Robot control system, guidance robot control program, and guidance robot control method

Abstract

To support user guidance by balancing patrol efficiency and user interaction effectiveness, regardless of whether the location is crowded or not.SOLUTION: A robot control system includes a robot equipped with an input device and capable of self-propelling and guiding users to their destinations. The system causes the robot to display a two-dimensional code on a display device for communication with a user's terminal device. The terminal device reads, from the two-dimensional code, communication connection information for communication with the robot. When receiving a robot operation request from the terminal device based on the communication connection information, the robot control system causes the robot to perform an action in accordance with the robot operation request.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a motion control device for an autonomous mobile robot that stops or slows down to provide a person with a trash disposal assistance service. This motion control device determines the degree to which a person wants the autonomous mobile robot to throw away trash by analyzing the person's behavior using information about the autonomous mobile robot's surroundings, determines whether the person is located within a proximity range, and decides to stop or slow down the autonomous mobile robot. Furthermore, if the motion control device determines that multiple people want to throw away trash, it sets a proximity range for each person according to the degree to which each of the multiple people wants to throw away trash, and if it determines that any of the multiple people is within the proximity range set for that person, it decides to stop or slow down the autonomous mobile robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7400998 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure has been devised in consideration of the above-mentioned conventional circumstances, and aims to provide a robot control system, a guide robot control program, and a guide robot control method that assist in guiding users by achieving both patrol efficiency and effective user response, whether the situation is crowded or not. [Means for solving the problem]

[0005] The present disclosure provides a robot control system for controlling a self-propelled robot having an input device, wherein the robot is capable of self-propelling in either a first mode in which the robot stops near a detected person regardless of whether there is input to the input device, or a second mode in which the robot self-propels at a low speed near a detected person and stops when it receives input from the person to the input device, and the robot control system includes a control unit that controls the robot to select between the first mode and the second mode based on the number of people estimated to be present in the direction of movement of the robot. [Effects of the Invention]

[0006] According to the present disclosure, it is possible to assist in guiding users by achieving both patrol efficiency and effective user response, regardless of whether the situation is crowded or not. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of a guidance system according to an embodiment of the present invention; [Figure 2] A block diagram showing an example of the internal configuration of a robot, an in-store server, and a service server according to the present embodiment. [Figure 3] FIG. 10 is a diagram showing an example of a menu screen according to the present embodiment; [Figure 4] 1A and 1B are diagrams illustrating a normal mode and a congested mode according to the present embodiment. [Figure 5] A diagram showing an example of the robot's path and floor map MP [Figure 6] FIG. 1 is a flow diagram illustrating mode selection according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] (Background to this disclosure) Conventionally, autonomous mobile robots have been known as a technology for providing users with necessary information in stores or facilities, or guiding users to locations where products they desire are on display. For example, when an autonomous mobile robot determines that a person is within its proximity, it is controlled to stop or slow down (see Patent Document 1). However, if the robot behaves in the same way in crowded and uncrowded situations (e.g., stopping or slowing down every time it finds a person), there is a problem that the autonomous mobile robot may not be able to patrol the entire facility under its own power in crowded situations, while it may not be able to provide sufficient service to each individual user in uncrowded situations.

[0009] Therefore, in the embodiments described below, the object is to provide a robot control system, a guide robot control program, and a guide robot control method that assist in guiding users by achieving both patrol efficiency and effective user service, regardless of whether the situation is crowded or not.

[0010] Hereinafter, with reference to the accompanying drawings, detailed descriptions will be given of embodiments that specifically disclose the configurations and operations of a robot control system, a guide robot control program, and a guide robot control method according to the present disclosure. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims. Furthermore, unless otherwise specified, the order of the steps in the flow chart may be reversed.

[0011] (Embodiment) First, a guidance system 100 according to this embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a diagram showing an example of the overall configuration of guidance system 100 according to this embodiment. Fig. 2 is a block diagram showing an example of the internal configuration of a robot RB, an in-store server TS, and a service server SS according to this embodiment. The guidance system 100 shown in Fig. 1 is merely an example, and it goes without saying that the system is not limited to this example configuration. Also, in Fig. 2, the access point AP and service server SS of guidance system 100 are omitted to avoid complicating the drawing.

[0012] The guidance system 100 is a system that uses a robot RB placed in a facility (for example, a shopping mall, a store, an airport, a hotel, a hospital, or a station) to present information desired by a user and guide the user to a destination. In the guidance system 100, a monitoring camera CA or a detection unit 15 (see FIG. 2) of the robot RB detects people, and selects a mode for the robot RB to move independently based on the detection result.

[0013] The guidance system 100 includes a robot RB, an access point AP, a surveillance camera CA, an in-store server TS, a service server SS, and a network NW. Any wireless communication method may be used when the robot RB communicates with the access point AP, etc. In the example shown in Fig. 1, there is one robot RB, one surveillance camera CA, one in-store server TS, and one service server SS, but there may be more than one of them.

[0014] The wireless communication referred to here may be communication via a wireless Local Area Network (LAN) such as Wi-Fi (registered trademark), Bluetooth Low Energy (hereinafter referred to as "BLE"), or communication via an Internet of Things (IoT) network communication or protocol such as Matter, Z-Wave, or ZigBee.

[0015] The robot RB is configured to be able to move autonomously within the facility where the robot RB is located (for example, a shopping mall, a store, an airport, a hotel, a hospital, or a station). When the robot RB acquires information about a destination (destination) desired by a user, it may be able to guide the user to the destination by moving autonomously toward the acquired destination (destination). The robot RB includes a communication unit 10, a processor 11, a memory 12, an input unit 13, a monitor 14, a detection unit 15, and a drive unit 16.

[0016] The communication unit 10 is connected to the in-store server TS, the surveillance camera CA, and the service server SS via the access point AP or the network NW so that data can be communicated with each other. Note that the communication unit 10 may also be connected to the in-store server TS or the service server SS so that data can be communicated directly with each other. The communication unit 10 outputs various data transmitted from the in-store server TS or the service server SS to the processor 11. The communication unit 10 also transmits various data output from the processor 11 to the in-store server TS or the service server SS.

[0017] The processor 11 is an example of a control unit of a robot control system, and is configured using, for example, a Central Processing Unit (hereinafter referred to as "CPU") or a Field Programmable Gate Array (hereinafter referred to as "FPGA"), and performs various processes and controls in cooperation with the memory 12. Specifically, the processor 11 references the programs and data stored in the memory 12 and executes the programs to realize the functions of the robot RB.

[0018] The memory 12 includes, for example, a random access memory (hereinafter referred to as "RAM") as a work memory used when executing each process of the processor 11, and a storage for storing programs and data that define the operation of the processor 11. Data or information generated or acquired by the processor 11 is temporarily stored in the RAM. A program that defines the operation of the processor 11 is written in the storage. This program may be a guide robot control program. The memory 12 may record, for example, information on the patrol route that the robot RB will travel, map information and area information of the area in which the robot RB can move independently, space information, information detected by the detection unit 15, etc.

[0019] The input unit 13 is an example of an input device, and is capable of accepting user operations by a person (user) within the facility (see above), and outputs the content of the input operation based on the user operation to the processor 11. The input unit 13 may be realized as a touch panel integrated with the monitor 14, or may be realized as a physical button that is provided on the housing of the robot RB or near the monitor 14 and that is pressed by the user. The input unit 13 may also be equipped with a microphone (not shown) and configured to be able to accept voice input operations based on the user's voice. The input unit 13 is not an essential component and may be omitted. The user is, for example, a customer visiting a store or facility.

[0020] The monitor 14 (input device) is configured using a display such as a Liquid Crystal Display (hereinafter referred to as "LCD"), an organic electroluminescence (hereinafter referred to as "EL"), a touch panel, etc. The monitor 14 displays various screens (see, for example, FIG. 3) output from the processor 11.

[0021] The detection unit 15 is controlled by the processor 11 and detects the environment around the robot RB (faces, people, obstacles, passageways, etc.). The detection unit 15 detects people present in the vicinity of the robot RB by performing any of face recognition, object recognition, skeletal detection, clothing detection, etc. The detection unit 15 may be realized by one or more cameras, sensors, lasers, radar, etc., or may be realized by combining multiple different devices such as radar and cameras. The robot RB may also include, as the detection unit 15, a Global Positioning System (GPS) or the like that can identify the position of the robot RB. The detection unit 15 outputs, as detection results, position information of the robot RB itself, information on the environment around the robot RB, etc., to the processor 11.

[0022] The driving unit 16 is controlled by the processor 11 to move the robot RB independently along a predetermined route (path) within the facility (see above).

[0023] The in-store server TS is realized by devices such as a smartphone, tablet terminal, computer, or server. The in-store server TS is managed within the store where the robot RB is installed and controls the robot RB. The in-store server TS includes a communication unit 20, a processor 21, a memory 22, an input unit 23, and a monitor 24. The in-store server TS is connected to a surveillance camera 25, and image data captured by the surveillance camera 25 is transmitted to the in-store server TS and stored in the memory 22.

[0024] The communication unit 20 is connected to the robot RB and the service server SS via an access point AP or a network NW so that data can be communicated between them. The communication unit 20 may be connected to the robot RB and the service server SS via the access point AP using Wi-Fi (registered trademark) so that data can be communicated between them, or may be connected to the robot RB and the service server SS so that data can be communicated directly between them using BLE without using the access point AP. The communication unit 20 outputs various data transmitted from the robot RB or the service server SS to the processor 21. The communication unit 20 also transmits various data output from the processor 21 to the robot RB or the service server SS (the same applies to the service server SS).

[0025] The processor 21 is configured using, for example, a CPU or FPGA, and performs various processes and controls in cooperation with the memory 22. Specifically, the processor 21 references the programs and data stored in the memory 22 and executes the programs to realize the functions of the in-store server TS (the same applies to the service server SS). This program may be a guide robot control program. The memory 22 may store, for example, information on the patrol route of the robot RB, map information and area information of the area in which the robot RB can move independently, space information, information detected by the detection unit 15, and the like.

[0026] The memory 22 includes, for example, a RAM as a work memory used when the processor 21 executes each process, and a storage for storing programs and data that define the operation of the processor 21. The RAM temporarily stores data or information generated or acquired by the processor 21. The storage has written therein programs that define the operation of the processor 21 (the same applies to the service server SS).

[0027] The input unit 23 is capable of accepting an operation and outputs the content of the input operation based on the operation to the processor 21. The input unit 23 is realized as a touch panel configured integrally with the monitor 24. The input unit 23 may also be configured to include a microphone (not shown) and to be capable of accepting a voice input operation based on the user's voice (the same applies to the service server SS).

[0028] The monitor 24 is configured using a display such as an LCD, an organic EL, a touch panel, etc. The monitor 24 displays various screens (not shown) output from the processor 21 (the same applies to the service server SS).

[0029] The surveillance camera CA may be controlled by the processor 21. The surveillance camera CA monitors the inside of a facility, a store, etc. by capturing images of the inside of the facility, the store, etc.

[0030] The service server SS is realized by a device such as a smartphone, a tablet terminal, a computer, or a server. The service server SS may be managed outside the store where the robot RB is installed and may control the robot RB. That is, the guide robot control method may be performed by at least one of the processors 11, 21, and 31, or may be performed by multiple processors working together. Accordingly, the guide robot control program may be stored in one of the memory 12, the memory 22, and the memory 32, or across multiple memory systems.

[0031] The service server SS includes a communication unit 30, a processor 31, a memory 32, an input unit 33, and a monitor .

[0032] The communication unit 30 is connected to the robot RB and the in-store server TS via an access point AP or a network NW so that data can be communicated between them. Note that the communication unit 30 may be connected to the robot RB and the in-store server TS via the access point AP using Wi-Fi (registered trademark) so that data can be communicated between them, or may be connected to the robot RB and the in-store server TS directly using BLE so that data can be communicated between them without using the access point AP. The communication unit 30, processor 31, memory 32, input unit 33, and monitor 34 are the same as those of the in-store server TS.

[0033] The in-store server TS and the service server SS manage the identification of the robot RB, its location, and its route plan. In particular, the identification of the robot RB is performed by identifying the identifiable robot RB (ID, etc.), address information of the service server SS (Uniform Resource Locator (hereinafter referred to as "URL"), etc.), or authentication information for requesting control of the robot RB.

[0034] The access point AP is installed in the store or facility where the robot RB is installed. The access point AP realizes wireless communication between the robot RB, the in-store server TS, and the service server SS via the network NW.

[0035] The robot control program may be stored in part or in whole in at least one of the memories 12, 22, and 32, and may be executed by one of the processors 11, 21, and 31, either alone or in cooperation with one another.

[0036] Next, the menu screen SC10 displayed on the robot RB will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the menu screen SC10.

[0037] The robot RB displays a menu screen SC10 on the monitor 14 that can accept user operations. The menu screen SC10 includes buttons such as "Sales Floor Guide [Location Search]" and "Store Facility Guide [Restrooms, etc.]," which transition to a settings screen for accepting input of the user's desired guidance destination, and a button such as "Survey Entry [Please Cooperate]," which transitions to a questionnaire response screen regarding the guidance service provided by the robot RB. By having the robot RB display this menu screen SC10 to users who visit the store, user convenience is improved, leading to improved services. Therefore, it is necessary to ensure that as many users who need this service (presentation of the menu screen SC10) as possible see this menu screen SC10, regardless of the situation.

[0038] Next, the patrol modes of the robot RB in congested and non-congested states will be described with reference to Fig. 4. Fig. 4 is a diagram for explaining the normal mode and congested mode according to this embodiment, where (a) is the normal mode and (b) is the congested mode.

[0039] First, as a preliminary explanation, it is preferable that the robot RB has two control modes: a standby mode and a patrol mode. In the standby mode, the robot RB stops at a specific location, such as the entrance to a store or facility, and provides guidance by calling out to passersby. Calling out means, for example, outputting pre-stored audio data of the call from a speaker equipped in the robot RB. At this time, the robot RB does not move on its own, but may change direction so that the monitor 14 faces the passersby. On the other hand, in the patrol mode, the robot RB moves on its own, allowing it to call out to people over a wider area. The patrol mode includes a normal mode (an example of a first mode) and a crowded mode (an example of a second mode). In both the standby mode and the patrol mode, when the robot RB is not calling out to detected people (e.g., people passing in front of the robot RB), it may play videos that advertise, guide, or provide other information about the facility, or provide advertising space as signage.

[0040] The normal mode in FIG. 4(a) is a patrol mode in an area that is determined to be uncrowded. First, when the detection unit 15 detects and finds a person, the robot RB approaches the detected person and stops. Then, the robot RB shows the monitor 14 and speaks to the person, so that the user can see the monitor 14 while the robot RB is stopped and can perform input operations on the input unit 13. When the user calls out to the robot RB in the normal mode, the robot RB approaches the user and stops, and the user can see the monitor 14 while the robot RB is stopped and can perform input operations on the input unit 13.

[0041] On the other hand, the crowded mode in FIG. 4(b) is a patrol mode in an area determined to be crowded. First, when the detection unit 15 detects and finds a person (e.g., a group of multiple people in a crowded area), the robot RB moves slowly near the detected person along a predetermined path of movement of the robot RB and calls out to the person without stopping. The user can view the monitor 14 while the robot RB is moving slowly and can perform input operations on the input unit 13. Furthermore, if an input operation is performed on the input unit 13 of the robot RB while it is moving slowly, the robot RB may stop or continue moving slowly. When a user calls out to the robot RB in the crowded mode, the robot RB approaches the user and stops, and the user can view the monitor 14 while the robot RB is stopped and perform input operations on the input unit 13. In other words, when the user touches the input unit 13 (e.g., a touch panel) while the robot RB is moving slowly in the crowded mode, the robot RB may transition from the patrol mode to the customer service mode (an example of a third mode), stop, and display a detailed input operation screen to prompt the customer for input. The speed of constant movement in the crowded mode may be limited to, for example, 1.0 m / s, 0.5 m / s, 0.3 m / s, 0.2 m / s, or 0.1 m / s or less. This speed is preferably such that the user can safely operate the input unit 13 even while the robot RB is moving. In this case, when the robot RB passes near a user, the robot RB may move with the input unit 13 and the monitor 14 facing the user. This makes it easier for the user to operate the input unit 13 even when the robot RB is moving at a low speed.

[0042] The limit on the moving speed in the crowded mode may be adaptively changed depending on the situation around the robot RB. For example, the robot RB may limit its moving speed to a lower speed depending on the degree of congestion in the area it is moving in or the area it is moving to. Furthermore, for example, if the detected person is determined to be a child or an elderly person, the robot RB may limit its moving speed to a lower speed.

[0043] In this way, by being able to select between normal mode and crowded mode as the patrol mode, in uncrowded situations, the patrol efficiency can be maintained above a certain level and the robot RB can stop for each user to provide attentive service.On the other hand, in congested situations, the patrol efficiency can be maintained above a certain level by continuing to move at a slow speed, allowing the robot RB to reach more users while providing service to each user.

[0044] Next, switching between normal mode and crowded mode in patrol mode will be described. Fig. 5 is a diagram showing an example of the robot's path and floor map MP. In a preset robot path, the robot RB selects normal mode or crowded mode depending on the number of people estimated to be present on the path ahead. That is, if it is estimated that there are a threshold or more (e.g., 5 people) of people in a certain area (e.g., a 2m x 2m range) on the path ahead, the crowded mode may be selected, and if the number is less than the threshold, the normal mode may be selected.

[0045] That is, in a robot control system for controlling a self-propelled robot RB, the robot RB can self-propel in either a first mode (e.g., a normal mode) in which the robot RB stops near a detected person regardless of whether or not there is a user input to the input unit 13, or a second mode (e.g., a crowded mode) in which the robot RB self-propels at a low speed near a detected person and stops when it receives a user input to the input unit 13. The robot control system (e.g., the processor 11) may control the operation mode of the robot RB to select either the first mode (normal mode) or the second mode (crowded mode) based on the number of people estimated to be present in the direction of the robot RB's movement path. The number of people estimated to be present in the direction of the robot RB's movement path may be estimated from image data captured by the detection unit 15 of the robot RB or a surveillance camera 25 installed in a store or facility. Here, "input" refers to an input operation by a user to the input unit 13, and includes voice commands and operations on a touch panel, keyboard, etc.

[0046] Furthermore, since the width of the roads in each area is known in advance from the floor map MP, the robot RB (e.g., processor 11) may set a low threshold (e.g., 1 or 2 people) in places where the roads are narrow, and a high threshold (e.g., 10 people) in places where the roads are wide. In this way, the robot RB (e.g., processor 11) may select either the first mode (normal mode) or the second mode (congested mode) based on space information, which is information about the size and width of the space, and is related to the space in the direction of the robot's movement path. Furthermore, the robot RB (e.g., processor 11) may store facility area information in the memory 12 or the like, which associates each area in the floor map MP of the facility with that space (size and road width), and the space information may be further generated by the processor 11 based on the facility area information. The space information and facility area information may be stored in at least one of the memories 12, 22, and 32. There is no need to set a single threshold value. For example, the robot RB (e.g., the processor 11) may set the area to crowded mode when five or more people are present, and switch to normal mode when the number of people drops to two or less after the crowded mode has been set. Alternatively, the robot RB (e.g., the processor 11) may detect the space in the area ahead in the direction of its travel path using the detection unit 15 provided in the robot RB, and adjust the threshold value according to the size of the space. That is, the space information may be generated based on information acquired by a sensing device provided in the robot RB (e.g., a camera, sensor, radar, etc. of the detection unit 15). Furthermore, if there is a congestion prediction in advance based on the day of the week, an event, etc., the robot RB (e.g., the processor 11) may specify the crowded mode or the normal mode in advance regardless of the density.

[0047] Also, in a situation where there is enough space for the robot RB to move around but there are many people, the robot RB (for example, the processor 11) may be in either the normal mode or the crowded mode as a patrol mode. This is because each mode has its own advantages. In this case, the normal mode allows the robot RB to quickly approach people and speak to them. On the other hand, the crowded mode allows the robot RB to continue moving at a low speed without heading towards people, thereby increasing the opportunities for contact with many people.

[0048] The floor map MP and the path of the robot RB in FIG. 5 are stored in at least one of the memories 12, 22, and 32. This floor map MP can be generated, for example, by moving the robot RB around a store or facility where the robot RB is actually installed, using a camera, a sensor, a radar, and the like provided in the detection unit 15 of the robot RB. If an obstacle is present on the robot RB's path, the robot RB can either move around the obstacle or pause and wait for the obstacle to move. The camera provided in the detection unit 15 can recognize faces, recognize bone structure and clothing, or detect motion using sensors, and thus the robot RB can determine whether the obstacle is a person or an object and decide how to respond. The face recognition may be face detection that determines whether the face is a human face, or face authentication that can identify individuals. When a person and an object can be distinguished, the robot RB (e.g., the processor 11) may select a crowded mode when a person is detected and a normal mode when an obstacle is detected. Furthermore, if the robot RB (for example, the processor 11) is estimated to be an obstacle, it may not be counted as a person. The path (traffic line) of the robot RB may be determined by a person such as a store or facility staff member, or may be determined by the guidance system 100. Furthermore, the direction of the path of movement may be dynamically determined using information detected by the detection unit 15.

[0049] The explanation so far has been given on the assumption that the detection unit 15 of the robot RB is used to detect people and obstacles and generate the floor map MP, but the detection and generation of the floor map MP may also be performed using a detection device (including sensors, radar, etc.) such as a surveillance camera CA installed in a store or facility. If the height of the robot RB is, for example, 100 cm, the camera of the detection unit 15 of the robot RB may not be able to detect nearby people if the angle of view is narrow. Furthermore, face detection is not possible unless the face can be captured by the camera. Therefore, images captured by the surveillance camera CA may be used.

[0050] In a preferred configuration of the guidance system 100, the robot RB patrols and moves based on floor map information and movement instructions received from the in-store server TS or the service server SS. The robot RB's detection unit 15 recognizes people, and when in patrol mode, it behaves according to the determination result of whether it is in crowded mode or normal mode, and speaks to people around it. The robot RB's operation log is transmitted to the in-store server TS or the service server SS. Store floor map information (data on surrounding objects such as shelves, patrol routes, and thresholds for each space in each area of ​​the store), as well as the robot's patrol schedule and mode setting rules, may be stored in the in-store server TS or the service server SS. The in-store server TS or the service server SS can be accessed from the in-store server TS or another terminal, allowing various settings to be changed. The in-store server TS or the service server SS issues instructions to the robot RB to guide the user to a destination, patrol route instructions, patrol mode instructions, etc. The number of people in each area can be obtained from the surveillance camera CA (or its server), or the in-store server TS or service server SS can estimate the number of people from the images from the surveillance camera CA. The in-store server TS or service server SS can then determine whether the patrol mode is normal or crowded. As a result, the in-store server TS or service server SS can change the threshold for switching modes.

[0051] Next, the flow of mode selection of the robot will be described. Fig. 6 is a flow diagram for explaining mode selection according to this embodiment. This flow is mainly executed by the processor 11 of the robot RB. The order of this flow may be changed if possible.

[0052] 6, when the robot RB is started, the robot RB (for example, the processor 11) selects whether the current operation mode is the standby mode or the patrol mode as the first mode selection (step St1). This selection may be performed automatically by the processor 11, may be made by human judgment, or may be based on an instruction from the in-store server TS or the service server SS.

[0053] When the processor 11 selects that the current operation mode is the standby mode as the first mode selection, the processor 11 executes the operation of the standby mode (step St2). For example, in the standby mode, the robot RB stops at a specific location such as the entrance of a store or facility, and provides guidance to passersby by talking to them.

[0054] On the other hand, when the processor 11 selects as the first mode selection that the current operating mode is the cyclic mode (step St3), the processor 11 selects as the second mode selection whether the current operating mode is the normal mode or the congestion mode of the cyclic mode (step St4).

[0055] At this time, as described above, the processor 11 selects between the normal mode and the crowded mode based on information about the number of people and the size of the space in the direction of the robot RB's travel path. For example, in the normal mode, when the robot RB detects a person, it approaches the detected person, stops, shows the monitor 14 to the person, and speaks to the person (see FIG. 4(a)). On the other hand, in the crowded mode, when the robot RB detects a group of people, it moves at a low speed near the detected group of people along a predetermined path of movement of the robot RB, and speaks to the person without stopping (see FIG. 4(b)).

[0056] After selecting the normal mode (step St5) or the crowded mode (step St6), the processor 11 stops the operation of the robot RB when it receives an instruction to stop the robot RB (step St7: YES). The instruction to stop the robot RB is input by a user operation to the input unit 13, for example, but is not limited to this method.

[0057] If the processor 11 does not receive an instruction to stop the robot RB (step St7: NO), it determines whether there is a change in the second mode selection (i.e., normal mode or crowded mode) (step St8). This change may be realized, for example, by changing the mode at a predetermined time period, or by a user operation on the input unit 13. Alternatively, this change may be made based on an instruction from the in-store server TS or the service server SS.

[0058] If there is a change in the second mode selection (step St8: YES), the process of processor 11 returns to step ST4.

[0059] On the other hand, if there is no change in the second mode selection (step St8: NO), the processor 11 determines whether there is a change in the first mode selection (i.e., standby mode or patrol mode) (step St9). Similarly, this change may be realized, for example, by changing the mode at a predetermined time period, or may be realized by a user operation on the input unit 13. Alternatively, this change may be made based on an instruction from the in-store server TS or the service server SS.

[0060] If there is a change in the second mode selection (step St9: YES), the process of the processor 11 returns to ST1.

[0061] On the other hand, if there is no change in the second mode selection (step St9: NO), the process of processor 11 returns to step ST4, and processor 11 continues to select the same mode.

[0062] (Addendum) The above description of each embodiment discloses the following technical ideas.

[0063] (Item 1) A robot control system that controls a self-propelled robot (robot RB) having an input device (input unit 13), When the robot is self-propelled, a first mode (normal mode) in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a second mode (normal mode) in which the robot moves at a low speed near a detected person and stops when it receives input from the person to the input device; a control unit (processor 11) that controls the robot to select the first mode (normal mode) or the second mode (crowded mode) based on the number of people estimated to be present in the direction of the robot's movement path, Robot control system (guidance system 100). With this configuration, the robot control system can assist the robot in guiding users (i.e., people in need within a facility, etc.) by achieving both patrol efficiency and effective user response, whether the facility, etc. is crowded with many customers, etc., or not.

[0064] (Item 2) The control unit further selects the first mode (normal mode) and the second mode (congested mode) based on space information regarding a space in a moving path direction of the robot. Item 1. The robot control system (guidance system 100) according to item 1. With this configuration, the robot control system can accurately detect whether congestion is occurring in the direction of the robot's movement, and can assist in guiding users by achieving both patrol efficiency and effective user response, whether the facility is crowded or not.

[0065] (Item 3) The space information is further generated based on information acquired by a sensing device (detection unit 15) possessed by the robot. Item 2. The robot control system (guidance system 100) according to item 2. With this configuration, the robot control system can accurately detect in real time whether congestion is occurring within a facility, etc. in the direction of the robot RB's movement path, and can assist in guiding users by achieving both patrol efficiency and effective user response, regardless of whether the situation is crowded or not.

[0066] (Item 4) the control unit stores facility area information in which the robot associates each area of ​​the facility with its space; The space information is further generated based on the facility area information. Item 2. The robot control system (guidance system 100) according to item 2. With this configuration, the robot control system can efficiently detect whether congestion is occurring within a facility, etc. in the direction of the robot RB's movement path, and can assist in guiding users by achieving both patrol efficiency and effective user response, regardless of whether the situation is crowded or not.

[0067] (Item 5) The robot further has a third mode (standby mode) in which it guides people while stationary. The robot control system (guidance system 100) according to any one of items 2 to 4. With this configuration, the robot control system can switch to standby mode or maintain patrol mode as needed even when in patrol mode (e.g., normal mode or crowded mode), and in patrol mode, can assist in guiding users by achieving both patrol efficiency and effective user response, regardless of whether the situation is crowded or not.

[0068] (Item 6) A robot control method for controlling a self-propelled robot (robot RB) having an input device (input unit 13), The robot RB moves independently. a first mode (normal mode) in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a second mode (crowding mode) in which the robot moves slowly near a detected person and stops when it receives input from the person to the input device; Each of these is self-propelled, controlling the robot RB to select between the first mode (normal mode) and the second mode (crowded mode) based on the number of people estimated to be present in the direction of the path of movement of the robot RB; Robot control method. With this configuration, the robot control method can assist the robot in guiding users (i.e., people in need within a facility, etc.) by achieving both patrol efficiency and effective user response, regardless of whether the facility, etc. is crowded with many people or not.

[0069] (Item 7) A robot control program for controlling a self-propelled robot (robot RB) having an input device (input unit 13), The robot RB moves independently. a first mode (normal mode) in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a second mode (crowding mode) in which the robot moves slowly near a detected person and stops when it receives input from the person to the input device; Each of these is self-propelled, controlling the robot RB to select between the first mode (normal mode) and the second mode (crowded mode) based on the number of people estimated to be present in the direction of the path of movement of the robot RB; Robot control program. With this configuration, the robot control program can assist the robot in guiding users (i.e., people in need within a facility, etc.) by achieving both patrol efficiency and effective user response, regardless of whether the facility, etc. is crowded with many people or not.

[0070] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that those skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0071] The present disclosure is useful as a presentation of a robot control system, a guide robot control program, and a guide robot control method that assist in guiding users by achieving both patrol efficiency and effective user response, regardless of whether the situation is crowded or not. [Explanation of symbols]

[0072] 10, 20, 30 Communications Department 11, 21, 31 processors 12, 22, 32 memory 13, 23, 33 Input section 14, 24, 34 monitors 15. Detection unit 16 Drive unit CA surveillance camera 100 Guidance System AP Access point MP Floor Map RB Robot SC10 menu screen

Claims

1. A robot control system for controlling a self-propelled robot having an input device, When the robot is self-propelled, a first mode in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a first mode in which the robot self-propels at a low speed near a detected person and stops when an input from the person is received via the input device; and a control unit that controls the robot to select the first mode or the second mode based on the number of people estimated to be present in the direction of the robot's movement path, Robot control system.

2. The control unit further selects the first mode or the second mode based on space information regarding a space in a direction of a movement path of the robot. The robot control system of claim 1 .

3. The space information is further generated based on information acquired by a sensing device of the robot. The robot control system of claim 2 .

4. the control unit stores facility area information in which the robot associates each area of ​​the facility with its space; The space information is further generated based on the facility area information. The robot control system of claim 2 .

5. The robot further has a third mode in which the robot guides a person while standing still. The robot control system according to claim 1 or 2.

6. A robot control method for controlling a self-propelled robot having an input device, comprising: The robot, when moving independently, a first mode in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a second mode in which the robot moves autonomously at a low speed near a detected person and stops when it receives an input from the person to the input device; Each of these is self-propelled, controlling the robot to select the first mode or the second mode based on the number of people estimated to be present in the direction of the robot's movement path; Robot control method.

7. A robot control program for controlling a self-propelled robot having an input device, The robot, when moving independently, a first mode in which the robot stops near a detected person regardless of whether or not there is an input to the input device; a second mode in which the robot moves autonomously at a low speed near a detected person and stops when it receives an input from the person to the input device; Each of these is self-propelled, controlling the robot to select the first mode or the second mode based on the number of people estimated to be present in the direction of the robot's movement path; Robot control program.

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