentication start information from the parent terminal 15. The robot management unit 111 also acquires the authentication request information from the application management unit 112 (S410). Here, the authentication request information includes a machine ID and an authentication request instructing the execution of child authentication. The robot management unit 111 transmits an authentication request instructing the target robot 14 to perform child authentication based on the machine ID included in the authentication request information from the application management unit 112. The target robot 14 also receives the authentication request from the server 11 (S411).

[0096] The authentication unit 141 of the robot 14 executes child authentication in response to an authentication request from the server 11 (S412). Specifically, the authentication unit 141 photographs the child brought nearby by the guardian using the camera of the input I / F 85, and acquires image data of the child to be cared for. The robot 14 may obtain image data of the child by detecting the child from the captured image of the surroundings using the detection unit 142. Alternatively, if the guardian terminal 15 or the child terminal 16 is equipped with a camera, the robot 14 may obtain image data of the child captured by the camera. Thereafter, the authentication unit 141 transmits to the server 11 a child authentication completion notification including an authentication completion notification notifying that the child authentication has been completed and image data of the authenticated child. The robot management unit 111 of the server 11 receives the child authentication completion notification from the robot 14 (S413).

[0097] In response to the child authentication completion notification from the robot 14, the robot management unit 111 of the server 11 transmits a child image addition request to the database 12, which requests the addition of image data of the child to the reservation information 601. The database 12 also receives the child image addition request from the server 11 (S414). Then, in response to the child image addition request from the server 11, the database 12 adds image data of the authenticated child to the reservation information 601 (S415).

[0098] Furthermore, the robot management unit 111 of the server 11 outputs a child authentication completion notification to the application management unit 112. Furthermore, the application management unit 112 acquires the child authentication completion notification from the robot management unit 111 (S416). Then, the application management unit 112 transmits the child authentication completion notification to the parent terminal 15. Furthermore, the parent terminal 15 receives the child authentication completion notification from the server 11 (S417).

[0099] In response to the child authentication completion notification from the server 11, the application execution unit 151 of the parent terminal 15 displays a child authentication completion screen 390 on the display 84 (S418). For example, the child authentication completion screen 390 includes message information 391 such as "Child authentication has been confirmed" as shown in Fig. 15.

[0100] Thereafter, the application execution unit 151 of the parent terminal 15 displays a running start screen 400 on the display 84 (S419). For example, as shown in FIG. 15, the running start screen 400 includes schedule information 401 indicating a childcare schedule that starts with a message such as "This schedule will start," and an OK button 402 for instructing the start of the childcare schedule. For example, if the parent checks the start location, start time, end location, and end time and finds no problem, the parent can start the childcare schedule by operating the OK button 402. In response to the operation of the OK button 402 on the running start screen 400, the application execution unit 151 transmits a running start instruction to the server 11 to instruct the robot 14 to start running. In addition, the application management unit 112 of the server 11 receives the running start instruction from the parent terminal 15 (S420).

[0101] The application management unit 112 of the server 11 outputs a running start instruction to the robot management unit 111 in response to the running start instruction from the parent terminal 15. The robot management unit 111 also acquires the running start instruction from the application management unit 112 (S421). Then, the robot management unit 111 transmits a running start instruction to the target robot 14 in response to the running start instruction from the application management unit 112. The robot 14 also receives the running start instruction from the server 11 (S422). Thereafter, the robot 14 starts running to the scheduled end location in response to the running start instruction from the server 11 (S423). When starting to run, the robot 14 transmits a running start notification to the server 11 to notify that it will start running. The robot management unit 111 of the server 11 also receives a running start notification from the robot 14 (S424).

[0102] Furthermore, the robot management unit 111 of the server 11 outputs a running start notification to the application management unit 112 in response to the running start notification from the robot 14. Furthermore, the application management unit 112 acquires the running start notification from the robot management unit 111 (S425). The application management unit 112 transmits a running start notification to the parent terminal 15 in response to the running start notification from the robot management unit 111. Furthermore, the application execution unit 151 of the parent terminal 15 receives the running start notification from the server 11 (S426). Thereafter, the application execution unit 151 displays a schedule start screen 410 on the display 84 in response to the running start notification from the server 11 (S427). For example, the schedule start screen 410 includes message information 411 such as "Schedule has started" as shown in FIG. 15.

[0103] (Childcare implementation process) Fig. 16 is a flow chart showing an example of the flow of childcare provision in Fig. 7. Fig. 17 is a diagram for explaining an example of a use case when childcare provision is performed in Fig. 7. Here, the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Figs. 16 and 17.

[0104] The childcare service uses the robot 14 to guide the child to the end location according to the schedule (S51). This guidance, for example, encourages the child to move to the meeting place with the guardian by moving the robot 14, that is, takes the child for a walk and provides childcare, but is not limited to this. For example, the childcare service can provide attractions such as showing videos on the child's terminal 16 and stopping by a park in addition to the walk.

[0105] In the childcare service, if the child is within a predetermined distance from the robot 14 (S52: Yes) and has not yet arrived at the meeting place with the guardian, i.e., the end place (S53: No), the robot 14 continues to guide the child according to the schedule (S51). Here, the predetermined distance used in the determination process of S52 is an example of a first threshold value.

[0106] On the other hand, if the child is not within the predetermined distance from the robot 14 (S52: No), the daycare service performs a child chasing process (S54). Here, the child chasing process is a process in which the robot 14 chases the child until the distance between the child and the robot 14 is within the predetermined distance. Note that the predetermined distance (first threshold value) used in the determination process of S52 and the predetermined distance used to determine the end of the chasing process of S54 are, for example, the same value, but may be different. Here, the predetermined distance used to determine the end of the chasing process of S54 is an example of a second threshold value.

[0107] When the distance to the child becomes within the predetermined distance again by the chasing process, the daycare service recalculates the route to guide the child to the meeting place with the guardian (S55). For example, as shown in FIG. 17, assume that the child is guided from position 702 to end position 701 along route 703. At this time, assume that the child does not follow the running of the robot 14 and moves off route 703 as shown by arrow 705. In this case, the robot 14 is triggered by the distance to the child becoming farther than the predetermined distance, and stops running along route 703 and runs to chase the child. After that, assume that the distance between the robot 14 and the child becomes within the predetermined distance at position 707. In this case, the daycare service recalculates the route 708 from the current position 707 to the end position 701. That is, the daycare service recalculates the route when the child approaches again after leaving. Thereafter, the flow of FIG. 16 returns to S51, and the guidance continues along the recalculated route 708.

[0108] The childcare service ends when the child arrives at the meeting place with the guardian, that is, the ending place (S53: Yes).

[0109] Fig. 18 is a sequence diagram showing an example of a process in child care provision in Fig. 7. Here, the process executed in child care provision (step S5 in Fig. 7) will be described with reference to Fig. 18.

[0110] The running unit 143 of the robot 14 starts running according to a preset schedule (S501). The detection unit 142 constantly measures the distance to the child based on an image captured by the camera of the input I / F 85 (S502).

[0111] Here, it is assumed that the child moves in another direction or stops, and thus stops following the running of the robot 14. In this case, the detection unit 142 detects that the distance from the child has increased by a certain amount or more (S503), and the running unit 143 performs a child chasing process to chase the child (S504). After that, the detection unit 142 detects that the running unit 143 has come closer to the child than a certain distance (S505). In this case, the running unit 143 transmits a route recalculation request to the server 11, requesting a route recalculation. Also, the robot management unit 111 of the server 11 receives the route recalculation request from the robot 14 (S506).

[0112] The robot management unit 111 of the server 11 recalculates the route in response to the route recalculation request from the robot 14 (S507). The robot management unit 111 also transmits a schedule update request to the database 12, requesting that the schedule be updated with the route generated by the recalculation. Here, the schedule update request includes the route generated by the recalculation. The database 12 also receives the schedule update request from the server 11 (S508). The database 12 updates the schedule in the reservation information 601 in response to the schedule update request from the server 11 (S509).

[0113] Furthermore, the robot management unit 111 of the server 11 transmits update information including the route generated by recalculation to the robot 14. The robot 14 also receives the update information from the server 11 (S510). Thereafter, the robot 14 resumes traveling along the recalculated route included in the update information from the server 11, i.e., the updated schedule (S511).

[0114] In this way, when the robot 14 is driving while guiding the child, the guidance system 1 according to this embodiment monitors whether the distance between the child and the robot 14 is equal to or less than a certain distance, and makes the robot 14 chase the child if the distance exceeds the certain distance. After that, the guidance system 1 recalculates the route because the robot 14 is driving in a manner that does not follow the route 703 set in advance in order to chase the child. With this configuration, it is possible to guide the child left in the care of the parent to the meeting place specified by the parent while properly caring for the child.

[0115] (Schedule end process) Fig. 19 is a flow chart showing an example of the flow of the schedule end in Fig. 7. Here, the flow of the schedule end (step S6 in Fig. 7) will be described with reference to Fig. 19.

[0116] First, the guardian logs in to the childcare service using the guardian terminal 15 (S61). The flow of the login is similar to the process of S31 in FIG.

[0117] The guardian who logs in to the childcare service to finish the schedule, i.e., to pick up the child, confirms the arrival of the child at the end location set at the time of reservation (S62). The guardian also receives a completion notice from the childcare service and ends the use (S63). After that, the flow in FIG. 19 ends.

[0118] The location and time of the schedule end where the flow of FIG. 19 is started, or the location and time of the guardian confirming the arrival of the child may be based on the end location and end time reserved in schedule registration or changed in schedule change described later. Similarly, the route along which the robot 14 guides the child may be a route that guides the child to a location based on the reserved or changed end location at a time based on the reserved or changed end time. In other words, at least any one of the locations and times of the schedule end, confirmation, and end of guidance by the robot 14 does not need to strictly match the reserved or changed end location and end time. However, in the description of this embodiment, the locations and times of the start of the schedule end flow, the guardian's confirmation of the child, and the end of guidance to the route end point based on the reserved or changed end location and end time may be simply described as the end location and end time, respectively.

[0119] For example, the location where the guardian checks on the child may be determined in advance, such as by providing a database of check locations in the guidance system 1. In this case, the location where the guardian checks on the child may be a reserved end location among the check locations registered in the database, or a location closest to the start location of the schedule end flow. Similarly, for example, the location where the guidance by the robot 14 ends may be determined in advance, such as by providing a database of guidance end locations in the guidance system 1. In this case, the location where the guidance by the robot 14 ends may be a reserved end location among the guide end locations registered in the database, or a location closest to the start location of the schedule end flow. Of course, when registering a schedule, the check location or guidance end location registered in this database may be selectable as the end location.

[0120] Also, for example, the guidance system 1 may process the location as the start or confirmation of the flow of the end of the schedule or the location where the guidance by the robot 14 ends, if the location is within a predetermined distance from the end location reserved in the schedule registration.

[0121] Also, for example, the start or confirmation of the flow of the schedule completion and the end of the guidance by the robot 14 may be performed prior to or after the end time reserved in the schedule registration. That is, the guidance system 1 may set the start or confirmation of the flow of the schedule completion and the end of the guidance by the robot 14 to be earlier or later than the end time reserved in the schedule registration. The time width by which the reserved end time can be brought forward or later may be determined in advance as a predetermined time, or may be determined each time based on, for example, the availability of the robot 14.

[0122] Also, for example, the start time of the flow of the end of the schedule based on the reserved end time may be before or after the end of the guidance by the robot 14 based on the reserved end time. In other words, in the childcare service by the guidance system 1, the guardian can wait for the arrival of the child guided by the robot 14, or the guardian can wait for the arrival of the child guided by the robot 14.

[0123] Fig. 20 is a sequence diagram showing an example of a process at the end of a schedule in Fig. 7. Here, the process executed at the end of a schedule (step S6 in Fig. 7) will be described with reference to Fig. 20. Fig. 21 is a diagram showing the transition of a display screen in the process in Fig. 20.

[0124] First, the process (S301 to S307) for logging in to the childcare service is performed. Note that this process is similar to the process described above with reference to Fig. 10, and therefore a description thereof will be omitted here. Note that in the flow of Fig. 20, the login completion information includes a login completion notification that notifies the user that login has been completed.

[0125] The application execution unit 151 of the parent / guardian terminal 15 displays the schedule completion screen 420 on the display 84 (S601). For example, as shown in FIG. 21, the schedule completion screen 420 includes schedule information 421 indicating the completed childcare schedule, and an OK button 422 for indicating consent to the end of the schedule. In the example of FIG. 21, the schedule completion screen 420 displays the end location and end time of the completed childcare schedule as the schedule information 421. For example, the parent / guardian operates the OK button 422 when the parent / guardian is to pick up the child in the childcare schedule displayed on the schedule completion screen 420.

[0126] In response to the operation of the OK button 422 on the schedule completion screen 420, the application execution unit 151 of the parent terminal 15 displays a child pick-up completion screen 430 on the display 84 (S602). For example, as shown in FIG. 21, the child pick-up completion screen 430 includes message information 431 such as "Is your child nearby?" asking whether the parent has been able to meet up with the child to be picked up from the daycare service, and an OK button 432 for instructing the parent to complete pick-up of the child. For example, when the parent has been able to meet up with the child, the parent operates the OK button 432. Here, the child pick-up completion screen 430 is an example of a confirmation screen.

[0127] In response to the OK button 432 being operated on the child pick-up completion screen 430, the application execution unit 151 of the parent terminal 15 transmits to the server 11 information indicating that the parent has completed picking up the child. The application management unit 112 of the server 11 also receives the information indicating that the parent has completed picking up the child from the parent terminal 15 (S603). The application management unit 112 also outputs the information indicating that the parent has completed picking up the child to the robot management unit 111. The robot management unit 111 also receives the information indicating that the parent has completed picking up the child from the application management unit 112 (S604). The robot management unit 111 determines that all tasks in the childcare schedule have been completed based on the information indicating that the parent has completed picking up the child from the application management unit 112 (S605). In this way, the guidance system 1 according to the embodiment accepts the result of the parent's confirmation of the child at the end location and end time designated in advance by the parent, and ends the childcare service in response to the acceptance.

[0128] Then, the application management unit 112 of the server 11 transmits all task completion information indicating that all tasks of the childcare schedule have been completed to the parent / guardian terminal 15. The application execution unit 151 of the parent / guardian terminal 15 also receives the all task completion information from the server 11 (S606). Thereafter, the application execution unit 151 displays a service completion screen 440 on the display 84 in response to the all task completion information from the server 11 (S607). For example, as shown in FIG. 21, the service completion screen 440 includes message information 441 indicating the completion of the childcare service, such as "Service completed. Thank you for using our service."

[0129] (How to change schedule during childcare) The guidance system 1 according to this embodiment is not limited to cases where a childcare schedule is set before the start of a schedule, but can also change the childcare schedule even during childcare (S5 in FIG. 7) when the childcare schedule is being looked after by a guardian. Below, we will explain cases where the childcare schedule is changed for the guardian's convenience, for the child's convenience, and for the convenience of the robot 14, i.e., the guidance system 1, with reference to the drawings.

[0130] (Procedure for changing schedule during childcare due to parental reasons) First, the flow of schedule changes during childcare due to the convenience of the guardian will be described. For example, assume that a guardian uses a childcare service to temporarily leave their child while shopping at a commercial facility. For example, a use case may be considered in which the guardian's shopping is prolonged due to the crowdedness or shopping situation at the commercial facility, and it seems that they will not be able to make it in time, even though the time to meet the robot 14, i.e., the reserved end time, is approaching. Therefore, the guidance system 1 according to this embodiment is configured to allow the guardian to change the time and place to meet the robot 14 due to the convenience of the guardian.

[0131] Fig. 22 is a flow chart showing an example of a flow when a schedule change is made due to a parent's convenience in a childcare service according to an embodiment. Here, a schedule change in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 22.

[0132] First, the guardian logs in to the childcare service using the guardian terminal 15 (S71). The flow of the login is similar to the process of S31 in FIG.

[0133] The guardian who logs in to the childcare service checks the reservation details (S72) and inputs the reservation change details (S73). The childcare service then accepts the guardian's input of the reservation change details and changes the reservation information (S74). After that, the flow in FIG. 22 ends.

[0134] Fig. 23 is a sequence diagram showing an example of the process for schedule change due to parent's convenience in Fig. 22. Here, the process executed in schedule change in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 23. Fig. 24 is a diagram showing the transition of the display screen in the process of Fig. 23.

[0135] First, the process (S301 to S307) for logging in to the childcare service is performed. Note that this process is similar to the process described above with reference to Fig. 10, and therefore a description thereof will be omitted here. Note that in the flow of Fig. 23, the login completion information includes a login completion notification that notifies the user that login has been completed.

[0136] The schedule change unit 154 of the parent terminal 15 displays a schedule change confirmation screen 450 on the display 84 (S701). For example, as shown in FIG. 24, the schedule change confirmation screen 450 includes schedule information 451 indicating the current childcare schedule, a schedule change button 452 for instructing a schedule change, and a confirmation completion button 453 for completing the schedule confirmation. In the example of FIG. 24, the schedule change confirmation screen 450 displays the current position of the robot 14 and the end position and route of the current childcare schedule on a map as the schedule information 451. For example, when making a schedule change, the parent operates the schedule change button 452. On the other hand, when not making a schedule change, the parent operates the confirmation completion button 453, for example, depending on the result of referring to the schedule information 451.

[0137] In response to the operation of the confirmation completion button 453 on the schedule change confirmation screen 450, the schedule change unit 154 of the parent terminal 15 ends the process related to the schedule change. Meanwhile, in response to the operation of the schedule change button 452 on the schedule change confirmation screen 450, the schedule change unit 154 displays the schedule change input screen 460 on the display 84 (S702). For example, as shown in FIG. 24, the schedule change input screen 460 is a screen that accepts input of changes to the place and time at which the parent picks up the child from the childcare service. In the example of FIG. 24, the schedule change input screen 460 includes a display 461 for changing the place at which the child is to be picked up on a map, and a display 462 for changing the time at which the child is to be picked up within the service reception hours.

[0138] The schedule change section 154 of the parent terminal 15 transmits a schedule change request including change content information indicating the change content input on the schedule change input screen 460 to the server 11. In addition, the application management section 112 of the server 11 receives the schedule change request from the parent terminal 15 (S703). In addition, the application management section 112 outputs the schedule change request to the robot management section 111 in response to the schedule change request from the parent terminal 15. In addition, the robot management section 111 acquires the schedule change request from the application management section 112 (S704).

[0139] The robot management unit 111 of the server 11 recalculates the route and schedule of the robot 14 based on the schedule change request from the application management unit 112 (S705), and transmits a schedule update request to the database 12 to request registration of the recalculated route and schedule in the database 12. The database 12 also receives the schedule update request from the server 11 (S706). Then, the database 12 updates the reservation information of the robot 14 in response to the schedule update request (S707).

[0140] The robot management unit 111 of the server 11 transmits update information indicating the recalculated route and schedule to the robot 14. In addition, the traveling unit 143 of the robot 14 receives the update information from the server 11 (S708). Thereafter, the robot 14 continues guidance according to the updated schedule.

[0141] Similarly, the robot management unit 111 of the server 11 outputs update information indicating the recalculated route and schedule to the application management unit 112. Furthermore, the application management unit 112 acquires the update information from the robot management unit 111 (S709). In response to the update information from the robot management unit 111, the application management unit 112 transmits an update completion notification to the parent terminal 15 notifying that the schedule change has been accepted and updated. Furthermore, the schedule change unit 154 of the parent terminal 15 receives the update completion notification from the server 11 (S710). Thereafter, in response to the update completion notification from the server 11, the schedule change unit 154 displays a schedule change completion screen 470 on the display 84 (S711). For example, the schedule change completion screen 470 includes message information 471 such as "The schedule has been changed" as shown in FIG. 24.

[0142] In addition, the guidance system 1 may acquire payment information from stores in the commercial facility, location information from the parent / guardian terminal 15, and input of the parent / guardian's current location and destinations, and based on this information, may recalculate a route, for example, closer to the parent / guardian's current location and destinations.

[0143] (How to change the childcare schedule due to child's circumstances) Next, a flow of schedule changes during childcare due to the child's convenience will be described. For example, assume that a parent uses a childcare service to temporarily leave their child while shopping at a commercial facility or the like. For example, there may be a use case in which the child wants to stay with the robot 14 a little longer, such as when the parent wants to enjoy more attractions provided by the robot 14 or when the child wants to extend their stay at the current location, even though the time to meet the parent, i.e., the end time of the reservation made by the parent, is approaching. Therefore, the guidance system 1 according to this embodiment is configured to allow the parent to change the time and place of the meeting with the parent at the parent's discretion according to the child's convenience.

[0144] Fig. 25 is a flowchart showing an example of a flow when a schedule change is made due to a child's convenience in a childcare service according to an embodiment. Here, a schedule change in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 25.

[0145] Here, it is assumed that the child is capable of determining the presence or absence of a request and the content of the request himself / herself, for example, if he / she is in the upper grades of elementary school or above. First, the child inputs a request to change the reservation from the child's terminal 16 attached to the robot 14 (S81). This request may be, for example, a request to change the end time, such as "I want to stay here longer," or a request to change the end location, such as "I'm bored now, so I want to call my parents," or a combination of these. Note that prior to S81, the robot 14 or the child's terminal 16 may give a notification such as "It's almost over."

[0146] Then, a request from the child to change the reservation is received by the parent terminal 15 (S82), and the request is approved or rejected according to the operation of the parent terminal 15 by the parent who has confirmed the request (S83). After that, the reservation information is changed based on the request approved by the parent (S84). Then, the flow in FIG. 25 ends.

[0147] Fig. 26 is a sequence diagram showing an example of the process for schedule change due to a child's convenience in Fig. 25. Here, the process executed in schedule change in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 26. Fig. 27 is a diagram showing the transition of the display screen in the process of Fig. 26.

[0148] First, the request receiving unit 162 of the child's terminal 16 displays a schedule confirmation screen 510 on the display 84 (S801). For example, as shown in FIG. 27, the schedule confirmation screen 510 includes schedule information 511 indicating the current childcare schedule, a schedule change button 512 for indicating a request for schedule change, and a confirmation completion button 513 for completing the schedule confirmation. In the example of FIG. 27, the schedule confirmation screen 510 displays the current position of the robot 14 and the end position and route of the current childcare schedule on a map as the schedule information 511. For example, when the child requests a schedule change, the child operates the schedule change button 512. On the other hand, when the child does not request a schedule change, for example, depending on the result of referring to the schedule information 511, the child operates the confirmation completion button 513.

[0149] The request receiving unit 162 of the child's terminal 16 ends the process related to the request for schedule change in response to the confirmation completion button 513 being operated on the schedule confirmation screen 510. Meanwhile, the request receiving unit 162 displays a schedule change request input screen 520 on the display 84 in response to the schedule change button 512 being operated on the schedule confirmation screen 510 (S802). For example, as shown in FIG. 27, the schedule change request input screen 520 is a screen that accepts input of the requested change of the place and time where the child meets the guardian in the childcare service. In the example of FIG. 27, the schedule change request input screen 520 includes a display 521 for specifying the desired meeting place on a map, and a display 522 for specifying the desired meeting time within the service reception available hours. After accepting the input of the requested schedule change on the schedule change request input screen 520, the request receiving unit 162 displays a schedule change request acceptance notification screen 530 on the display 84 (S803). For example, the schedule change request acceptance notification screen 530 includes message information 531 such as "Your schedule change request has been accepted. Please wait for your parent's approval."

[0150] The request receiving unit 162 of the child's terminal 16 transmits a schedule change request including change request content information indicating the change request content input on the schedule change request input screen 520 to the server 11. Also, the robot management unit 111 of the server 11 receives the schedule change request from the child's terminal 16 (S804). Furthermore, the robot management unit 111 outputs the schedule change request to the application management unit 112 in response to the schedule change request from the child's terminal 16. Also, the application management unit 112 acquires the schedule change request from the robot management unit 111 (S805). Then, the application management unit 112 transmits the schedule change request to the parent terminal 15 in response to the schedule change request from the robot management unit 111. Also, the schedule change unit 154 of the parent terminal 15 receives the schedule change request from the server 11 (S806). Thereafter, the schedule change unit 154 displays the schedule change request notification screen 480 on the display 84 in response to the schedule change request from the server 11 (S807). For example, as shown in FIG. 27, the schedule change request notification screen 480 includes message information 481 such as "A schedule change request has been received. Please log in and check the details."

[0151] Thereafter, the process for logging in to the childcare service (S301 to S307) is performed. Note that this process is similar to the process described above with reference to Fig. 10, and therefore a description thereof will be omitted here. Note that in the flow of Fig. 23, the login completion information includes a login completion notification that notifies the user that the login has been completed.

[0152] After receiving the login completion notification, the schedule change unit 154 of the parent terminal 15 displays a schedule change request confirmation screen 490 on the display 84, which displays the contents of the schedule change request from the server 11 in a confirmable manner (S808). For example, as shown in Fig. 27, the schedule change request confirmation screen 490 includes information 491 indicating the contents of the schedule change request together with a message such as "A schedule change request has been received. Would you like to approve it?", and an approval button 492 for instructing approval of the change request. For example, when approving the schedule change request from the child, the parent operates the approval button 492.

[0153] In response to the operation of the approval button 492 on the schedule change request confirmation screen 490, the schedule change section 154 of the parent terminal 15 transmits a schedule change approval to the server 11, which indicates approval of the schedule change request. Furthermore, the application management section 112 of the server 11 receives the schedule change approval from the parent terminal 15 (S809). Furthermore, in response to the schedule change approval from the parent terminal 15, the application management section 112 outputs the schedule change approval to the robot management section 111. Furthermore, the robot management section 111 acquires the schedule change approval from the application management section 112 (S810).

[0154] Thereafter, the process for recalculating the route and schedule (S705 to S711) is performed. Note that this process is similar to the process described above with reference to Fig. 23, so a description thereof will be omitted here.

[0155] Furthermore, the traveling unit 143 of the robot 14 transmits update information to the child's terminal 16 in response to update information resulting from processing related to recalculation of the route and schedule from the server 11. Furthermore, the request receiving unit 162 of the child's terminal 16 receives the update information from the robot 14 (S811). Furthermore, the request receiving unit 162 displays a schedule change completion screen 540 on the display 84 in response to the update information from the robot 14 (S812). For example, the schedule change completion screen 540 includes message information 541 such as "The schedule has been changed" as shown in FIG. 27.

[0156] (Flow of schedule changes during childcare due to robot circumstances) Next, a flow of schedule changes during childcare due to the convenience of the robot 14 will be described. For example, assume that a parent uses a childcare service to temporarily leave their child while shopping at a commercial facility or the like. For example, it is possible that the robot 14 may not reach the end location at the end time specified in the childcare schedule of the reservation information, such as when the robot 14 is unable to reach the end location due to the child being separated from the robot 14 and the child is repeatedly chased after, or when the child is too tired to walk and cannot keep up with the robot 14. Therefore, the guidance system 1 according to this embodiment is configured to allow the robot 14 to change the time and location of the meeting with the parent due to the convenience of the robot 14.

[0157] Fig. 28 is a flowchart showing an example of a flow when a schedule change is made due to a robot in a childcare service according to an embodiment. Here, a schedule change in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 28.

[0158] If the schedule needs to be changed (S91: Yes), the child care service implements the schedule change (S92). In addition, the child care service notifies the parent of the schedule change, for example, via parent terminal 15 (S93). On the other hand, if the schedule does not need to be changed (S91: No), the flow in FIG. 28 ends.

[0159] Fig. 29 is a sequence diagram showing an example of a process for changing the schedule due to the robot in Fig. 28. Here, the process executed in changing the schedule in the flow of childcare provision (step S5 in Fig. 7) will be described with reference to Fig. 29.

[0160] First, the process (S705 to S711) for recalculating the route and schedule is performed. Note that this process is similar to the process described above with reference to Fig. 23, so a description thereof will be omitted here.

[0161] Thereafter, the application management unit 112 of the server 11 transmits a schedule update notification to the parent terminal 15 in response to the update information indicating the recalculated new meeting place and time from the robot management unit 111. Also, the schedule change unit 154 of the parent terminal 15 receives the schedule update notification from the server 11 (S901). Also, in response to the schedule update notification from the server 11, the schedule change unit 154 displays a schedule update notification screen on the display 84 that displays the updated schedule, i.e., the new meeting place and time (S902).

[0162] In this way, the guidance system 1 according to the present embodiment is configured to authenticate the child left at the childcare service at the start of childcare, and to confirm that the guardian has met up with the child and taken the child away at the end of childcare. For example, the guidance system 1 is configured to accept the reservation start time, reservation start location, meeting time, and meeting location from the guardian in advance. The guidance system 1 is also configured to have the robot 14 recognize the child to be guided, and then the guardian leaves the child with the robot. The guidance system 1 is also configured to provide childcare services to the guardian, have the guardian accompany the robot 14 while entertaining the child with attractions provided by the robot 14, and move the child to the meeting location designated in advance by the guardian. The guidance system 1 is also configured to arrange for the guardian to meet the child guided by the robot 14 at the meeting location and time designated in advance by the guardian, and to hand the child over from the robot to the guardian.

[0163] The guidance system 1 configured in this manner can realize a "robot daycare service" in which a guardian leaves their child with the autonomously moving robot 14 and picks up the child at a prearranged meeting place and time. In other words, the guidance system 1 according to the embodiment can expand the range of users and improve the convenience of the user with respect to a guidance system that guides users by moving the autonomously moving robot 14.

[0164] In the guidance system 1 according to the embodiment, when a parent changes the schedule for their own convenience, the parent may not be able to accept the changes depending on the current location of the robot 14. For this reason, when the parent inputs the changes, the guidance system 1 may be configured to determine whether or not to accept the changes based on the route and distance from the current location of the robot 14 to the changed meeting place input, and the possible travel speed of the robot 14 on the route. As an example, the guidance system 1 may be configured not to accept the changes made by the parent if the changes cannot be realized. Alternatively, the guidance system 1 may be configured not to include changes that cannot be realized in the options displayed on the schedule change input screen 460 for inputting the changes.

[0165] In addition, the determination of whether the inputted change contents can be realized may be made based on guidance information collected in the guidance of the child up to that point in time, in addition to the route, distance, and possible running speed. As an example, the guidance information includes the speed of movement up to that point in time, or the distance and time. As an example, the guidance information includes the distance of movement up to that point in time, or a change in the speed of movement. For example, the guidance system 1 may determine that the change contents cannot be realized because the child is tired if the child's movement distance up to that point in time is equal to or greater than a predetermined distance. For example, the guidance system 1 may determine that the change contents cannot be realized because the child cannot follow the robot 14 if the movement speed of the robot 14 that realizes the change contents is greater than the child's movement speed included in the guidance information, or if the speed difference or speed ratio is equal to or greater than a predetermined threshold value. In addition, the guidance system 1 may determine whether the child is tired based on a change in the child's movement speed based on the guidance information, for example, the amount of decrease or the rate of decrease.

[0166] The determination as to whether the inputted changes can be implemented may be made based on the child's approval or disapproval.

[0167] The guidance system 1 according to the embodiment may be configured to notify the parent terminal 15, facilities in a service area, the police, etc., when the time during which the robot 14 and the child are apart from each other by a predetermined distance or more has elapsed beyond a predetermined threshold value. The threshold value and the notification destination for this notification may be changed based on the state and position of the robot 14. For example, when the robot 14 is in a state in which it cannot execute the process of chasing the child, such as when the child enters a gap that the robot 14 cannot enter, or when the robot 14 cannot catch up with the child because the child is moving too fast, the urgency of the notification may be increased.

[0168] In addition, the guidance system 1 according to the embodiment may notify the parent terminal 15 to prompt the parent to change the meeting place when the child becomes interested in some object such as a toy store and does not follow the guidance of the robot 14. As an example, when the guidance system 1 determines that the meeting cannot be made at the designated place and time because the child is not following, the guidance system 1 may notify the parent terminal 15 to prompt the parent to change the meeting place. As an example, when the guidance system 1 determines that the meeting cannot be made at the designated place and time because the child is not following, the guidance system 1 may notify the parent terminal 15 to prompt the parent to change the meeting place.

[0169] The guidance system 1 according to the embodiment may determine whether the child is crying based on the data of the image of the child captured by the camera of the robot 14, and may notify the parent terminal 15 to change the meeting place or time if the child is crying for a time period equal to or longer than a predetermined threshold value. The guidance system 1 may be configured to provide an attraction if the child is crying for a time period equal to or longer than a predetermined threshold value, or may notify the parent terminal 15 to change the meeting place or time if the child does not stop crying even after the attraction is provided. As an example, the guidance system 1 may notify the parent terminal 15 to set the child's current location as the meeting place and to prompt the parent terminal 15 to move up the meeting time if the child is crying for a time period equal to or longer than a predetermined threshold value. When shortening the service by shortening the meeting time by using the child's current location as the meeting place, the guidance system 1 may be configured to make a partial refund, for example, from the viewpoint of insufficient service performance, and may calculate refund information and provide the refund information to the parent terminal 15 together with a notice to shorten the service.

[0170] In the guidance system 1 according to the embodiment, the calculation of the route of the robot 14 may be made different depending on the type of the selected available service area. For example, if the selected service area is a theme park or on a street, the route of the robot 14 may be calculated so that the robot 14 does not deviate from the guardian by more than a predetermined distance. For example, if the selected service area is a commercial facility, the route of the robot 14 may be calculated so that the robot 14 is not within the guardian's field of vision or is difficult to enter.

[0171] In addition, in the guidance system 1 according to the embodiment, either a positive element or a negative element related to route setting may be set for each child left at a childcare service. For example, negative elements such as areas, stores, or locations that are dangerous if the child approaches, such as the guardian or the business providing the guidance system 1, may be set, and the route may be calculated so that the child does not approach these dangerous negative elements. In addition, for example, for a child who is very interested in card games, elements such as stores and events related to card games may be set as positive elements that provide an attraction for the child or negative elements that prevent the child from following the robot 14.

[0172] Each of these configurations can increase the safety of children cared for by childcare services, reduce factors that hinder escorting children, and increase parents' sense of security, thereby improving convenience for users.

[0173] In each of the above-mentioned embodiments, the determination of "whether or not it is A" may be realized by determining only that it is A, or by determining only that it is not A, or by determining both.

[0174] In each of the above-mentioned embodiments, "any of A" means "at least one of A."

[0175] The programs executed by each device of the guidance system 1 of this embodiment are provided by being recorded in a computer-readable recording medium such as a CD-ROM, FD, CD-R, or DVD as files in an installable or executable format.

[0176] The programs executed by each device of the guidance system 1 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The programs executed by each device of the guidance system 1 of this embodiment may be provided or distributed via a network such as the Internet.

[0177] Furthermore, the programs executed by the devices of the guidance system 1 of this embodiment may be provided by being pre-installed in a ROM or the like.

[0178] According to at least one of the embodiments described above, it is possible to improve convenience for users in a guidance system that guides users by moving an autonomous mobile robot.

[0179] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention.

[0180] (Additional Note) The above description of the embodiments discloses the following techniques. (1) acquiring information indicating a starting location, a starting time, an ending location, and an ending time in the guidance system; having an autonomous mobile robot authenticate a second user different from the authenticated first user at a place and time based on the start place and the start time; causing the autonomous mobile robot to travel along a route that guides the second user to a location based on the end location at a time based on the end time; acquiring, in the guidance system, a confirmation result of the second user by the first user at a place and time based on the end place and the end time; A control method for a guidance system using an autonomous mobile robot. (2) When a distance between the autonomous mobile robot and the second user while the autonomous mobile robot is traveling along the route becomes equal to or greater than a predetermined first threshold value, the autonomous mobile robot stops traveling along the route. The control method described in (1) above. (3) When the distance between the autonomous robot and the second user becomes equal to or less than a predetermined second threshold value after the autonomous robot stops traveling, the autonomous robot resumes traveling. The control method described in (2) above. (4) When the distance to the second user becomes less than a predetermined second threshold value after the autonomous robot stops traveling, recalculating the route for guiding the second user to a location based on the end location at a time based on the end time. The control method according to (2) or (3) above. (5) When change content information indicating a change to the end location and the end time by the first user is acquired in the guidance system while the autonomous robot is traveling along the route, the route is recalculated based on the acquired change content information. A control method according to any one of (1) to (4) above. (6) while the autonomous robot is traveling along the route, if the guidance system acquires change request information indicating a request by the second user to change the end location and the end time, and if approval is given for the request by the first user, recalculate the route based on the acquired change request information. A control method according to any one of (1) to (5) above. (7) when it is determined that the second user cannot be guided to the end location and the end time while the autonomous robot is traveling along the route, the end location and the end time are changed and the route is recalculated based on the changed end location and the changed end time. A control method according to any one of (1) to (6) above. (8) a registration unit that displays on a display a registration screen for acquiring information indicating a start location, a start time, an end location, and an end time in a guidance system; an authentication unit that displays on the display an authentication screen instructing the first user to have the autonomous mobile robot authenticate a second user, which is different from the authenticated first user, at a place and time based on the start place and the start time; and a confirmation unit that displays on the display a confirmation screen that acquires a confirmation result of the second user by the first user in the guidance system at a place and time based on the end place and the end time. Display terminal. (9) Displaying on the display a registration screen for acquiring information indicating a starting location, a starting time, an ending location, and an ending time in a guidance system; displaying on the display an authentication screen instructing the first user to have the autonomous mobile robot authenticate a second user different from the authenticated first user at a place and time based on the start place and the start time; displaying on the display a confirmation screen for acquiring a confirmation result of the second user by the first user in the guidance system at a place and time based on the end place and the end time; A program that makes a computer do something. (10) The control method according to any one of (1) to (7) above. A program for causing a computer to execute the following. (11) A recording medium (Computer Program Product) on which the program described in (9) or (10) above is recorded, the program being executed by a computer. [Explanation of symbols]

[0181] 1 Guidance system 11 Server 111 Robot Management Department 112 Application Management Department 12 Database 13 Robots 14. Robot 141 Authentication Department 142 Detection unit 143 Running part 15 Parental Device 151 Application Execution Unit 152 User Registration Section 153 Schedule Registration Department 154 Schedule Changes Department 16 Children's Devices 161 Attractions Executive Department 162 Request Reception Department 8. Information processing equipment 81 Processor 82 Memory 83 Human Machine Interfaces 84 Display 85 Input I / F 86 Communication I / F N Network

Claims

1. acquiring information indicating a starting location, a starting time, an ending location, and an ending time in a guidance system; having an autonomous mobile robot authenticate a second user, which is different from a first user who has already been authenticated, at a place and time based on the start place and the start time; causing the autonomous mobile robot to travel along a route that guides the second user to a location based on the end location at a time based on the end time; acquiring, in the guidance system, a confirmation result of the second user by the first user at a place and time based on the end place and the end time; A control method for a guidance system using an autonomous mobile robot.

2. When a distance between the autonomous mobile robot and the second user while the autonomous mobile robot is traveling along the route becomes greater than a predetermined first threshold value, the autonomous mobile robot stops traveling along the route. The control method according to claim 1 .

3. When a distance between the autonomous robot and the second user becomes equal to or less than a predetermined second threshold value after the autonomous robot stops traveling, the autonomous robot resumes traveling. The control method according to claim 2 .

4. when the distance to the second user becomes equal to or less than a predetermined second threshold value after the autonomous robot stops traveling, recalculating the route for guiding the second user to a location based on the end location at a time based on the end time; The control method according to claim 2 .

5. When change content information indicating a change to the end location and the end time by the first user is acquired in the guidance system while the autonomous robot is traveling along the route, the route is recalculated based on the acquired change content information. A control method according to any one of claims 1 to 4.

6. while the autonomous robot is traveling along the route, if the guidance system acquires change request information indicating a request by the second user to change the end location and the end time, and if approval is given for the request by the first user, recalculate the route based on the acquired change request information. A control method according to any one of claims 1 to 4.

7. when it is determined that the second user cannot be guided to the end location and the end time while the autonomous robot is traveling along the route, the end location and the end time are changed and the route is recalculated based on the changed end location and the changed end time. A control method according to any one of claims 1 to 4.

8. a registration unit that displays on a display a registration screen for acquiring information indicating a start location, a start time, an end location, and an end time in a guidance system; an authentication unit that displays on the display an authentication screen instructing the first user to have the autonomous mobile robot authenticate a second user, which is different from the authenticated first user, at a place and time based on the start place and the start time; a confirmation unit that displays on the display a confirmation screen that acquires a confirmation result of the second user by the first user in the guidance system at a place and time based on the end place and the end time, Display terminal.

9. Displaying on the display a registration screen for acquiring information indicating a starting location, a starting time, an ending location, and an ending time in a guidance system; displaying on the display an authentication screen instructing the first user to have the autonomous mobile robot authenticate a second user different from an authenticated first user at a place and time based on the start place and the start time; displaying, on the display, a confirmation screen for acquiring, in the guidance system, a confirmation result of the second user by the first user at a place and time based on the end place and the end time; A program that makes a computer do something.

Images