AUTONOMOUS ROBOT SYSTEM AND METHOD FOR CONTROLLING AUTONOMOUS ROBOT

Abstract

To provide an autonomous robot system which does not need to newly provide a dedicated system in which a user requests an autonomous robot for work besides a system which controls the autonomous robot and can inexpensively construct a system which makes the autonomous robot execute the work requested by the user.SOLUTION: An autonomous robot system comprises a working robot 1 travelling in a facility, a robot control server 2 controlling operation of the working robot, and a presence management server 7 managing a presence situation of a user in an office in the facility. The robot control server acquires input information of a work request by a user participating in an SNS via a SNS system, acquires information on the request contents on the basis of the input information of the work request, acquires location information of the user to be a destination from the presence management server, and controls operation of the working robot on the basis of the information on the request contents and the location information of the user.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous robot system and a control method for an autonomous robot that causes an autonomous robot to execute a task requested by a user in response to the task request. [Background technology]

[0002] Within a facility, there are many occasions when an object such as a document needs to be handed over from one person to another. In such cases, if a work robot can deliver the object to another person instead of the person, the burden on the person can be reduced.

[0003] A known technology involving such a work robot in parcel delivery is one in which a person requesting parcel delivery hands the parcel over to a work robot and requests delivery, and the work robot delivers it to a person at the delivery destination (see Patent Document 1). In particular, with this technology, the person requesting parcel delivery hands over the parcel to the work robot at the delivery source that is in charge of the person, and the work robot at the delivery source moves to a location where the work robot at the delivery destination that is in charge of the recipient is waiting and hands over the parcel to the work robot at the delivery destination, and the work robot at the delivery destination moves to a location where the recipient is and hands over the parcel to the person. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2003-340762 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to the conventional technology, when a person who requests the delivery of a package delivers the package to the work robot at the delivery source, the person operates an input device provided on the robot to request the delivery of the package. As a result, there are cases where the person who requests the delivery of the package cannot easily request the delivery of the package while remaining seated at his / her desk. Furthermore, if the work robot at the delivery source is not in the vicinity of the person who requests the delivery of the package, the person must go to a location where the work robot is waiting and hand over the package to the work robot. Therefore, the conventional technology is an inconvenient system for the person who requests the delivery of the package, and a system that can eliminate such inconvenience is desired.

[0006] However, to eliminate such inconvenience, in addition to the system that controls the work robot, a new dedicated system for users to request the work robot to deliver packages must be installed. This creates the problem that it is not possible to inexpensively build a system that allows a work robot to carry out work requested by a user.

[0007] Therefore, the main object of the present invention is to provide an autonomous robot system and a control method for an autonomous robot that can inexpensively construct a system that causes an autonomous robot to perform work requested by a user, without the need to set up a new dedicated system for a user to request work from an autonomous robot, in addition to the system that controls the autonomous robot. [Means for solving the problem]

[0008] The autonomous robot system of the present invention receives input from a user. Baggage delivery An autonomous robot system that causes an autonomous robot to execute a requested task in response to a task request, the system comprising: a presence management server that manages the presence status and location of a user staying in a facility; the autonomous robot that travels within the facility; and a control unit that controls the operation of the autonomous robot, the control unit comprising: A message of a work request from a user participating in the SNS system is received, the message is analyzed, and a package delivery request including the user names of the sender and the delivery destination is generated. Obtain the requested work information and set it as the destination Sending and delivery destination users Inquiring the presence status of the user to the presence management server, Each user If present, Each of the above users The location information of the requested work is acquired from the attendance management server, and Each of the above users Based on the location information of Movement associated with the autonomous robot's baggage receiving and handover operations The configuration is such that the above is controlled.

[0009] In addition, the method for controlling an autonomous robot of the present invention includes a step of inputting a command from a user. Baggage delivery A method for controlling an autonomous robot, which causes an autonomous robot to perform a requested task in response to a task request, comprising: a control unit that controls an operation of the autonomous robot traveling within a facility, A message of a work request from a user participating in the SNS system is received, the message is analyzed, and a package delivery request including the user names of the sender and the delivery destination is generated. The requested work information is acquired and sent to the presence management server that manages the presence status and location of users staying in the facility. Sending and delivery destination users Inquire about the presence status of Each user If present, Each of the above users The location information of the requested work is acquired from the attendance management server, and Each of the above users Based on the location information of Movement associated with the autonomous robot's baggage receiving and handover operations The configuration is such that the above is controlled. Effect of the Invention

[0010] According to the present invention, in addition to the system for controlling the autonomous robot, a user can control the autonomous robot. Baggage delivery There is no need to set up a new dedicated system for requesting work, and the user can Baggage delivery It is possible to inexpensively build a system that allows an autonomous robot to carry out tasks. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing the overall configuration of an autonomous robot system according to the present embodiment; [Diagram 2] An explanatory diagram showing an outline of the operation of a work robot when the work robot is requested to deliver a package. [Diagram 3] FIG. 1 is an explanatory diagram showing a schematic configuration of a working robot; [Figure 4] A block diagram showing the schematic configuration of a work robot, a robot control server, a cloud server, a presence management server, and a face matching server. [Diagram 5]FIG. 13 is an explanatory diagram showing a chat service screen displayed on a user terminal. [Figure 6] FIG. 13 is an explanatory diagram showing the contents of operation instruction information for a work robot in the case of parcel delivery. [Figure 7] Flow diagram showing the procedure of processing performed by the robot control server [Figure 8] An explanatory diagram showing an outline of the operation of a work robot when the work robot is requested to deliver an order. [Figure 9] FIG. 13 is an explanatory diagram showing the contents of operation instruction information for a work robot in the case of delivering an order. [Figure 10] An explanatory diagram showing an outline of the operation of a work robot when the work robot is requested to perform the task of providing destination guidance. [Figure 11] FIG. 13 is an explanatory diagram showing the contents of operation instruction information for a working robot in the case of destination guidance. [Figure 12] FIG. 13 is an explanatory diagram showing the status of a work request using a user terminal and the status of destination guidance by a work robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The first invention made to solve the above problem is a method for making a payment from a user. Baggage delivery An autonomous robot system that causes an autonomous robot to execute a requested task in response to a task request, the system comprising: a presence management server that manages the presence status and location of a user staying in a facility; the autonomous robot that travels within the facility; and a control unit that controls the operation of the autonomous robot, the control unit comprising: A message of a work request from a user participating in the SNS system is received, the message is analyzed, and a package delivery request including the user names of the sender and the delivery destination is generated. Obtain the requested work information and set it as the destination Sending and delivery destination users Inquiring the presence status of the user to the presence management server, Each user If present, Each of the above users The location information of the requested work is acquired from the attendance management server, and Each of the above users Based on the location information of Movement associated with the autonomous robot's baggage receiving and handover operations The configuration is such that the above is controlled.

[0013] According to this, in addition to the system that controls the autonomous robot, Baggage delivery There is no need to set up a new dedicated system for requesting work, and the user can Baggage delivery It is possible to inexpensively build a system that allows an autonomous robot to carry out tasks.

[0014] The control unit may be provided separately from the autonomous robot and configured as a control device (robot control server) capable of communicating with the autonomous robot, or may be configured as a built-in component of the autonomous robot.

[0015] In addition, the second invention further includes a face matching server that performs face matching to verify the identity of a user, the autonomous robot having a camera that captures a face of the user, and the control unit providing the face image acquired by the camera and the user identification information acquired from the input information of the work request to the face matching server, causing the face matching server to perform face matching, and acquiring the face matching result from the face matching server.

[0016] According to this, face matching is performed to verify the identity of the user. Therefore, for example, in the case of parcel delivery, it is possible to prevent wrong delivery, that is, receiving a parcel from a wrong user or handing it over to a wrong user. Also, in the case of delivery of an ordered item, it is possible to prevent handing the ordered item to a wrong user.

[0023] Also, Third The invention is configured such that, when the work requested by the user is completed normally, the control unit notifies the requester user of a work completion report via the SNS system.

[0024] This allows the requesting user to easily confirm that the requested work has been completed normally.

[0025] Also, Fourth The invention is based on user feedback. Baggage delivery A method for controlling an autonomous robot, which causes an autonomous robot to perform a requested task in response to a task request, comprising: a control unit that controls an operation of the autonomous robot traveling within a facility, A message of a work request from a user participating in the SNS system is received, the message is analyzed, and a package delivery request including the user names of the sender and the delivery destination is generated. The requested work information is acquired and sent to the presence management server that manages the presence status and location of users staying in the facility. Sending and delivery destination users Inquire about the presence status of Each user If present, Each of the above users The location information of the requested work is acquired from the attendance management server, and Each of the above users Based on the location information of Movement associated with the autonomous robot's baggage receiving and handover operations The configuration is such that the above is controlled.

[0026] According to this, in the same manner as in the first invention, in addition to the system for controlling the autonomous robot, a user can control the autonomous robot. Baggage delivery There is no need to set up a new dedicated system for requesting work, and the user can Baggage delivery It is possible to inexpensively build a system that allows an autonomous robot to carry out tasks.

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0028] FIG. 1 is a diagram showing the overall configuration of an autonomous robot system according to this embodiment.

[0029] This autonomous robot system has a working robot 1 execute a task in response to a task request from a user. This system includes a working robot 1 (autonomous robot), a robot control server 2 (control unit), a user terminal 3, a smart speaker 4 (voice input terminal), a cloud server 5, a camera 6, a presence management server 7 (stay management server), and a face matching server 8. The working robot 1, robot control server 2, user terminal 3, smart speaker 4, cloud server 5, camera 6, presence management server 7, and face matching server 8 are connected via a network.

[0030] The working robot 1 is configured to be capable of autonomous travel. In response to instructions from a robot control server 2, the working robot 1 carries out work requested by a user within a facility.

[0031] The working robot 1 also includes a camera 11. The camera 11 captures images of people staying in the facility, particularly people sitting at their desks. Images captured by the camera 11 are used by the face matching server 8, and the camera 11 and the face matching server 8 form a face matching system.

[0032] The robot control server 2 controls the operation of the work robot 1. The robot control server 2 accepts work requests from users using user terminals 3 or smart speakers 4, and instructs the work robot 1 to perform operations related to the requested work.

[0033] The user terminal 3 is operated by a person staying in the facility, particularly a person (user) who is seated in an office. The user terminal 3 is composed of a PC, tablet terminal, or the like. The user can operate the user terminal 3 to request work from the work robot 1. The user can use the chat service provided by the cloud server 5 to make work requests to the work robot 1.

[0034] The smart speaker 4 outputs voice delivered from the cloud server 5 or the like. The smart speaker 4 can collect the user's voice and convert the voice into text information by voice recognition, and functions as a voice input device. The smart speaker 4 can use the voice input / output service provided by the cloud server 5 to make a work request to the work robot 1.

[0035] The cloud server 5 provides an SNS. A user can participate in an SNS using a user terminal 3 or a smart speaker 4. An SNS application is installed in the user terminal 3 or the smart speaker 4. The cloud server 5, together with the user terminal 3 or the smart speaker 4, constitutes an SNS system. Specifically, the cloud server 5 controls a chat service using the user terminal 3. The cloud server 5 also controls a voice input / output service using the smart speaker 4. The cloud server 5 also controls a web service provided to the user terminal 3.

[0036] The camera 6 is installed in an appropriate place in the facility (for example, on the ceiling) and captures images of people staying in the facility. Images captured by the camera 6 are used by the presence management server 7, and the camera 6, together with the presence management server 7, constitutes a presence management system. Note that the work robot 1 may capture images of people staying in the facility, and the face matching results using the captured images may be used by the presence management server 7.

[0037] The seating management server 7 manages the seating status of people in the office based on the images captured by the camera 6. The seating management server 7 also has a function of a distribution server, and distributes seating information regarding the seating status of people in the office to the user terminal 3. This allows other users to check where the user has sat and whether the user is currently seated.

[0038] The face matching server 8 performs face matching to identify the person sitting at the desk based on the image captured by the camera 11 of the working robot 1.

[0039] In this embodiment, a configuration is described in which a robot control server 2 is provided as a control unit that controls the work robot 1, but the work robot 1 itself may be provided with a control unit that controls its own device, i.e., it may be configured to have the functions of the robot control server 2.

[0040] In addition, in this embodiment, the presence management server 7 manages the presence status of a person in the office, but this is not limited to this, and it may be a presence management server that manages the presence status of a person within a facility, in particular the location of a user staying within the facility.

[0041] Next, a case where the working robot 1 is requested to deliver a package will be described. Fig. 2 is an explanatory diagram showing an outline of the operation of the working robot 1 when the working robot 1 is requested to deliver a package.

[0042] First, a user requests the robot control server 2 to deliver a package. Here, the request to the robot control server 2 is made via an SNS. In particular, the request to the robot control server 2 is made using a chat service provided by the user terminal 3 and the cloud server 5.

[0043] The user inputs a chat message requesting a package delivery task on the chat service screen of the user terminal 3. This chat message is provided to the robot control server 2 via the cloud server 5.

[0044] When the robot control server 2 receives a task request for package delivery from a user based on the chat message, it instructs the work robot 1 on the actions required to perform the package delivery task, causing the work robot 1 to start the package delivery task.

[0045] At this time, the work robot 1 first moves from the waiting area to the location of the requesting user. Then, it receives the package from the requesting user. Next, the work robot 1 moves to the location of the destination user while holding the package. Then, it hands the package over to the destination user. This completes the requested package delivery task, and the work robot 1 returns to its waiting position.

[0046] Furthermore, when the requested parcel delivery task is completed, a report to that effect is sent from the robot control server 2 to the user terminal 3 via the SNS. This task completion report is also sent using the chat service.

[0047] Moreover, if the delivery destination user is absent, the robot returns to the location of the requesting user and returns the package to the requesting user. Here, in order to eliminate the need to return the package to the requesting user, each user can set up a drop-off delivery so that the package can be received even when the user is absent. For example, a designated location such as a desk where the user is staying in a facility or a shared receiving box can be registered in advance by linking it to an SNS account, etc. Furthermore, when a drop-off delivery is executed, it is preferable to use the camera 11 mounted on the work robot 1 to record an image of the package being placed.

[0048] When the robot control server 2 receives work requests from a user, it registers the work requests in a requested work list in order, and processes the work requests in the order in which they were received based on the requested work list.

[0049] In this embodiment, the user can input a chat message in natural language on the user terminal 3. The robot control server 2 performs processing to analyze the chat message in natural language (natural language processing), and obtains information on the content of the work requested by the user (requested work information), specifically, that the work content is parcel delivery, and the name of the user at the delivery destination.

[0050] In addition, when receiving a package from a sender user, face matching is performed to verify the identity of the sender user. In addition, when handing over a package to a delivery destination user, face matching is performed to verify the identity of the delivery destination user.

[0051] At this time, the working robot 1 captures the faces of the subjects (the requester user and the delivery destination user). Then, the robot control server 2 acquires the facial image of the subjects from the captured image, and sends a request for face matching including the facial image of the subjects to the face matching server 8.

[0052] In this case, the sender user and the delivery destination user are in an office with a free address system. In an office with a free address system, the user can freely select a desk to work at, so the user's presence status changes at any time.

[0053] Therefore, the seating management server 7 generates seating information on which desk each user has taken based on the image captured by the camera 6, and manages the seating status of each user. The robot control server 2 inquires of the seating status of the requester user and the delivery destination user to the seating management server 7. height By doing so, it is possible to confirm where the sender user and the delivery destination user are located.

[0054] Although an example of an office with a free address system has been described here, information on the presence status managed by the presence management server 7 can also be used in the case of an office with fixed seats. For example, when a response is received from the presence management server 7 that the delivery destination user is absent, the package delivery request to the requesting user may be declined.

[0055] Next, there will be described a general configuration of the working robot 1. Fig. 3 is an explanatory diagram showing a general configuration of the working robot 1.

[0056] The work robot 1 is equipped with a camera 11, a speaker 12, a running unit 13, a manipulator 14, and a controller 15.

[0057] The camera 11 photographs the face of the user under the control of the controller 15. From the image photographed by the camera 11, a face image for face matching is obtained.

[0058] The speaker 12 outputs various kinds of audio such as guidance and notifications under the control of the controller 15 .

[0059] The traveling unit 13 includes wheels, a motor, etc. The traveling unit 13 performs autonomous traveling under the control of the controller 15 to move to a destination.

[0060] The manipulator 14, under the control of the controller 15, holds an object (such as luggage) and receives and delivers the object (such as luggage) to and from a user.

[0061] The controller 15 controls each part of the working robot 1 based on operation instructions from the robot control server 2.

[0062] In this embodiment, the work robot 1 is configured to include a manipulator 14, but this is not limited to a configuration. For example, the work robot 1 may simply be provided with a basket for storing luggage.

[0063] Next, there will be explained the general configuration of the working robot 1, the robot control server 2, the cloud server 5, the presence management server 7, and the face matching server 8. Fig. 4 is a block diagram showing the general configuration of the working robot 1, the robot control server 2, the cloud server 5, the presence management server 7, and the face matching server 8.

[0064] As described above, the working robot 1 includes the camera 11, the speaker 12, the traveling unit 13, the manipulator 14, and the controller 15. The controller 15 includes a communication unit 16, a memory unit 17, and a processor 18.

[0065] The communication unit 16 communicates with the robot control server 2 .

[0066] The storage unit 17 stores programs executed by the processor 18 and the like.

[0067] The processor 18 performs various processes by executing programs stored in the storage unit 17. In this embodiment, the processor 18 performs autonomous driving control processing and the like.

[0068] In the autonomous driving control process, the processor 18 controls the driving unit 13 to proceed toward the destination instructed by the robot control server 2 while determining a course to avoid obstacles based on images captured by the camera 11 and detection results from a distance sensor (not shown).

[0069] In addition, the processor 18 controls the camera 11 to capture the face of the user. The processor 18 also controls the speaker 12 to output various voices such as guidance and notifications from the speaker 12. The processor 18 also controls the manipulator 14 to cause the manipulator 14 to receive and hand over an object to and from the user.

[0070] The robot control server 2 includes a communication unit 21, a storage unit 22, and a processor 23.

[0071] The communication unit 21 communicates with the working robot 1, the cloud server 5, the presence management server 7, and the face matching server 8.

[0072] The storage unit 22 stores programs executed by the processor 23 and the like.

[0073] The processor 23 performs various processes by executing the programs stored in the storage unit 22. In this embodiment, the processor 23 performs an operation control process, a message analysis process, a presence status confirmation process, a face matching request process, and the like.

[0074] In the operation control process, processor 23 controls the operation of work robot 1. Specifically, it generates operation instruction information including the content of the operation to be executed by work robot 1 and information necessary for that operation, and transmits it to work robot 1. For example, it instructs work robot 1 to move to a destination, take a photograph for face matching, and receive or hand over an object (such as luggage). Furthermore, when instructing work robot 1 to move to a destination, it provides position information of the destination to work robot 1.

[0075] In the message analysis process, the processor 23 analyzes (natural language processing) a message (text information) requesting work in natural language input by the requesting user to obtain information regarding the content of the work to be requested. In the message analysis process, a language model constructed by machine learning such as deep learning may be used. When a package delivery work is requested, the message analysis obtains that the requested work is package delivery and the name of the user at the delivery destination.

[0076] In the presence status confirmation process, the processor 23 inquires of the presence status of the target person (the requester user and the delivery destination user) to the presence management server 7. Specifically, the processor 23 sends an inquiry about the presence status including the target person's identification information (such as name and user ID) to the presence management server 7, and receives a response to the inquiry sent from the presence management server 7. If the target person is present, the response to the inquiry includes the target person's location information.

[0077] In the face matching request process, processor 23 requests face matching of the target person (the requester user and the delivery destination user) to face matching server 8 to verify the identity of the target person. Specifically, it extracts the target person's face image from the captured image acquired from the work robot 1, and transmits a face matching request including the target person's face image and the target person's identification information (such as name and user ID) to face matching server 8. Then, based on the face matching response received from face matching server 8, it is determined whether or not the target person's face matching has been successful.

[0078] The cloud server 5 includes a communication unit 51, a storage unit 52, and a processor 53.

[0079] The communication unit 51 communicates with the robot control server 2, the user terminal 3, and the smart speaker 4.

[0080] The storage unit 52 stores programs executed by the processor 53 and the like.

[0081] The processor 53 performs various processes by executing the programs stored in the storage unit 52. In this embodiment, the processor 23 performs chat service control process, voice input / output service control process, Web service control process, and the like.

[0082] In the chat service control process, the processor 53 controls a chat service using the user terminal 3. In the voice input / output service control process, the processor 53 controls a voice input / output service using the smart speaker 4. In the Web service control process, the processor 53 controls a Web service to be provided to the user terminal 3.

[0083] The seating management server 7 includes a communication unit 71, a storage unit 72, and a processor 73.

[0084] The communication unit 71 communicates with the robot control server 2 and the camera 6 .

[0085] The storage unit 72 stores programs executed by the processor 73 and the like.

[0086] The processor 73 performs various processes by executing the programs stored in the storage unit 72. In this embodiment, the processor 73 performs an occupancy detection process and the like.

[0087] In the seat presence detection process, the processor 73 performs person detection on the image captured by the camera 6 and determines whether or not a person is present at each seat. In addition, in the seat presence detection process, the seat presence detection process may be configured to identify the present user using the face matching result based on the face image of the user captured by the camera 11 of the work robot 1.

[0088] The face matching server 8 includes a communication unit 81, a storage unit 82, and a processor 83.

[0089] The communication unit 81 communicates with the robot control server 2 .

[0090] The storage unit 82 stores programs executed by the processor 83 and the like.

[0091] The processor 83 performs various processes by executing the programs stored in the storage unit 82. In this embodiment, the processor 83 performs face matching and the like.

[0092] In the face matching process, in response to a face matching request from the robot control server 2, the processor 83 extracts facial feature information of the subject from the facial image of the subject obtained from the robot control server 2, and matches the facial feature information of the subject with the facial feature information of each registered person to identify the subject.

[0093] Next, an overview of a parcel delivery work request using a chat service will be described below. Fig. 5 is an explanatory diagram showing a chat service screen displayed on the user terminal 3.

[0094] The user displays a screen for a chat service using an SNS application on the user terminal 3, and performs an operation on that screen using an input device such as a keyboard to request the working robot 1 to perform a task.

[0095] First, as shown in FIG. 5(A), in a message posting input field 101 on a chat service screen, a user specifies the work robot 1 as the chat partner, and inputs a chat message in natural language expressing a work request and its contents.

[0096] At this time, in response to the user's operation on the chat service screen, the user terminal 3 transmits to the cloud server 5 destination information indicating that the chat partner is the work robot 1, a chat message (text information) indicating the work request and its contents, and user information (sender's user information) previously registered in the user terminal 3.

[0097] When the cloud server 5 receives the destination information, the chat message, and the sender user information from the user terminal 3, it transfers the chat message and the sender user information to the robot control server 2 based on the destination information.

[0098] When the robot control server 2 receives the chat message and the user information of the sender from the cloud server 5, it performs message analysis (natural language processing) on ​​the chat message in natural language and acquires information about the content of the work requested by the user. In this case, a parcel delivery task has been requested, and the robot control server 2 acquires that the task is parcel delivery and the name of the user at the delivery destination. The robot control server 2 also acquires the name of the requesting user from the user information of the sender. This enables the robot control server 2 to accept the parcel delivery task request.

[0099] When the robot control server 2 normally accepts the work request for package delivery, it sends a chat message in response to the chat message from the user who sent it. As a result, on the user terminal 3, as shown in Fig. 5(B), a chat message indicating that the request has been accepted and with the work robot 1 as the sender is displayed in the reply message display field 102 on the chat service screen.

[0100] Furthermore, when the parcel delivery is completed normally, a message reporting the completion of delivery is displayed in the reply message display field 103 on the chat service screen, with the work robot 1 as the sender, as shown in Fig. 5(C). This allows the requester user to easily understand that the requested parcel delivery has been completed normally.

[0101] Next, the operation instruction information for the working robot 1 in the case of parcel delivery will be described. Fig. 6 is an explanatory diagram showing the contents of the operation instruction information.

[0102] The robot control server 2 transmits operation instruction information to the working robot 1 to cause the working robot 1 to perform a task of delivering luggage. This operation instruction information includes information indicating each operation for the task of delivering luggage as the operation content, and detailed information on each operation. The working robot 1 performs each operation for the task of delivering luggage based on the operation instruction information received from the robot control server 2.

[0103] In the operation instruction information, first, an operation of moving to a destination (the location of the requester user) where the object (luggage) is received is set as the operation content. The location information of the requester user (seat ID, etc.) is added as the destination as detailed information to this moving operation. Next, an operation of photographing a face for face matching as identity verification of the requester user is set as the operation content. Next, an operation of receiving the object (luggage) is set as the operation content. Next, an operation of moving to a destination (the location of the delivery destination user) where the object (luggage) is delivered is set as the operation content. The location information of the delivery destination user (seat ID, etc.) is added as the destination as detailed information to this moving operation. Next, an operation of photographing a face for face matching as identity verification of the delivery destination user is set as the operation content. Next, an operation of handing over the object (luggage) is set as the operation content.

[0104] At this time, the robot control server 2 acquires the position information (seat ID, etc.) of the requester user by adding the identification information of the requester user and inquiring about the presence status of the seat management server 7. Also, the robot control server 2 acquires the position information (seat ID, etc.) of the delivery destination user by adding the identification information of the delivery destination user and inquiring about the presence status of the seat management server 7.

[0105] Furthermore, the robot control server 2 instructs the work robot 1 to take a picture of the face for face matching to verify the identity of the requesting user, and when it acquires the captured image from the work robot 1, it makes a request for face matching to the face matching server 8. The face image and the identification information (such as name) of the requesting user are added to the face matching request at this time. Furthermore, the robot control server 2 instructs the work robot 1 to take a picture of the face for face matching to verify the identity of the delivery destination user, and when it acquires the captured image from the work robot 1, it makes a request for face matching to the face matching server 8. The face image and the identification information (such as name) of the delivery destination user are added to the face matching request at this time.

[0106] Next, a description will be given of the procedure of the processing performed by the robot control server 2. FIG.

[0107] When the robot control server 2 receives a chat message requesting parcel delivery from the user terminal 3 operated by the user who has requested parcel delivery (requester user) via the cloud server 5 (Yes in ST101), it performs message analysis (natural language processing) on ​​the chat message and acquires the fact that the requested work is parcel delivery and the identification information (name, user ID, etc.) of the delivery destination user (ST102). It also acquires the identification information (name, user ID, etc.) of the requester user from the sender user information added to the chat message (ST103).

[0108] Next, the robot control server 2 inquires of the presence management server 7 about the presence status of the requester user and the delivery destination user (ST104).

[0109] At this time, an inquiry about the presence status including the identification information of the requester user and the delivery destination user is sent to the presence management server 7, and a response to the inquiry sent from the presence management server 7 is received. If the requester user and the delivery destination user are present, the response to the inquiry includes location information of the requester user and the delivery destination user.

[0110] Next, the robot control server 2 determines whether the positions of the requester user and the delivery destination user have been identified (ST105).

[0111] If the locations of the sender user and the delivery destination user cannot be identified (No in ST105), the process is terminated.

[0112] On the other hand, if the positions of the requester user and the delivery destination user can be identified (Yes in ST105), then the robot control server 2 instructs the work robot 1 to move to the destination, which is the location where the package will be received (the position of the requester user) (ST106). At this time, the work robot 1 controls the travel of its own device based on the position information of the destination acquired from the robot control server 2 and map information held in its own device.

[0113] Next, the robot control server 2 instructs the work robot 1 to take a picture of the face of the requesting user for face matching to verify the identity of the requesting user (ST107). At this time, the work robot 1 takes a picture of the face of the target person (the requesting user) with the camera 11 and transmits the captured image to the robot control server 2.

[0114] Next, the robot control server 2 extracts the facial image of the target person from the captured image acquired from the work robot 1, and transmits a facial matching request including the facial image of the target person and the requester user's identification information (name, user ID, etc.) to the facial matching server 8 (ST108).

[0115] At this time, the face matching server 8 extracts facial feature information of the target person from the facial image of the target person, acquires facial feature information of the requester user based on the identification information of the requester user, and matches the facial feature information of the target person with the facial feature information of the requester user. Next, the face matching server 8 transmits a face matching response including the face matching result to the robot control server 2.

[0116] Next, the robot control server 2 determines whether or not the face matching for identity verification of the requesting user has been successful, based on the face matching response received from the face matching server 8 (ST109).

[0117] Here, if face matching fails as identity verification of the requesting user (No in ST109), the process is terminated.

[0118] On the other hand, if face matching to verify the identity of the requesting user is successful (Yes in ST109), the robot 1 is then instructed to receive the package (ST110). At this time, the robot 1 drives the manipulator 14 to receive the package from the requesting user.

[0119] Next, the robot control server 2 instructs the work robot 1 to move to the destination, which is the location where the package is to be handed over (the location of the delivery destination user) (ST111). The operation of the work robot 1 at this time is the same as when moving to the delivery destination user's seat.

[0120] Next, the robot control server 2 instructs the work robot 1 to photograph the face for face matching to verify the identity of the user of the delivery destination (ST112). The operation of the work robot 1 at this time is the same as that in the case of face matching to verify the identity of the user of the client.

[0121] Next, the robot control server 2 extracts the face image of the target person from the captured image acquired from the work robot 1, and transmits a face matching request including the face image of the target person and the name (user ID) of the delivery destination user to the face matching server 8 (ST113). The operation of the face matching server 8 at this time is the same as in the case of face matching performed to verify the identity of the requesting user.

[0122] Next, the robot control server 2 determines whether or not face matching for identity verification of the delivery destination user has been successful (ST114).

[0123] If face matching is successful in verifying the identity of the user at the delivery destination (Yes in ST114), the robot 1 is then instructed to hand over the package (ST115). At this time, the robot 1 drives the manipulator 14 to hand over the package to the user at the delivery destination.

[0124] Next, the robot control server 2 specifies the requester user as the destination and sends a chat message reporting the completion of delivery to the cloud server 5 (ST116). The cloud server 5 sends the chat message to the user terminal 3. On the user terminal 3, the chat message reporting the completion of delivery is displayed on the chat service screen.

[0125] On the other hand, if face matching fails to verify the identity of the user at the delivery destination, for example, if the user at the delivery destination is absent (away from his / her desk) (No in ST114), then the robot control server 2 instructs the work robot 1 to move to the destination, which is the point where the package is to be returned (the location of the requesting user) (ST117).

[0126] Next, the robot control server 2 instructs the working robot 1 to return the package (ST118). At this time, the working robot 1 drives the manipulator 14 to hand over the package to the requesting user.

[0127] Next, a case where the working robot 1 is requested to deliver an ordered item will be described. Fig. 8 is an explanatory diagram showing an outline of the operation of the working robot 1 when the working robot 1 is requested to deliver an ordered item.

[0128] A user can request the working robot 1 to deliver an ordered item sold in a store in the facility to the user's home. In particular, the working robot 1 picks up the ordered item from the store's shelves and delivers it.

[0129] First, a user requests the robot control server 2 to deliver an ordered item. Here, the task request to the working robot 1 is made using the smart speaker 4 and a voice input / output service provided by the cloud server 5.

[0130] The user speaks words requesting the delivery of the ordered item to the smart speaker 4. The smart speaker 4 picks up the user's voice using a microphone, performs voice recognition processing on the voice, and obtains a spoken message (text information) as the voice recognition result. The spoken message is provided to the robot control server 2 via the cloud server 5.

[0131] When the robot control server 2 receives a task request for delivering an ordered item from a user based on the speech message, it instructs the working robot 1 on the actions required to perform the task of delivering the ordered item, causing the working robot 1 to start the task of delivering the ordered item.

[0132] At this time, the work robot 1 first moves from the waiting area to a location in the store (where the ordered items will be obtained). Then, it picks up the ordered items from the store's shelves. Next, the work robot 1 moves to the location of the requesting user while holding the ordered items. Then, it hands the package over to the requesting user. This completes the task of delivering the ordered items, and the work robot 1 moves to the waiting area.

[0133] In this case, the user speaks a request for a task in natural language. At this time, the user specifies the robot as the party to whom the task is to be requested, and speaks the content of the requested task. In the case of an ordered item delivery, the user speaks the requested task content in natural language, including the name of the store to which the order is to be placed and the name of the ordered item.

[0134] The smart speaker 4 transmits the spoken message (text information) as the voice recognition result to the cloud server 5 together with user information (user information of the requester) preregistered in the smart speaker 4. The voice recognition process may be performed by the cloud server 5.

[0135] When the cloud server 5 receives the spoken message (text information) and the user information of the sender from the smart speaker 4, it performs message analysis processing (natural language processing) on ​​the spoken message and identifies the service desired by the user. At this time, when the cloud server 5 identifies that the service desired by the user is a service using the work robot 1, it transmits the spoken message and the user information of the sender to the robot control server 2.

[0136] When the robot control server 2 receives the spoken message and the user information of the sender from the cloud server 5, it performs message analysis processing (natural language processing) on ​​the spoken message and acquires information about the content of the work requested by the user. In the case of an ordered item delivery, the robot control server 2 acquires identification information of the store where the order was placed (store name, store ID, etc.) and identification information of the ordered item (product name, product ID, etc.). It also acquires identification information of the requesting user (name, user ID, etc.) from the user information of the sender.

[0137] The robot control server 2 can instruct the working robot 1 to move to the store location by acquiring store location information from store identification information based on the database stored in the device. The robot control server 2 can instruct the working robot 1 to take the ordered item from the shelf by acquiring product appearance characteristic information from product identification information based on the database stored in the device. The robot control server 2 can also acquire the location information of the requesting user by inquiring of the presence status of the requesting user to the presence management server 7, adding the requesting user's identification information.

[0138] When requesting the work robot 1 to deliver an ordered item, a settlement (payment of the price) for the purchase of the item is required, but this settlement may be performed by facial recognition using the camera 11 of the work robot 1.

[0139] In an unmanned store, the working robot 1 can simply pick up the ordered items from the shelves, but in a manned store, a store clerk may hand the ordered items to the working robot 1. The working robot 1 can also be requested to retrieve objects other than the store's products, such as documents stored in a remote location.

[0140] Next, the operation instruction information for the working robot 1 in the case of delivering an ordered item will be described. Fig. 9 is an explanatory diagram showing the contents of the operation instruction information.

[0141] The robot control server 2 transmits operation instruction information to the working robot 1 to cause the working robot 1 to execute the task of delivering the ordered item. This operation instruction information includes information indicating each operation for delivering the ordered item as the operation content, and detailed information on each operation.

[0142] In the operation instruction information, first, an operation of moving to a destination (store) where the object (ordered product) is to be received is set as the operation content. Store location information is added as the destination as detailed information to the movement operation. Next, an object recognition operation for finding the object (ordered product) from among products displayed in the store and an object grasping operation for acquiring the found object are set as the operation content, in that order. Product feature information is added as detailed information to the object recognition and object grasping operations. Next, a movement to a destination (requesting user) where the object (product) is to be delivered is set as the operation content. User location information is added as the destination as detailed information regarding this movement. Next, an operation of handing over the object to the user is set as the operation content.

[0143] At this time, the robot control server 2 acquires the location information of the order destination store from the identification information (store name) of the order destination store based on the database stored in the device itself. Also, based on the database stored in the device itself, it acquires the product feature information from the product identification information (product name, etc.). Also, by adding the requester's identification information and inquiring the seating status to the seating management server 7, it acquires the requester's location information (seat ID, etc.).

[0144] In addition, face matching may be performed when handing over the product, which can prevent the ordered product from being handed over to the wrong user.

[0145] In addition, in this embodiment, the object recognition process for recognizing the ordered items is performed by the work robot 1, but the work robot 1 may simply photograph the object (product) with the camera 11, and the robot control server 2 may perform the object recognition process based on a product database stored in the device itself.

[0146] Next, a case will be described where the work robot 1 is requested to perform the task of destination guidance. Fig. 10 is an explanatory diagram showing an outline of the operation of the work robot 1 when the work robot 1 is requested to perform the task of destination guidance.

[0147] A user can request the working robot 1 to guide the user to a desired location within a facility (route guidance). For example, if the user is a visitor, he or she may not know the locations of conference rooms, offices, restrooms, etc. within the facility. In addition, in an office with a free address system, the visitor may not know where the person he or she is meeting is seated. In such cases, the working robot 1 performs the destination guidance task in response to the user's request.

[0148] First, a user (such as a visitor) requests a destination guidance task from the robot control server 2. Here, the task request to the working robot 1 is made using a website.

[0149] A website that accepts work requests from users is constructed on the cloud server 5. On the user terminal 3, a browser is started and the website is accessed, whereby a website screen (web page) for the user to make a work request is displayed. The user operates the display screen of the user terminal 3 to specify a destination location (a location to be guided to) and request that the work robot 1 guide the user to the destination.

[0150] The cloud server 5 acquires user operation information related to the destination guidance task request from the user terminal 3, and provides the operation information to the robot control server 2. When the robot control server 2 accepts a destination guidance task request from the user based on the user operation information acquired via the cloud server 5, it instructs the work robot 1 on the operation required to perform the destination guidance task. As a result, the work robot 1 starts the destination guidance task.

[0151] At this time, the working robot 1 starts moving to the destination. That is, the working robot 1 takes the lead and guides the user (visitor) to the destination.

[0152] Next, the operation instruction information for the working robot 1 in the case of destination guidance will be described. Fig. 11 is an explanatory diagram showing the contents of the operation instruction information.

[0153] The robot control server 2 transmits to the work robot 1 operation instruction information for causing the work robot 1 to perform the task of destination guidance.

[0154] In the operation instruction information, an operation to move to a destination, which is a place to be guided, is set as the operation content. The location information of the destination (place to be guided) is added to this movement operation as detailed information.

[0155] At this time, the robot control server 2 acquires location information of the destination (the place to guide) based on a database stored in the device, generates operation instruction information with the destination location information added, and transmits it to the work robot 1.

[0156] Next, a case will be described where a website is used to request destination guidance to the working robot 1. Fig. 12 is an explanatory diagram showing the status of a work request using the user terminal 3 and the status of destination guidance by the working robot 1.

[0157] On the user terminal 3, a browser is started and a website is accessed, whereby a website screen (web page) for the user to make a work request is displayed.

[0158] At this time, first, a menu screen shown in FIG. 12(A) is displayed on the user terminal 3 (tablet terminal). On the menu screen, the user can select the service to be requested. When the user selects destination guidance as the service, the screen transitions to a robot selection screen shown in FIG. 12(B). On the robot selection screen, the user can select the work robot 1 to which the user requests destination guidance. When the user selects the work robot 1, the screen transitions to a destination selection screen shown in FIG. 12(C). On the destination selection screen, the user can select a destination for destination guidance. When the user selects the destination, the screen transitions to a guidance start screen shown in FIG. 12(D). Here, the work robot 1 starts the task of destination guidance.

[0159] On the other hand, when the working robot 1 starts a destination guidance task, a guidance voice informing the user that guidance to the destination will begin is output from the speaker 12, as shown in Fig. 12(E). In addition, when the working robot 1 arrives at the destination, a guidance voice informing the user that the destination has been reached is output from the speaker 12, as shown in Fig. 12(F).

[0160] At this time, the user terminal 3 transmits to the cloud server 5 user operation information indicating the content of the operation performed by the user on each screen.

[0161] When the cloud server 5 receives the user operation information from the user terminal 3, it transmits a work request for destination guidance to the robot control server 2 based on the user operation information. The work request for destination guidance includes identification information of the work robot 1 that provides destination guidance, and information on the destination of the destination guidance.

[0162] When the robot control server 2 receives a destination guidance task request from the cloud server 5, it transmits operation instruction information to the work robot 1 selected by the user for destination guidance. This operation instruction information includes information instructing an operation (movement) for the destination guidance task as the operation content, and location information of the destination as detailed information.

[0163] In this way, when requesting work via a website, the user only needs to perform selection operations, so there is no need for message analysis processing as in the case of requesting work via a chat service or smart speaker 4.

[0164] In this embodiment, the request for parcel delivery is made using a chat service, the request for order delivery is made using the smart speaker 4, and the request for destination guidance is made using a website, but this is not limited to this. For example, the request for order delivery may be made using a chat service, the request for destination guidance may be made using the smart speaker 4, and the request for parcel delivery or order delivery may be made using a website.

[0165] In this embodiment, the tasks performed by the working robot 1 are described as parcel delivery, order delivery, and destination guidance, but the present invention is not limited to these. For example, the working robot 1 can be requested to deliver a document to the next person involved so that the people involved can affix their approval seals to the document in order.

[0166] As described above, the embodiments have been described as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to these, and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made. In addition, it is also possible to combine the components described in the above embodiments to create new embodiments. [Industrial Applicability]

[0167] The autonomous robot system and autonomous robot control method of the present invention have the advantage that a system that causes an autonomous robot to perform work requested by a user can be constructed at low cost, without the need for a new dedicated system for a user to request work from an autonomous robot, in addition to a system for controlling the autonomous robot, and is useful as an autonomous robot system and an autonomous robot control method that causes an autonomous robot to perform requested work in response to a work request from a user. [Explanation of symbols]

[0168] 1. Working robots (autonomous robots) 2 Robot control server (control section) 3. User terminal 4. Smart speaker (voice input device) 5. Cloud Server 6. Camera 7. Attendance management server (stay management server) 8. Face Matching Server 11 Camera 12 speakers 13 Running part 14 Controller 15 Manipulator 101 Post message input field 102 Reply message display field 103 Reply message display field

Claims

1. An autonomous robot system that causes an autonomous robot to execute a task of delivering luggage in response to a request from a user, a presence management server for managing the presence status and positions of users staying in the facility; The autonomous robot traveling within a facility; A control unit that controls the operation of the autonomous robot, The control unit is receiving a message of a task request from a user participating in the SNS system, analyzing the message, and acquiring requested task information for parcel delivery, including the user names of a sender and a delivery destination; Inquiring the presence status of the sender who is the destination and each user at the delivery destination to the presence management server; When each of the users is present, location information of the user is acquired from the presence management server; An autonomous robot system characterized by controlling the movement of the autonomous robot associated with the luggage receiving and delivery operations based on the requested work information and the location information of each user.

2. Further, a face matching server that performs face matching to verify the identity of each user is provided, The autonomous robot has a camera that captures a face of each of the users, The control unit is The autonomous robot system according to claim 1, characterized in that a facial image acquired by photographing with the camera and identification information of each user acquired from the work request message are provided to the face matching server, the face matching server performs face matching, and the face matching results are obtained from the face matching server.

3. The control unit is When the user's requested task is completed successfully, 2. The autonomous robot system according to claim 1, wherein a task completion report is sent to a user who has requested the task via the SNS system.

4. A method for controlling an autonomous robot, which causes an autonomous robot to execute a task of delivering luggage in response to a request from a user, comprising: A control unit that controls the operation of the autonomous robot traveling within a facility, receiving a message of a task request from a user participating in the SNS system, analyzing the message, and acquiring requested task information for parcel delivery, including the user names of a sender and a delivery destination; Inquiring the presence status of each user of the requester and the delivery destination to an attendance management server that manages the presence status and location of users staying in the facility; When each of the users is present, location information of the user is acquired from the presence management server; A method for controlling an autonomous robot, characterized by controlling the movement of the autonomous robot associated with the luggage receiving and delivery operations based on the requested work information and the location information of each user.

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