Guidance system, guidance method, and program

Abstract

We will use robots to support evacuation guidance more efficiently. [Solution] The guidance system comprises a movement control unit that, when a disaster occurs, positions multiple mobile robots traveling within an area requiring evacuation due to the disaster at different locations along the evacuation route within the area, and a guidance control unit that outputs evacuation guidance to the multiple mobile robots at each of the positioned locations.

Description

Technical Field

[0001] The present invention relates to a guidance system, a guidance method, and a program.

Background Art

[0002] Techniques for autonomously driving a mobile robot for performing various services are known. Patent Document 1 discloses a technique for determining an evacuation route for moving a robot to an evacuation location during a disaster or the like. Further, Patent Document 2 discloses a technique for determining a new travel route for a robot during an event or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there is a desire to assist evacuation guidance by utilizing a robot during a disaster or the like. However, it is difficult to efficiently assist evacuation guidance by utilizing a robot with the above-described techniques.

[0005] The present invention has been made in view of such circumstances, and an object thereof is to provide a guidance system, a guidance method, and a program that can more efficiently assist evacuation guidance by utilizing a robot.

Means for Solving the Problems

[0006] To solve the above-mentioned problems, one aspect of the present invention is a guidance system comprising: a movement control unit that, when a disaster occurs, positions each of a plurality of mobile robots traveling within an area requiring evacuation due to the disaster at different locations on the evacuation route within the area; and a guidance control unit that outputs evacuation guidance to each of the plurality of mobile robots at each of the positioned locations.

[0007] Furthermore, one aspect of the present invention is a guidance method performed by a computer, which, when a disaster occurs, includes arranging multiple mobile robots traveling within an area requiring evacuation due to the disaster at different locations on the evacuation route within the area, and having each of the multiple mobile robots output evacuation guidance at each of the locations where they are positioned.

[0008] Furthermore, one aspect of the present invention is a program for a computer that, when a disaster occurs, causes a plurality of mobile robots traveling within an area requiring evacuation due to the disaster to be positioned at different locations along the evacuation route within the area, and causes the plurality of mobile robots to output evacuation guidance at each of the positioned locations. [Effects of the Invention]

[0009] As explained above, this invention makes it possible to more efficiently support evacuation guidance by utilizing robots. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic block diagram showing the configuration of the induction system according to this embodiment. [Figure 2] This is a schematic block diagram showing the configuration of the robot collaboration system according to this embodiment. [Figure 3] This is a schematic diagram showing the data structure and data examples of the evacuation guidance position table according to this embodiment. [Figure 4] This is a schematic block diagram showing the configuration of the mobile robot according to this embodiment. [Figure 5] This figure shows an example of the travel route of each mobile robot before a disaster occurs according to this embodiment. [Figure 6] This figure shows an example of the evacuation guidance positions for each mobile robot in the event of a disaster according to this embodiment. [Figure 7] This figure shows another example of the evacuation guidance positions of each mobile robot in the event of a disaster according to this embodiment. [Figure 8] This is a sequence diagram illustrating the operation of positioning a mobile robot at an evacuation guidance position in the guidance system according to this embodiment. [Figure 9] This is a sequence diagram illustrating the operation of a mobile robot guiding an evacuation in the guidance system according to this embodiment. [Modes for carrying out the invention]

[0011] Hereinafter, a guidance system, guidance method, and program according to one embodiment of the present invention will be described with reference to the drawings.

[0012] <Configuration of the guidance system> Figure 1 is a schematic block diagram showing the configuration of a guidance system 1 according to one embodiment of the present invention. The guidance system 1 is a system that assists in guiding people to evacuate in an area (e.g., a building, facility, etc.) that requires evacuation due to a disaster such as a fire, earthquake, or smoke, using one or more mobile robots 20. In this embodiment, the case where the target area is a facility will be described as an example. More specifically, the guidance system 1 positions the mobile robots 20 at evacuation guidance positions on evacuation routes within the facility, and causes the mobile robots 20 to output guidance to people evacuating at the evacuation guidance positions (e.g., guidance to emergency exits). The guidance system 1 comprises a robot cooperation system 10, a plurality of mobile robots 20, an operator terminal 30, and an external device 40. The robot cooperation system 10, the plurality of mobile robots 20, the operator terminal 30, and the external device 40 communicate via a network NW by wired or wireless means and are connected to send and receive various types of data from each other.

[0013] The network NW may be any one of, or any combination of, the Internet, a public wireless communication network (PLMN: Public Land Mobile Network), a local area network (LAN), a virtual private network (VPN), etc.

[0014] The number of mobile robots 20 can generally be unspecified and plural. In the example of FIG. 1, the number of mobile robots 20 is N. The plurality of mobile robots 20 are distinguished using sub-numbers such as "-1". In this embodiment, when there are matters common to the plurality of mobile robots 20 and there is no need to distinguish the plurality of mobile robots 20, they are simply referred to as mobile robots 20.

[0015] The mobile robot 20 is, for example, a robot device that realizes various services such as acquiring various information within a facility by moving within the facility and transmitting the acquired information to the robot cooperation system 10, or performing a predetermined operation when a predetermined condition is satisfied while moving within the facility.

[0016] The robot cooperation system 10 is an information processing device that communicates with the mobile robot 20 and comprehensively controls the mobile robot 20. The robot cooperation system 10 may be an information terminal device such as a personal computer (PC), or may be composed of one or more server devices.

[0017] The operator terminal 30 is an information terminal device used by a robot operator (person). The operator terminal 30 is, for example, an information terminal device such as a personal computer, a tablet terminal device, a mobile phone (including so-called smartphones).

[0018] The external device 40 is an information terminal device of an external organization such as a disaster prevention center or a fire department. The external device 40 is, for example, an information terminal device such as a personal computer, a tablet terminal device, a mobile phone (including so-called smartphones).

[0019] <Configuration of Robot Cooperation System> FIG. 2 is a schematic block diagram showing the configuration of a robot cooperation system 10 according to the present embodiment. The robot cooperation system 10 includes a control unit 110, a communication unit 120, an input unit 130, a storage unit 140, and an output unit 150.

[0020] The control unit 110 has a function of controlling the overall operation of the robot cooperation system 10. The control unit 110 is realized, for example, by causing a CPU (Central Processing Unit) included in the robot cooperation system 10 as hardware to execute a program. The control unit 110 includes a movement control unit 111 and a guidance control unit 112.

[0021] The movement control unit 111 controls the movement of each mobile robot 20 by transmitting a movement instruction to each mobile robot 20 via the communication unit 120. For example, when a disaster occurs, the movement control unit 111 arranges each of a plurality of mobile robots 20 traveling within an area that requires evacuation due to the disaster at different evacuation guidance positions on the evacuation route of the area. For example, the movement control unit 111 arranges the mobile robot 20 at a position where the route branches on the evacuation route. The position where the mobile robot 20 is arranged where the route branches may be the position of the branch itself, or may be within an area where it is possible to guide a person who is evacuating to which route to proceed, in the vicinity of the position where the route branches. As an example of the position where the route branches, for example, there are three-way intersections, four-way intersections, or multi-way intersections such as T-junctions. Further, the movement control unit 111 receives from the operator a designation of an evacuation exit (emergency exit) to be used for evacuation from a plurality of evacuation exits (emergency exits) in the area, and arranges a plurality of mobile robots on the evacuation route leading to the designated evacuation exit.

[0022] The guidance control unit 112 transmits a guidance start instruction to each mobile robot 20 via the communication unit 120, causing multiple mobile robots 20 to output evacuation guidance at each of the deployed evacuation guidance locations. For example, the guidance control unit 112 outputs voice guidance for evacuation to each of the multiple mobile robots 20 at different timings. Specifically, the guidance control unit 112 outputs voice guidance to the next mobile robot 20 in order from the mobile robot 20 furthest from the evacuation exit, after the previous mobile robot 20 has finished providing voice guidance.

[0023] The input unit 130 has the function of receiving input from the user. The function of the input unit 130 is realized by, for example, a mouse, keyboard, buttons, touch panel, microphone, etc., provided by the robot cooperation system.

[0024] The output unit 150 has the function of outputting various types of information. The output unit 150 is composed of output devices provided as hardware by the robot cooperation system 10, such as display devices such as a display device or a touch screen (touch panel), and audio output devices such as a speaker.

[0025] The memory unit 140 has the function of storing various types of information. The memory unit 140 is composed of storage media provided as hardware by the robot cooperation system 10, such as HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), RAM (Random Access read / write Memory), ROM (Read Only Memory), or any combination of these storage media. For example, the memory unit 140 stores an evacuation guidance position table that indicates the evacuation guidance positions where the mobile robot 20 will be placed in the event of a disaster.

[0026] (Evacuation guidance location table) Figure 3 is a schematic diagram showing the data structure and data example of the evacuation guidance position table according to this embodiment. As shown in the figure, the evacuation guidance position table has data items for evacuation exits and evacuation guidance positions. Evacuation exits are emergency exits used for evacuation. Evacuation guidance positions are the positions where each mobile robot 20 will guide people to safety. Evacuation guidance positions are places where people evacuating are likely to get lost (where it is difficult to determine the direction of evacuation), such as branching points (e.g., T-junctions), corners, or near entrances and exits within a facility, on the evacuation route leading to the evacuation exit.

[0027] <Configuration of the mobile robot> Figure 4 is a schematic block diagram showing the configuration of the mobile robot 20 according to this embodiment. The mobile robot 20 comprises a robot control unit 210, a robot communication unit 220, an operation input unit 230, a robot memory unit 240, a display unit 250, an audio output unit 260, an audio input unit 270, an imaging unit 280, and a drive unit 290.

[0028] The robot control unit 210 has the function of controlling the overall operation of the mobile robot 20. The robot control unit 210 is realized, for example, by having the CPU (Central Processing Unit) that the mobile robot 20 has as hardware execute a program. The robot control unit 210 comprises a driving control unit 211, a guidance control unit 212, a video chat function unit 213, and a camera image provision function unit 214.

[0029] The driving control unit 211 drives the drive unit 290 according to the movement instructions received from the robot cooperation system 10 via the robot communication unit 220, thereby moving the mobile robot 20.

[0030] The guidance control unit 212, in accordance with the guidance start instruction received from the robot cooperation system 10 via the robot communication unit 220, displays evacuation guidance on the display unit 250 and outputs evacuation guidance voice guidance on the voice output unit 260.

[0031] The video chat function unit 213 implements the video chat function by executing the video chat application program stored in the robot memory unit 240. For example, the video chat function unit 213 communicates with an external device 40 via the robot communication unit 220 and provides a video chat function that allows evacuees and external people (for example, disaster prevention center staff or firefighters) to video chat (talk).

[0032] The camera image provisioning function unit 214 provides a function to transmit images captured by the imaging unit 280 of the facility to an external device 40 in real time via the robot communication unit 220. The captured images may be still images or moving images (hereinafter referred to as "camera images").

[0033] The operation input unit 230 has the function of receiving input from the user. The function of the input unit 130 is realized, for example, by buttons, touch panels, etc., provided by the robot cooperation system.

[0034] The robot memory unit 240 has the function of storing various types of information. The robot memory unit 240 is composed of storage media provided as hardware by the mobile robot 20, such as an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), RAM (Random Access read / write Memory), ROM (Read Only Memory), or any combination of these storage media. For example, the robot memory unit 240 stores a program that implements a video chat application.

[0035] The display unit 250 has the function of displaying various information. The display unit 250 is composed of a display device, such as a display device or a touchscreen (touch panel), which is provided as hardware by the mobile robot 20.

[0036] The audio output unit 260 has the function of outputting various information as audio. The audio output unit 260 is composed of an audio output device such as a speaker.

[0037] The voice input unit 270 has the function of inputting various types of information by voice. The voice input unit 270 is composed of a voice input device such as a microphone.

[0038] The imaging unit 280 has the function of capturing images of the area around the mobile robot 20 (for example, the front) and generating captured images. The imaging unit 280 is composed of an imaging device such as a camera. The camera of the imaging unit 280 can be installed at any position on the mobile robot 20 and is capable of capturing images of the area around the mobile robot 20.

[0039] The drive unit 290 generates a driving force to move the mobile robot 20 in accordance with the control of the robot control unit 210.

[0040] <Operation of the guidance system> Next, with reference to Figures 5 to 9, the operation of the guidance system 1 according to this embodiment will be described. First, the operation of moving the mobile robot 20, which is autonomously traveling within the facility, to the evacuation guidance position in the event of a disaster will be described.

[0041] Figure 5 shows an example of the travel route of each mobile robot 20 before a disaster occurs according to this embodiment. In the example shown in this figure, five mobile robots 20-1 to 20-5 are placed on the floor FL of the building. Each mobile robot 20 provides various services within the floor FL while autonomously moving. For example, mobile robots 20-1 and 20-2 are traveling in the first area AR1 of the floor FL, mobile robot 20-3 is traveling in the third area AR3 of the floor FL, and mobile robots 20-4 and 20-5 are traveling in the second area AR2 of the floor FL.

[0042] The floor FL shown in the diagram has two emergency exits, the first A and the second B. Additionally, there are two entrances, the first EX1 and the second EX2, between the first area AR1 and the second area AR2. Furthermore, there is a third entrance, the third EX3, between the second area AR2 and the third area AR3.

[0043] When a disaster occurs, an external device 40, such as a disaster prevention center, sends a disaster notification to the operator terminal 30. Based on this notification, the operator selects an emergency exit to be used for evacuation and inputs it into the operator terminal 30. The operator terminal 30 accepts the input of the emergency exit to be used for evacuation and transmits the selected emergency exit to the robot cooperation system 10. The robot cooperation system 10 determines the evacuation guidance position for each mobile robot 20 according to the selected emergency exit. The robot cooperation system 10 then sends a movement instruction to each mobile robot 20 so that it moves to the determined evacuation guidance position. Each mobile robot 20 moves toward its own evacuation guidance position according to the movement instruction from the robot cooperation system 10.

[0044] Figure 6 shows an example of the evacuation guidance positions of each mobile robot 20 in the event of a disaster according to this embodiment. This figure illustrates the case where the operator selects the first emergency exit A as the emergency exit to evacuate to. First, the movement control unit 111 of the robot cooperation system 10 determines the evacuation guidance position of each mobile robot 20. Specifically, the movement control unit 111 reads out a number of evacuation guidance positions corresponding to the first emergency exit A from the evacuation guidance position table stored in the memory unit 140. Then, the movement control unit 111 decides which mobile robot 20 to place at the determined evacuation guidance position. For example, the movement control unit 111 obtains the current position from each mobile robot 20 and places each mobile robot 20 at the evacuation guidance position closest to it. Alternatively, the evacuation guidance position table may be pre-set to indicate which mobile robot 20 is to be placed at which evacuation guidance position. Based on the current position and evacuation guidance position of each mobile robot 20, the movement control unit 111 determines the movement route of each mobile robot 20 and transmits a movement instruction including the determined movement route to each mobile robot 20.

[0045] Each mobile robot 20 receives a movement instruction and moves along the movement route included in the received instruction to the evacuation guidance position. In the illustrated example, mobile robot 20-1 moves along movement route RT11 to the evacuation guidance position near the first entrance EX1. Mobile robot 20-2 moves along movement route RT12 to the evacuation guidance position near the second entrance EX2. Mobile robot 20-3 moves along movement route RT13 to the evacuation guidance position near the third entrance EX3. Mobile robot 20-4 moves along movement route RT14 to the evacuation guidance position near the corner on the evacuation route to the first emergency exit A. Mobile robot 20-5 moves along movement route RT15 to the evacuation guidance position near the first emergency exit A.

[0046] Figure 7 shows another example of the evacuation guidance positions of each mobile robot 20 in the event of a disaster according to this embodiment. This figure illustrates the case where the operator selects the second emergency exit B as the emergency exit to evacuate to. In the illustrated example, mobile robot 20-1 moves along the movement route RT21 to the evacuation guidance position near the first entrance EX1. Mobile robot 20-2 moves along the movement route RT22 to the evacuation guidance position near the second emergency exit B. Mobile robot 20-3 moves along the movement route RT23 to the evacuation guidance position near the third entrance EX3. Mobile robot 20-4 moves along the movement route RT24 to the evacuation guidance position near the second entrance EX2. Mobile robot 20-5 moves along the movement route RT15 to the evacuation guidance position at the corner on the evacuation route to the second emergency exit B.

[0047] Figure 8 is a sequence diagram illustrating the operation of positioning the mobile robots 20 at evacuation guidance positions in the guidance system 1 according to this embodiment. When a disaster occurs at a facility, the guidance system 1 first moves each mobile robot 20 to its respective evacuation guidance position.

[0048] Specifically, first, a fire alarm installed within the facility notifies the external device 40 that a disaster (in this example, a fire) has occurred (step S101). Upon receiving the notification from the fire alarm, the external device 40 identifies the location of the fire and notifies the operator terminal 30 that a fire has occurred at the identified location (step S102).

[0049] The operator terminal 30 displays the content of the notification from the external device 40 to the operator. Based on the content of the notification, the operator selects an emergency exit to be used for evacuation within the facility. The operator terminal 30 receives the selection input of the emergency exit to be used for evacuation from the operator and sends an evacuation commencement instruction including the information of the selected emergency exit to the robot cooperation system 10 (step S103).

[0050] The robot collaboration system 10 receives an evacuation commencement order from the operator terminal 30 and determines the evacuation guidance positions for each mobile robot 20 based on the received order. Specifically, the robot collaboration system 10 reads out a table of evacuation guidance positions corresponding to the emergency exit selected by the operator. Next, the robot collaboration system 10 determines which mobile robots 20 to place at each of the multiple evacuation guidance positions. Then, the robot collaboration system 10 sends a movement instruction to each mobile robot 20 to its respective evacuation guidance position (step S104).

[0051] Each mobile robot 20 receives a movement instruction and moves to the evacuation guidance position according to the received movement instruction (step S105). Then, when each mobile robot has completed moving to the instructed evacuation guidance position, it sends a movement completion notification to the robot cooperation system 10 (step S106).

[0052] In the above example of operation, the case where an operator selects an emergency exit was explained, but the system is not limited to this. The robot cooperation system 10 may automatically determine the emergency exit to be used for evacuation according to the location of the fire, etc., and position each mobile robot 20 along the evacuation route to the determined emergency exit. The storage unit 140 of the robot cooperation system 10 may also store the evacuation route for each emergency exit. The movement control unit 111 of the robot cooperation system 10 may read the evacuation route corresponding to the emergency exit from the storage unit 140, automatically determine where to place each mobile robot 20 along the read evacuation route, and position each mobile robot 20 at the determined location.

[0053] Figure 9 is a sequence diagram illustrating the operation of the mobile robots 20 in evacuating guidance in the guidance system 1 according to this embodiment. When each mobile robot 20 has completed its movement, the guidance system 1 performs evacuation guidance through the coordinated action of multiple mobile robots 20.

[0054] Specifically, first, the guidance control unit 112 of the robot cooperation system 10 transmits a guidance start instruction to the mobile robot 20 that has completed its movement (step S201). The guidance start instruction may include information such as images or text to be displayed on each mobile robot 20. For example, the guidance start instruction may include an image such as an arrow indicating the direction of an emergency exit to evacuate to.

[0055] The guidance control unit 212 of each mobile robot 20 receives a guidance start instruction and, in accordance with the received guidance start instruction, displays evacuation guidance such as an arrow indicating the direction of an emergency exit on the display unit 250 (step S202). This allows people evacuating to understand that they should proceed in the direction of the arrow displayed on the mobile robot 20.

[0056] Furthermore, the camera image provision function unit 214 of each mobile robot 20 turns on the camera of the imaging unit 280 and starts imaging (step S203). The camera image provision function unit 214 then transmits the captured video image to an external device 40 via the network (step S204). As a result, the video image of the premises captured by the imaging unit 280 is transmitted to the external device 40 in real time. The external device 40 displays the video image received from each mobile robot 20. This allows people outside the facility to check the situation inside the facility in real time using camera images.

[0057] Furthermore, the video chat function unit 213 of each mobile robot 20 turns on the video chat function by launching a video chat application (step S205). By turning on the video chat function, the video chat function unit 213 provides a function that allows evacuating people to video chat with people outside via the mobile robot 20.

[0058] For example, the video chat function unit 213 of the mobile robot 20 receives an input requesting a video chat from the person evacuating (step S206). Then, the video chat function unit 213 connects to an external device 40 via the network NW and starts a video chat (step S207). This allows the person evacuating to inform an outside party of information about people who are unable to escape.

[0059] Meanwhile, the guidance control unit 112 of the robot cooperation system 10 causes the mobile robots 20 to speak voice guidance for evacuation in order of distance from the emergency exit, based on the position information (evacuation guidance position) of each mobile robot 20. Specifically, first, the guidance control unit 112 sends a speech command to the mobile robot 20 that is located furthest from the emergency exit (step S211).

[0060] The guidance control unit 212 of the mobile robot 20 receives a speech instruction and, when it starts voice guidance in accordance with the received speech instruction, transmits a speech start message to the robot cooperation system 10 to indicate that voice guidance has started (step S212).

[0061] Then, the guidance control unit 212 of the mobile robot 20 outputs evacuation guidance voice instructions from the voice output unit 260 according to the received speech instructions (step S213). However, if a video chat is taking place in the video chat function unit 213, the guidance control unit 212 outputs the voice instructions after the video chat has ended. In other words, the mobile robot 20 does not emit evacuation guidance voice instructions while the person evacuating and the person outside are video chatting.

[0062] Then, when the guidance control unit 212 of the mobile robot 20 finishes outputting the voice guidance for evacuation, it sends a message to the robot cooperation system 10 indicating that the voice guidance has ended (step S214).

[0063] The guidance control unit 112 of the robot cooperation system 10, after receiving notification that the previous mobile robot 20 has finished speaking, transmits a speaking instruction to the next mobile robot 20 that is furthest from the emergency exit to be evacuated. In other words, the guidance control unit 112 does not allow the next mobile robot 20 to speak until the previous mobile robot 20 has finished speaking.

[0064] For example, in the example shown in Figure 6, the guidance control unit 112 causes mobile robots 20-2, 20-1, 20-3, 20-4, and 20-5 to speak evacuation guidance voice instructions in that order. At this time, the guidance control unit 112 does not allow mobile robot 20-1 to speak until mobile robot 20-2 has finished speaking. In other words, the guidance control unit 112 only allows mobile robot 20-1 to speak after mobile robot 20-2 has finished speaking. This prevents the voices of the mobile robots 20 from overlapping, thus preventing the voice instructions from becoming difficult for evacuees to hear.

[0065] The guidance control unit 112 of the robot cooperation system 10 repeats the process from steps S211 to S214 until evacuation guidance is completed.

[0066] The processes described above in steps S101 to S214 may be executed in a different order, and some processes may be omitted. For example, steps S202, S203, S205, and S211 may be executed in a different order.

[0067] As described above, the guidance system 1 according to this embodiment includes a movement control unit 111 that, when a disaster occurs, positions each of the multiple mobile robots 20 that travel within the area requiring evacuation due to the disaster at different locations along the evacuation route of the area, and a guidance control unit 112 that outputs evacuation guidance to the multiple mobile robots 20 at each of the positioned locations.

[0068] With this configuration, the guidance system 1 according to this embodiment can utilize multiple mobile robots 20 to more efficiently assist in guiding people to safety within an area.

[0069] Furthermore, the guidance system 1 according to this embodiment positions the mobile robot 20 at branching points along the evacuation route.

[0070] With this configuration, the guidance system 1 according to this embodiment can guide evacuees to safety at locations where evacuation routes branch off, such as T-junctions, making it easy for evacuees to become confused about which route to take. The system outputs information from the mobile robot 20 indicating which route is safe to take, thus enabling the mobile robot 20 to perform evacuation guidance.

[0071] Furthermore, the guidance system 1 according to this embodiment receives a designation from the operator for an evacuation exit to be used from among multiple evacuation exits in the area, and places multiple mobile robots 20 along the evacuation route leading to the designated evacuation exit.

[0072] With this configuration, the guidance system 1 according to this embodiment can guide people evacuating to the appropriate evacuation exit.

[0073] Furthermore, the guidance system 1 according to this embodiment outputs evacuation guidance voice instructions to each of the multiple mobile robots 20 at different timings.

[0074] With this configuration, the guidance system 1 according to this embodiment can prevent multiple mobile robots 20 from emitting voices simultaneously. This prevents the voices of multiple mobile robots 20 from overlapping, making it difficult for evacuees to hear the voice guidance and preventing them from becoming confused.

[0075] Furthermore, the guidance system 1 according to this embodiment outputs voice guidance to the mobile robots 20 furthest from the evacuation exit in order.

[0076] With this configuration, the guidance system 1 according to this embodiment can sequentially guide evacuees in the direction of evacuation using voice guidance. The coordinated operation of multiple mobile robots 20 in this manner enables clear guidance to the evacuation exit.

[0077] Furthermore, the guidance system 1 according to this embodiment includes a storage unit 140 that stores the placement positions for the mobile robot 20 for each of the multiple evacuation exits in the area. The system reads the placement positions corresponding to the evacuation exits to be used from the storage unit 140 and places the mobile robot 20 at the read placement positions.

[0078] With this configuration, the guidance system 1 according to this embodiment stores the positions of multiple mobile robots 20 in advance, eliminating the need to calculate and generate evacuation routes each time. Therefore, compared to cases where evacuation routes are generated each time, the time spent calculating evacuation routes is saved, and evacuation guidance can be carried out quickly.

[0079] Furthermore, the mobile robot 20 according to this embodiment has a function that allows the person evacuating to communicate with the outside world.

[0080] With this configuration, the guidance system 1 according to this embodiment allows evacuees to communicate the situation within the area to people outside via telephone. For example, evacuees can inform people outside about people who have been left behind.

[0081] Furthermore, the mobile robot 20 according to this embodiment has the function of capturing images within an area and transmitting the captured images to an external source.

[0082] This allows outsiders (such as firefighters) to view images of the situation inside the emergency area.

[0083] In the embodiment described above, the robot cooperation system 10 was described as being a terminal device such as a computer. However, at least one of the functions, such as the movement control unit 111 or the guidance control unit 112, may be provided on a server device connected to the terminal device via a communication network. In this case, the server device may be a physical server or a cloud server provided by a cloud computing service.

[0084] Some or all of the functions of the induction system 1 in the above-described embodiment may be implemented by a computer. In that case, the functions may be implemented by recording a program for implementing these functions on a computer-readable recording medium, loading the program recorded on this recording medium into a computer system, and executing it. Here, "computer system" includes hardware such as an OS and peripheral devices. Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into a computer system. Moreover, "computer-readable recording medium" may also include those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside a computer system that acts as a server or client in such a case. Furthermore, the above-mentioned program may be for implementing some of the functions described above, or it may be a program that can implement the above-mentioned functions in combination with a program already recorded in the computer system, or it may be implemented using a programmable logic device such as an FPGA (Field Programmable Gate Array).

[0085] Although embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs and the like that do not depart from the spirit of this invention. [Explanation of symbols]

[0086] 1. Guidance System 10 Robot Collaboration System 110 Control Unit 111 Movement Control Unit 112 Induction Control Unit 120 Communications Department 130 Input section 140 Storage section 150 Output section 20 Mobile Robots 210 Robot Control Unit 211 Driving Control Unit 212 Guidance Control Unit 213 Video Chat Function Section 214 Camera Image Provision Function Unit 220 Robot Communications Department 230 Operation Input Section 240 Robot Memory Unit 250 Display section 260 Audio output section 270 Voice input section 280 Imaging Unit 290 Drive unit 30 Operator terminals 40 External device

Claims

1. A mobile control unit that, when a disaster occurs, positions multiple mobile robots traveling within an area requiring evacuation due to the disaster at different locations along the evacuation route in the area, A guidance control unit that causes multiple mobile robots to output evacuation guidance at each of the positions where they are positioned, A guidance system equipped with the following features.

2. The movement control unit causes the mobile robot to be positioned at a branching point on the evacuation route. The induction system according to claim 1.

3. The mobile control unit receives a designation from the operator for an evacuation exit to be used from among multiple evacuation exits in the area, and places multiple mobile robots along the evacuation route leading to the designated evacuation exit. The induction system according to claim 1.

4. Equipped with a memory unit that stores evacuation routes, The mobile control unit reads the evacuation route from the storage unit and places the multiple mobile robots along the read evacuation route. The induction system according to claim 1.

5. The guidance control unit causes each of the multiple mobile robots to output evacuation guidance voice instructions at different timings. The induction system according to claim 1.

6. The guidance control unit outputs the voice guidance to the mobile robots in order, starting with those furthest from the evacuation exit. The induction system according to claim 5.

7. Each of the multiple evacuation exits in the area is equipped with a storage unit that stores the placement location for the mobile robot, The mobile control unit reads from the storage unit the placement position corresponding to the evacuation exit to be used for evacuation, and places the mobile robot at the read placement position. The induction system according to claim 1.

8. The aforementioned mobile robot has a function that allows people evacuating to communicate with the outside world. The induction system according to claim 1.

9. The mobile robot has the function of capturing images within the area and transmitting the captured images to an external source. The induction system according to claim 1.

10. A computer-based induction method, When a disaster occurs, multiple mobile robots traveling within the area requiring evacuation due to the disaster are positioned at different locations along the evacuation route within that area. The mobile robots are instructed to output evacuation guidance at each of the positions where they are positioned. A method of induction that includes the following.

11. On the computer, When a disaster occurs, multiple mobile robots traveling within the area requiring evacuation due to the disaster are positioned at different locations along the evacuation route within that area. The mobile robots are instructed to output evacuation guidance at each of the positions where they are positioned. program.

Images