Interaction system, building system, interaction control method, and interaction control program

Abstract

To support more appropriate interaction between a user in a building and an autonomous mobile body.SOLUTION: The interaction system includes a cooperation unit 100 that receives, from an autonomous mobile body 50 in a building, identification information of the autonomous mobile body 50 including information of an interaction function 52, and an interaction control unit 101 that causes an interaction between a user in the building and the autonomous mobile body 50 to be performed via an input / output device 11 included in building equipment 10 provided in the building according to the identification information received by the cooperation unit 100.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an interaction system, a building system, an interaction control method, and an interaction control program. [Background technology]

[0002] Patent document 1 discloses a technology that enables interaction between users sharing a building and autonomous mobile bodies through an announcement device on the autonomous mobile body or an announcement device in an elevator car, in order for the users and autonomous mobile bodies to communicate with each other. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7323034 Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional system described in Patent Document 1 does not take into consideration information about the interaction functions of an autonomous mobile object, such as whether or not it has a modality for performing an interaction, or what type of modality it has. This poses a problem in that it is difficult to implement appropriate interactions for each autonomous mobile object that is in the vicinity of an actual user.

[0005] The present disclosure is intended to solve the above-mentioned problems. An object of the present disclosure is to support more appropriate interactions between users and autonomous moving objects in a building. [Means for solving the problem]

[0006] The interaction system according to the present disclosure includes a linking unit that receives, from an autonomous mobile body within a building, identification information of the autonomous mobile body, including information on an interaction function, and an interaction control device that causes an interaction between a user within the building and the autonomous mobile body to occur via an input / output device possessed by building facilities installed in the building, in accordance with the identification information received by the linking unit. The building system according to the present disclosure includes building equipment installed in a building, a linking unit that receives identification information of an autonomous mobile body within the building, including information on an interaction function, from the autonomous mobile body, and an interaction control device that causes an interaction between a user within the building and the autonomous mobile body to occur via an input / output device possessed by the building equipment, in accordance with the identification information received by the linking unit. The interaction control method according to the present disclosure involves a computer or computer system receiving, from an autonomous mobile object in a building, identification information of the autonomous mobile object, including information on an interaction function, and causing an interaction between a user in the building and the autonomous mobile object to occur via an input / output device possessed by building equipment installed in the building, in accordance with the identification information received by the collaboration unit. The interaction control program of the present disclosure causes a computer or computer system to receive, from an autonomous mobile object within a building, identification information of the autonomous mobile object, including information on its interaction function, and to cause an interaction between a user within the building and the autonomous mobile object to occur via an input / output device possessed by building equipment installed in the building, in accordance with the identification information received by the collaboration unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to support more appropriate interactions between users and autonomous moving objects in a building. [Brief explanation of the drawings]

[0008] [Figure 1]1 is a block diagram showing the configuration of a building system according to a first embodiment. [Figure 2] 1 is a hardware configuration diagram of a main part of an interaction system according to a first embodiment. [Figure 3] 4 is a flowchart showing a first operation example of the interaction system according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing a state of a first operation example by the interaction system according to the first embodiment. [Figure 5] FIG. 10 is a diagram showing a state of a second operation example of the interaction system according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In this disclosure, duplicated descriptions will be appropriately simplified or omitted. Note that this disclosure is not limited to the following embodiments and their modifications. Any components described in the following embodiments and their modifications can be freely combined, modified, or omitted within the scope of the spirit of this disclosure.

[0010] Embodiment 1 FIG. 1 is a block diagram showing the configuration of a building system equipped with an interaction system according to a first embodiment. The interaction system according to this embodiment is a system that performs interaction between a user in a building and an autonomous mobile body 50 in the building. Note that "interaction" in this disclosure refers to the exchange of information involving verbal communication or non-verbal communication between a user who is a person and an autonomous mobile body 50 which is a device. Non-verbal communication includes, for example, communication using gestures, facial expressions, or gaze.

[0011] The interaction system according to this embodiment includes a collaboration unit 100 and an interaction control unit 101. The building system according to this embodiment includes building equipment 10 installed in a building, the collaboration unit 100, and the interaction control unit 101.

[0012] The building facility 10 corresponds to various types of equipment installed in a building. Examples of the building facility 10 include elevators, escalators, and other elevators, security gates, automatic doors, on-premise servers, surveillance cameras, and lighting equipment. In this embodiment, the building facility 10 may be an autonomous mobile body separate from the autonomous mobile body 50.

[0013] The building facility 10 has an input / output device 11 that can input and output information for communication with a user. The input / output device 11 has functions necessary for interaction, such as a speaker, microphone, monitor, or camera. The input / output device 11 is a modality for performing interaction; for example, a camera can realize the function of the eyes, a speaker the function of the mouth, a microphone the function of the ears, a monitor the function of the face, a robot arm the function of gestures, and a mobility mechanism such as wheels or legs the function of personal space.

[0014] In this embodiment, the autonomous moving body 50 that is the target of interaction with a user is located in the same building as the user. The autonomous moving body 50 may be, for example, a service robot that performs transportation, cleaning, security, etc., which requires movement, or personal mobility or various other robots. The autonomous moving body 50 that is the target of interaction with a user is, for example, located near the user. For example, the autonomous moving body 50 is located at the elevator landing used by the user. For example, the autonomous moving body 50 passes through a security gate used by the user. The autonomous moving body 50 shares the building facility 10 used by the user with the user.

[0015] The linking unit 100 is for linking the autonomous mobile body 50 and the building facility 10. The linking unit 100 receives identification information including information on the interaction function 52 from the autonomous mobile body 50. The interaction control unit 101 causes an interaction between the user and the autonomous mobile body 50 to be carried out via the input / output device 11 of the building facility 10, according to the identification information received by the linking unit 100.

[0016] As an example, the autonomous mobile body 50 has an identification ID 51 for identifying the autonomous mobile body 50. The collaboration unit 100 receives the identification ID 51 from the autonomous mobile body 50. The interaction control unit 101 identifies the autonomous mobile body 50 based on the identification ID 51 received by the collaboration unit 100. The interaction control unit 101 identifies the autonomous mobile body 50 based on, for example, information registered in an identification database 102. The interaction control unit 101 controls the interaction between the user and the autonomous mobile body 50 according to the identification result of the autonomous mobile body 50. The identification result of the autonomous mobile body 50 includes information on the interaction function 52 of the autonomous mobile body 50. The identification database 102 registers the identification ID 51 and information on the interaction function 52 in association with each other.

[0017] The information on the interaction function 52 of the autonomous moving body 50 includes information on the presence or absence of each function for interaction, or information on the type of function that is possessed. The information on the interaction function 52 of the autonomous moving body 50 includes various types of information, such as "does not have modality for interaction," "has a microphone and speaker for conversation," "has a monitor and camera for face recognition," "has a microphone and speaker and can input and output voice, but cannot have a conversation," etc.

[0018] FIG. 2 is a hardware configuration diagram of the main parts of the interaction system according to the first embodiment. The functions of the collaboration unit 100 and the interaction control unit 101, which are the main parts of the interaction system, can be realized by processing circuits. The processing circuit includes at least one processor 110a and at least one memory 110b. The processing circuit may include at least one dedicated hardware 200 together with the processor 110a and the memory 110b, or as a substitute for them. The processing circuit is installed in, for example, equipment or devices that make up the elevator system.

[0019] When the processing circuit includes a processor 110a and a memory 110b, the functions of the linking unit 100 and the interaction control unit 101 are realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 110b. The processor 110a realizes the functions of the elevator system by reading and executing the program stored in the memory 110b. The program realizing the functions of the elevator system may be a software package or the like including multiple pieces of software that are respectively applied to multiple computers or the like.

[0020] The processor 110a is also referred to as a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP. The memory 110b is configured by, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0021] Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0022] Each function of the interaction system can be realized by a separate processing circuit. Alternatively, all functions of the interaction system can be realized collectively by a processing circuit. Some functions of the interaction system may be realized by dedicated hardware 200, and other functions may be realized by software or firmware. In this way, the processing circuit realizes each function of the interaction system by dedicated hardware 200, software, firmware, or a combination of these.

[0023] As described above, the interaction system according to the present embodiment includes the coordination unit 100 that receives, from an autonomous mobile body 50 in a building, identification information of the autonomous mobile body 50, including information on the interaction function 52, and the interaction control unit 101 that causes an interaction between a user in the building and the autonomous mobile body 50 via the input / output device 11 of the building facility 10 installed in the building, in accordance with the identification information received by the coordination unit 100. As a result, for example, if the autonomous mobile body 50 does not have a modality for interaction, the interaction can be performed using the input / output device 11 of the building facility 10. Also, for example, if the autonomous mobile body 50 does not have sufficient modality for interaction, the interaction can be supported by the input / output device 11 of the building facility 10. According to the present embodiment, for example, the autonomous mobile body 50 does not need to have modality, thereby reducing the cost of the autonomous mobile body 50. Furthermore, a variety of autonomous mobile bodies 50 can be accommodated in a building. According to this embodiment, by taking into consideration information on the interaction function 52 of the autonomous moving body 50, it is possible to assist in more appropriate interaction between the user in the building and the autonomous moving body 50.

[0024] 1 , the collaboration unit 100, the interaction control unit 101, and the identification database 102 are provided in the building facility 10. The collaboration unit 100, the interaction control unit 101, and the identification database 102 may be provided as external devices of the building facility 10. For example, the collaboration unit 100, the interaction control unit 101, and the identification database 102 may be provided on a network connectable to the building facility 10 and the autonomous moving body 50. For example, the collaboration unit 100, the interaction control unit 101, and the identification database 102 may be implemented on a cloud server or the like.

[0025] Furthermore, at least a part of the functions of the interaction control unit 101 may be realized by, for example, a processing circuit or the like provided in the autonomous mobile body 50. For example, the determination of the specific content and timing of an interaction, or instructions to the input / output device 11 may be performed by the interaction control unit 101 provided in the building facility 10 or on the network, or may be performed by a processing circuit or the like provided in the autonomous mobile body 50.

[0026] The interaction control unit 101 may control the input / output device 11 so that the interaction between the user and the autonomous moving body 50 is performed at a timing and with content appropriate to the situation in which the interaction is performed, thereby achieving smoother interaction.

[0027] Fig. 3 is a flowchart showing a first operation example performed by the interaction system according to embodiment 1. Fig. 4 is a diagram showing a state of the first operation example performed by the interaction system according to embodiment 1. Figs. 3 and 4 show an example of a situation in which a user and an autonomous moving body 50 ride together in an elevator, which is a building facility 10.

[0028] In such a situation, the interaction control unit 101 first checks the identification ID of the autonomous mobile body 50 received by the cooperation unit 100, and identifies the autonomous mobile body 50 (step S101). Then, based on the identification result, it is determined whether the autonomous mobile body 50 has a speaker, which is a modality for performing interaction according to the situation (step S102). If the autonomous mobile body 50 has a speaker, the autonomous mobile body 50 can perform interaction, and therefore the interaction control unit 101 does not control the input / output device 11 of the building facility 10. If the autonomous mobile body 50 does not have a speaker, the interaction control unit 101 causes the input / output device 11 of the building facility 10 to perform interaction (step S103).

[0029] In a situation where a user and an autonomous moving body 50 are riding together in an elevator, which is a building facility 10, it is preferable to provide guidance on the order of boarding the elevator car before, simultaneously with, or immediately after the elevator car door opens, as an interaction whose timing and content are appropriate for the situation in which the interaction is performed. For example, as shown in FIG. 4, it is possible to provide guidance that the user will have priority when boarding the elevator car.

[0030] FIG. 5 is a diagram showing a state of a second operation example of the interaction system according to the first embodiment. FIG. 5 shows an example of a situation in which a user and an autonomous moving body 50 pass through a security gate, which is a building facility 10, from opposite sides. In such a situation, it is advisable to provide guidance on the order in which to pass through the security gate. For example, as shown in FIG. 5, the input / output device 11 of the security gate, which is the building facility 10, may provide guidance that the user should have priority in passing through.

[0031] As in the examples shown in FIGS. 3 to 5, interaction is necessary in situations where a user and an autonomous mobile body 50 simultaneously use a specific building facility 10. In other situations, it is preferable for interaction to occur, for example, in situations where the user and the autonomous mobile body 50 pass each other in a space such as a hall or corridor within a building. If the autonomous mobile body 50 has an interaction function, it is preferable for the autonomous mobile body 50 to perform the interaction by itself. If the autonomous mobile body 50 does not have sufficient interaction function, it is preferable for interaction to occur via an input / output device 11 possessed by the surrounding building facility 10. In this case, the surrounding building facility 10 may include an autonomous mobile body other than the autonomous mobile body 50.

[0032] The interaction control unit 101 may control the operation of the autonomous mobile body 50 according to the content of the interaction performed via the input / output device 11. The interaction control unit 101 connects to the autonomous mobile body 50 wirelessly, for example, and controls the autonomous mobile body 50. For example, when performing an interaction to give priority to a user to board an elevator car, the interaction control unit 101 makes the autonomous mobile body 50 wait for a certain period of time before boarding the car. For example, when performing an interaction to give priority to a user to pass through a security gate, the interaction control unit 101 makes the autonomous mobile body 50 wait for a certain period of time before passing through the security gate.

[0033] The interaction control unit 101 may perform control so that the interaction via the input / output device 11 and the operation of the autonomous mobile body 50 are performed at appropriate timing. For example, the interaction control unit 101 may perform control so that the operation of the autonomous mobile body 50 and the interaction are performed simultaneously, taking into account communication delays. For example, in a situation where the movement of the autonomous mobile body 50 is to be stopped, the interaction may be performed after the autonomous mobile body 50 has been stopped in advance. For example, in a situation where the autonomous mobile body 50 is to be moved, the interaction may be performed in advance and then the autonomous mobile body 50 is moved.

[0034] The interaction control unit 101 may cause the input / output device 11 to notify the user that an interaction is being performed on behalf of the autonomous moving body 50. This makes it possible to more reliably avoid confusion for the user.

[0035] When the autonomous mobile body 50 has a function for performing an interaction between a user and the autonomous mobile body 50, the interaction control unit 101 may cause the autonomous mobile body 50 to perform the interaction. This eliminates the need to use the building facility 10 for the interaction, thereby reducing the load on the building facility 10. This also has the effect of avoiding confusion for the user. Furthermore, when performing an interaction using the autonomous mobile body 50, the interaction may be performed using the operation of the autonomous mobile body 50.

[0036] Various aspects of the present disclosure are summarized below as appendices.

[0037] (Appendix 1) a linking unit that receives, from an autonomous moving object in a building, identification information of the autonomous moving object, including information on an interaction function; an interaction control unit that causes an interaction between a user in the building and the autonomous moving body to be performed via an input / output device of a building facility installed in the building, in accordance with the identification information received by the cooperation unit; An interaction system with (Appendix 2) 2. The interaction system according to claim 1, wherein the interaction control unit controls the input / output device so that an interaction between the user and the autonomous moving body is performed at a timing and with a content that corresponds to a situation in which the interaction is performed. (Appendix 3) 3. The interaction system according to claim 1, wherein the interaction control unit controls the operation of the autonomous moving body in accordance with the content of the interaction performed via the input / output device. (Appendix 4) 4. The interaction system according to claim 3, wherein the interaction control unit controls the interaction performed via the input / output device and the operation of the autonomous moving body so that they are performed simultaneously. (Appendix 5) 4. The interaction system according to claim 3, wherein the interaction control unit causes the autonomous moving body to perform an interaction via the input / output device after stopping the movement of the autonomous moving body in advance. (Appendix 6) 4. The interaction system according to claim 3, wherein the interaction control unit moves the autonomous moving body after previously causing an interaction via the input / output device. (Appendix 7) 7. The interaction system according to claim 1, wherein the interaction control unit notifies the input / output device that an interaction is being performed on behalf of the autonomous moving body. (Appendix 8) An interaction system according to any one of Supplementary Note 1 to Supplementary Note 7, wherein the interaction control unit causes the autonomous mobile body to perform an interaction between the user and the autonomous mobile body if the autonomous mobile body has a function for performing the interaction. (Appendix 9) An interaction system according to any one of Supplementary Note 1 to Supplementary Note 8, wherein the building equipment is an autonomous mobile body separate from the autonomous mobile body. (Appendix 10) Building facilities installed in the building, a linking unit that receives, from an autonomous moving object in the building, identification information of the autonomous moving object, including information on an interaction function; an interaction control unit that causes an interaction between a user in the building and the autonomous moving body to occur via an input / output device included in the building facility in accordance with the identification information received by the cooperation unit; Building systems equipped with (Appendix 11) A computer or computer system receiving, from an autonomous moving object in a building, identification information of the autonomous moving object, the identification information including information of an interaction function of the autonomous moving object; causing an interaction between the user in the building and the autonomous moving body to occur via an input / output device included in building facilities installed in the building, in accordance with the identification information received by the cooperation unit; An interaction control method that performs the following. (Appendix 12) A computer or computer system receiving, from an autonomous moving object in a building, identification information of the autonomous moving object, the identification information including information of an interaction function of the autonomous moving object; causing an interaction between the user in the building and the autonomous moving body to occur via an input / output device included in building facilities installed in the building, in accordance with the identification information received by the cooperation unit; An interaction control program that executes the above. [Explanation of symbols]

[0038] 10 Building equipment, 11 Input / output device, 50 Autonomous mobile body, 51 Identification ID, 52 Interaction function, 100 Collaboration unit, 101 Interaction control unit, 110a Processor, 110b Memory, 200 Dedicated hardware

Claims

1. a linking unit that receives, from an autonomous moving object in a building, identification information of the autonomous moving object, including information on an interaction function; an interaction control unit that causes an interaction between a user in the building and the autonomous moving body to be performed via an input / output device of a building facility installed in the building, in accordance with the identification information received by the cooperation unit; An interaction system with

2. The interaction system according to claim 1 , wherein the interaction control unit controls the input / output device so that an interaction between the user and the autonomous moving body is performed at a timing and with a content that corresponds to a situation in which the interaction is performed.

3. 3. The interaction system according to claim 1, wherein the interaction control unit controls the operation of the autonomous mobile body in accordance with the content of the interaction performed via the input / output device.

4. The interaction system according to claim 3 , wherein the interaction control unit controls the interaction performed via the input / output device and the operation of the autonomous mobile body so as to be performed simultaneously.

5. The interaction system according to claim 3 , wherein the interaction control unit causes the autonomous moving body to perform an interaction via the input / output device after stopping the movement of the autonomous moving body in advance.

6. The interaction system according to claim 3 , wherein the interaction control unit causes the autonomous moving body to move after previously causing an interaction via the input / output device.

7. 3. The interaction system according to claim 1, wherein the interaction control unit notifies the input / output device that an interaction is being performed on behalf of the autonomous mobile object.

8. 3. The interaction system according to claim 1, wherein the interaction control unit causes the autonomous mobile body to perform an interaction between the user and the autonomous mobile body if the autonomous mobile body has a function for performing the interaction.

9. The interaction system according to claim 1 or 2, wherein the building facility is an autonomous mobile body separate from the autonomous mobile body.

10. Building facilities installed in the building, a linking unit that receives, from an autonomous moving object in the building, identification information of the autonomous moving object, including information on an interaction function; an interaction control unit that causes an interaction between a user in the building and the autonomous moving body to occur via an input / output device included in the building facility in accordance with the identification information received by the cooperation unit; Building systems equipped with

11. A computer or computer system receiving, from an autonomous moving object in a building, identification information of the autonomous moving object, the identification information including information of an interaction function of the autonomous moving object; causing an interaction between the user in the building and the autonomous moving body to occur via an input / output device included in building facilities installed in the building, in accordance with the identification information received by the cooperation unit; An interaction control method that performs the following.

12. A computer or computer system receiving, from an autonomous moving object in a building, identification information of the autonomous moving object, the identification information including information of an interaction function of the autonomous moving object; causing an interaction between the user in the building and the autonomous moving body to occur via an input / output device included in building facilities installed in the building, in accordance with the identification information received by the cooperation unit; An interaction control program that executes the above.

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