Autonomous mobile vehicle operation system, autonomous mobile vehicle operation method, autonomous mobile vehicle operation program

Abstract

The robot's interaction with people is secondary to its main tasks of transportation and cleaning. Furthermore, the robot's operating area is limited. Therefore, the robot is only capable of engaging in conversation with people and cannot broadly address the problems or inquiries that people face. [Solution] In an autonomous mobile operation system comprising multiple autonomous mobile units and an operating device capable of communicating with the multiple autonomous mobile units, the operating device has a cooperation processing unit that, upon receiving a first inquiry from a first person from a first autonomous mobile unit which is one of the multiple autonomous mobile units, selects a second person capable of responding to the first inquiry based on the first inquiry, and instructs a second autonomous mobile unit which is one of the multiple autonomous mobile units different from the first autonomous mobile unit to make a second inquiry to the second person based on the first inquiry.

Description

Technical Field

[0001] The present disclosure relates to an autonomous mobile body operation system, an autonomous mobile body operation method, and an autonomous mobile body operation program using an autonomous mobile body that performs main operations.

Background Art

[0002] In recent years, the decline in the working-age population has been progressing, and it has become urgent to solve the labor shortage. Therefore, autonomous mobile bodies such as robots that perform dedicated operations have been introduced in various places where people are present, such as restaurants, offices, hospitals, nursing facilities, commercial facilities, and construction sites. And some of these can communicate with people.

[0003] In Patent Document 1, robots such as transportation robots and cleaning robots guide customers who come to a restaurant to their seats. At that time, the robot identifies a conversation topic that the customer is highly interested in or is presumed to like from the appearance of the customer. And by conducting small talk corresponding to that topic while guiding the customer to their seat, the customer service is improved.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the case of Patent Document 1, the robot's response to customers is secondary to the main operations such as transportation and cleaning. Also, the robot's action area is limited. Therefore, the robot can only talk to customers and cannot widely respond to the problems and inquiries that customers have.

[0006] This disclosure was made to solve the aforementioned problems. By coordinating with other autonomous mobile vehicles, which primarily perform tasks such as transportation and cleaning, autonomous mobile vehicles will be able to respond to inquiries from people beyond their own service area. Therefore, the purpose is to improve the efficiency of autonomous mobile vehicle utilization. [Means for solving the problem]

[0007] In the autonomous mobile operation system comprising multiple autonomous mobile units and an operating device capable of communicating with the multiple autonomous mobile units, the operating device is: A person database in which a person's name and the skills they possess are associated and stored, When the first autonomous mobile entity, which is one of several autonomous mobile entities, receives the first inquiry from the first person, From the content of the first inquiry, we extract characteristic keywords and identify individuals in our database whose skills are highly similar to those keywords. Based on the first inquiry, a second person capable of responding to the first inquiry is selected, and one of several autonomous mobile units different from the first autonomous mobile unit is selected. The closest to the current location of the second person It has a coordinating processing unit that instructs a second autonomous mobile unit to make a second inquiry to a second person based on the first inquiry. Furthermore, in the autonomous mobile operation system of this disclosure, which comprises multiple autonomous mobile units and an operating device capable of communicating with the multiple autonomous mobile units, the operating device has a person database in which the names of people and the skills that people possess are associated and stored, and a cooperation processing unit that, upon receiving a first query from a first person from a first autonomous mobile unit which is one of the multiple autonomous mobile units, converts the content of the first query into text, selects a person in the person database whose skills have a high similarity to the converted first query as a second person capable of responding to the first query, and instructs the second autonomous mobile unit, which is one of the multiple autonomous mobile units different from the first autonomous mobile unit and is closest to the current location of the second person, to make a second query to the second person based on the first query. [Effects of the Invention]

[0008] This disclosure enables autonomous mobile vehicles to collaborate with other autonomous mobile vehicles, allowing them to extend beyond their own operational area and respond more broadly to inquiries from people. Therefore, it is possible to improve the efficiency of autonomous mobile vehicle utilization. [Brief explanation of the drawing]

[0009] [Figure 1] This block shows the schematic configuration of the robot operation system in Embodiment 1. [Figure 2] This is an external view of the transport robot. [Figure 3] This is a block diagram showing the schematic configuration of a transport robot. [Figure 4] This is an external view of the cleaning robot. [Figure 5] This is a block diagram illustrating the schematic configuration of a cleaning robot. [Figure 6]It is the employee information held by the employee DB. [Figure 7] It is a block diagram showing the configuration of the cooperation processing unit. [Figure 8] It is an operation flowchart of the robot operation system in Embodiment 1. [Figure 9] It is an image diagram of the knowledge graph. [Figure 10] It is a flowchart showing the processing when using similarity calculation. [Figure 11] It is a diagram showing an example of the hardware resources of the operation device. [Figure 12] It is a diagram showing another example of the hardware resources of the operation device. [Figure 13] It is an operation flowchart of the robot operation system in Embodiment 2. [Figure 14] It is a block diagram showing the schematic configuration of the robot operation system in Embodiment 3. [Figure 15] It is an external view of the care robot. [Figure 16] It is a block diagram showing the schematic configuration of the care robot. [Figure 17] It is the robot information held by the robot DB. [Figure 18] It is an operation flowchart of the robot operation system in Embodiment 3. [Figure 19] It is an operation flowchart of the robot operation system in Embodiment 4. [Figure 20] It is a block diagram showing the schematic configuration of the robot operation system in Embodiment 5. [Figure 21] It is the patient information held by the patient DB. [Figure 22] It is a data collection and storage flowchart of the patient DB. [Figure 23] It is an operation flowchart of the robot operation system in Embodiment 5.

Modes for Carrying Out the Invention

[0010] The embodiments for implementing this disclosure will be described with reference to the attached drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are simplified or omitted as appropriate.

[0011] Embodiment 1. Figure 1 is a block diagram showing the schematic configuration of the autonomous mobile operation system of Embodiment 1, Figure 2 is an external view of the transport robot, Figure 3 is a block diagram showing the schematic configuration of the transport robot, Figure 4 is an external view of the cleaning robot, and Figure 5 is a block diagram showing the schematic configuration of the cleaning robot. This autonomous mobile operation system is assumed to be installed in an office building of a company consisting of multiple floors.

[0012] In Figure 1, the robot operation system 1, which is an autonomous mobile operation system, is mainly composed of multiple autonomous mobile robots 100 and an operation device 200. Although Figure 1 shows three robots, A100a, B100b, and C100c, more than three robots are certainly possible.

[0013] Robot A100a is a transport robot, as shown in Figures 2 and 3. Figure 2(a) is a front view of robot A100a, and Figure 2(b) is a side view of robot A100a.

[0014] Robot A100a's exterior is mainly composed of a head 101a, a torso 102a, and a running section 103a. The running section 103a has a total of four tires 103a1, two on each side and two at the front and back. Robot A100a can move by rotating these tires 103a1.

[0015] Furthermore, the head 101a is equipped with a camera unit 104a. The head 101a is rotatable horizontally. Therefore, the camera unit 104a can capture images in a 360-degree horizontal direction.

[0016] As shown in Figure 2(b), the main body 102a has two shelves 105a. Employees who wish to transport items to other departments or floors will place documents and items here. On the opposite side of the shelves 105a, there is a monitor 106a. In addition to display functions, the monitor 106a also has input functions. For example, an employee who wishes to transport an item can input the destination in text.

[0017] Robot A100a further includes a surrounding sensor 107a, a control unit 108a, a position detection unit 109a, a transmitting / receiving unit 110a, a battery 111a, a speaker 112a, a microphone 113a, and a transported object management unit 114a. The surrounding sensor 107a is a contact sensor, an infrared sensor, an ultrasonic sensor, a lidar sensor, etc.

[0018] The control unit 108a receives video from the imaging unit 104a and detection information from the surrounding sensor 107a. The robot A100a then determines its current position using the position detection unit 109a, controls the driving unit 103a, and drives autonomously. The control unit 108a also controls the generation of sound from the speaker 112a. The control unit 108a also collects sound input from the microphone 113a. Furthermore, it provides overall control to execute commands sent from the operation device 200.

[0019] The transmitting / receiving unit 110a communicates with external devices. The position detection unit 109a is, for example, a GPS.

[0020] Robot B100b is a cleaning robot, as shown in Figures 4 and 5. Figure 4(a) is a front view of robot B100b, and Figure 4(b) is a side view of robot B100b.

[0021] Robot B100b's exterior is mainly composed of a torso 102b and a running section 103b. The running section 103b has a total of four tires 103b1, two on each side and two at the front and back. Robot B100b can move by rotating these tires 103b1. The torso 102b is also equipped with a camera, which is a shooting section 104b.

[0022] A monitor 106b is provided on the upper surface of the body section 102b. In addition to display functions, the monitor 106b also has input functions. A cleaning unit 115b is provided on the lower surface of the body section 102b. This cleaning unit 115b sucks up dirt and debris from the floor and stores it in the waste collection unit of the body section 102b.

[0023] Robot B100b further includes a surrounding sensor 107b, a control unit 108b, a position detection unit 109b, a transmitting / receiving unit 110b, a battery 111b, a speaker 112b, and a microphone 113b. These configurations are the same as those of robot A100a shown in Figure 3. Furthermore, robot C100c is a cleaning robot similar to robot B100b.

[0024] In Figure 1, the operating device 200 includes a transmission / reception unit 201, a video / sound analysis unit 202, a person position memory unit 203, an environment memory unit 204, a query analysis unit 205, a linkage processing unit 206, a response creation unit 207, a corresponding DB (database) 208, an employee DB (database) 209, and a feedback processing unit 210.

[0025] The transmitting / receiving unit 201 receives video and audio information from the robot 100 and sends and receives response commands, reply commands, etc. to the robot 100.

[0026] The video and sound analysis unit 202 analyzes the video and sound information transmitted from the robot 100. Specifically, the video and sound analysis unit 202 extracts people from the video information. It then compares those people with the person photo data held in the employee database 209. The video and sound analysis unit 202 then identifies the person, associates it with an employee name, and stores its location in the person location storage unit 203.

[0027] Figure 6 shows the employee information held by Employee DB209. Employee DB209 holds linked employee name data 209a, photo data 209b, department data 209c, skill data 209d, and work status data 209e. Of these, skill data 209d includes past work experience, qualifications, and specialized knowledge. Work status data 209e includes information such as the content of emails and phone calls and meeting attendance within a certain period, starting from the most recent. Employee DB209 is a type of personal database.

[0028] The video and audio analysis unit 202 extracts characteristic elements, such as objects, from the video and stores them in the environmental memory unit 204. For example, these might be special products unique to that department.

[0029] If the video / sound analysis unit 202 extracts human voices from the sound information transmitted from the robot 100, it sends the voice information and video information to the inquiry analysis unit 205.

[0030] The inquiry analysis unit 205 analyzes the inquiries contained in the video and audio information. First, it extracts the content of the inquiries contained in the audio information. Then, using the employee database, it identifies the person who made the inquiry from the video information. If an immediate answer can be provided to the inquiry, it sends it to the answer creation unit 207. The answer creation unit 207 generates an answer. If an immediate answer cannot be provided, it sends it to the linkage processing unit 206.

[0031] Figure 7 is a block diagram illustrating the schematic configuration of the collaboration processing unit 206. The collaboration processing unit 206 consists of an employee selection unit 206a, a robot selection unit 206b, a response command creation unit 206c, and a collaboration response creation unit 206d. Note that the employee selection unit 206a is an example of a person selection unit. Also, the robot selection unit 206b is an example of an autonomous mobile unit selection unit. The collaboration processing unit 206 searches for a robot 100 to collaborate with and creates a response command. It also processes the response from the robot 100 to collaborate with.

[0032] The corresponding DB208 stores models for processing by the query analysis unit 205, the linkage processing unit 206, and the response creation unit 207, as well as the status of past processing. The query analysis unit 205, the linkage processing unit 206, and the response creation unit 207 perform processing while referring to the corresponding DB208 as needed.

[0033] The feedback processing unit 210 processes the feedback information from the inquirer and incorporates the feedback. Specifically, it modifies the employee database 209. It also modifies the analysis processing in the inquiry analysis unit 205 and the linkage processing in the linkage processing unit 206. Furthermore, it stores the status of past processing, including the feedback content, in the response database 208.

[0034] Next, the operation of the robot operation system 1 shown in Figure 1 will be explained based on the operation flowchart of the robot operation system 1 shown in Figure 8.

[0035] Robot B100b performs its main task of cleaning (step S001). During this time, it transmits video information captured by the camera unit 104b and audio information acquired by the microphone 113b to the operating device 200 via the transmitting / receiving unit 110b. Similarly, robot A100a performs its main task of transporting (step S201). It also transmits video and audio information to the operating device 200. Although not shown in the diagram, robot C100c also performs its main task of cleaning in the same manner.

[0036] The video and sound analysis unit 202 of the operating device 200 acquires video and sound information from robots A100a, B100b, and C100c via the transmission / reception unit 201. The video and sound analysis unit 202 then analyzes this information and stores the person's information in the person's position memory unit 203 and characteristic information in the environment memory unit 204 (step S101).

[0037] In this state, employee K, who corresponds to the first person on the floor where robot B100b is located, verbally conveys an inquiry unrelated to cleaning, i.e., the first inquiry, to robot B100b. Robot B100b receives this inquiry through microphone 113b (step S002). Since it is well known within the company that the robot can handle employee inquiries, employees feel free to ask questions.

[0038] For example, these inquiries might be something like, "Tell me about ++++," or "Where is ++++ located?"

[0039] The inquiry received by robot B100b is received by the video / sound analysis unit 202 via the transmission / reception unit 201 and extracted as audio information. Then, the inquiry analysis unit 205 receives and analyzes the information to identify the content of the inquiry (step S102).

[0040] The inquiry analysis unit 205 determines whether it can answer the inquiry (step S103). For example, if the inquiry is "What is the phone number of ***'s department?", it can be answered using the employee database 209. Also, if the inquiry is something like "Where is ++++ located?", it can be answered based on the environment storage unit 204.

[0041] However, we cannot answer questions about matters we do not possess as data, such as those related to internal company work. For example, "What is the progress of Project A?" However, such inquiries can be answered by employees who specialize in that field.

[0042] If it is determined in step S103 that an answer is possible, the inquiry is sent to the answer creation unit 207. The answer creation unit 207 creates an answer (step S104). Then, it sends an answer command to the robot B100b via the transmission / reception unit 201 (step S105). The answer command instructs employee K, the inquirer, to respond with the created answer.

[0043] If it is determined in step S103 that an answer is not possible, the inquiry is sent to the linkage processing unit 206. In the linkage processing unit 206, the employee selection unit 206a selects an employee who can respond (hereinafter referred to as "responding employee") based on the employee database 209 (step S106: person selection step).

[0044] It should be noted that the wording of the inquiry may not always match the wording in skill data 209d. Also, using only skill data 209d may result in many people being selected, making it difficult to narrow down the candidates. Therefore, employee selection unit 206a uses a knowledge graph for selection. The model for this knowledge graph is stored in the corresponding DB 208 and is used.

[0045] This method is as follows, and Figure 9 is an illustrative diagram. • Extract characteristic keywords from the content of the inquiry. For example, let's call them α. The system calculates and extracts data based on the degree of similarity between the department data (209c), skill data (209d), and work status data (209e) in employee database (DB209) and the content of keyword α in the inquiry. Furthermore, lines connect each employee's relationship to the inquiry, with the thickness of the line indicating the strength of the relationship.

[0046] In this case, lines are made thicker when two individuals are working on projects with a high degree of similarity. For example, this is determined from the content of technical documents in work status data 209e, whether they attended meetings, etc. Also, lines are made thicker if there is a large amount of email, phone calls, or chat activity in work status data 209e.

[0047] Regarding inquiries, the person with the highest total line thickness is estimated to be the central figure in that request, and candidates are selected with priority. In the case of a tie, the level of expertise is used to determine superiority. Expertise is calculated from the work history in skill data 209d and the answers to past inquiries. In Figure 9, darker colors indicate higher expertise.

[0048] For example, in the correlation diagram in Figure 9, the candidates who are likely to have the knowledge to handle the keyword α of the inquiry are in the order of X (3 keywords) > W (2 keywords and more skilled than Y) > Y (2 keywords) > Z (1 keyword). Then, in step S104, employee X is selected as the responding employee. In other words, employee X corresponds to the second person.

[0049] Next, the robot selection unit 206b selects a robot corresponding to employee X (step S107: autonomous mobile robot selection step). This is the robot closest to employee X's current location. The person location memory unit 203 stores information about the employee's current location from the video captured by robot 100.

[0050] For example, suppose that the video captured by the camera unit 104a of robot A100a shows employee X, and this is stored in the person position memory unit 203. In that case, robot A100a is selected as the corresponding robot.

[0051] If the person location memory unit 203 does not contain information on the employee X in question, the location is determined from surveillance cameras (not shown) placed on the floor. In this case, the robot 100 closest to the employee X captured by the surveillance camera is selected as the corresponding robot. If the employee X is not captured by the surveillance camera, a cleaning robot responsible for the department to which the employee X belongs is selected.

[0052] Next, the response command creation unit 206c creates a response command for robot A100a. Then, it transmits the response command via the transmission / reception unit 201 (step S108: command step). This response command instructs employee X to go to the responding employee and issue a second inquiry based on the first inquiry to obtain a response. Note that the second inquiry here may be the same inquiry received from employee K in step S002. Alternatively, it may be a restructured version of the first inquiry, taking into account employee X's skills and making it understandable to employee X.

[0053] Robot A100a receives the corresponding command with its transmitting / receiving unit 110a (step S202).

[0054] Next, robot A100a interrupts its main task and makes a second inquiry to employee X (step S203). Specifically, upon receiving the response command, robot 100a first confirms the presence of employee X. If employee X is talking to someone or in a meeting, it waits. This action is determined by the control unit 108a based on the video footage from the camera unit 104a.

[0055] Robot A100a moves to the side of employee X when it sees that employee X is free. Then, it speaks the inquiry through speaker 112a. For example, "Employee K would like to know the progress of Project A. What is the current status?"

[0056] In response to this inquiry, employee X provides an oral answer. Specifically, robot A100a acquires the audio of the first answer using microphone 113a. Then, it transmits this audio information to the operating device 200 via the transmitting / receiving unit 110a (step S204). After that, it resumes the interrupted main task (step S205).

[0057] In the operating device 200, the linked response creation unit 206d of the linked processing unit 206 receives this response voice information. Then, it creates a response command (step S109). The response command instructs employee K, the inquirer, to provide a second response based on the first response received from employee X. Note that the second response here may be the same response received from employee X in step S204. Alternatively, it may be a reconstructed version of the first response in a way that employee K can understand. Then, the response command is transmitted to robot B100b via the transmitting / receiving unit 201 (step S105: response command step).

[0058] After receiving the inquiry in step S002, robot B100b resumes its main task of cleaning (step S003). This is because an immediate response from the operating device 200 is not guaranteed.

[0059] In this state, the control unit 108b of robot B100b receives a response command via the transmitting / receiving unit 110b (step S004).

[0060] Robot B100b interrupts its main task, moves near employee K who made the inquiry, and speaks the answer aloud from speaker 112b (step S005).

[0061] Subsequently, robot B100b receives feedback from employee K, the inquirer (step S006). For example, employee K may be satisfied with the answer and express gratitude. Alternatively, employee K may be dissatisfied with the answer. Or, they may ask additional questions or make comments along the lines of, "Next time, please do XX."

[0062] If this feedback is expressed as audio, it is sent to the operating device 200 as sound information. The operating device 200 sends the feedback content from the video / sound analysis unit 202 to the feedback processing unit 210, where it is reflected (step S110). For example, it is reflected in the skill data 209d of the corresponding employee X in the employee DB 209. Alternatively, the model of the knowledge graph in the corresponding DB 208 is modified. Or, it is reflected in the logic for selecting the corresponding employee in the linkage processing unit 206. As a result, the content of the answers when similar inquiries are made is upgraded.

[0063] Thus, in Embodiment 1, robot B100b can respond to human inquiries beyond robot B100b's operating area by coordinating with robot A100a. This improves the efficiency of robot utilization, particularly for tasks such as cleaning and transportation, and contributes to their widespread adoption.

[0064] Furthermore, if the system only provides the inquirer with the name and contact information of a skilled employee, then even if the inquirer sends an inquiry via email or chat, they will not receive a response unless the recipient sees it. In contrast, in Embodiment 1, the robot directly obtains the response from the employee in charge, allowing for a quick response to inquiries.

[0065] Note that the inquiry in step S203 may be displayed on monitor 106a instead of being delivered by voice. In this case, the answer in step S204 will also be entered as text on monitor 106a.

[0066] Additionally, when answering Step S005, you may mention the name of employee X. For example, "Employee X helped me with this answer." If employee X was cooperative, mentioning their name can create an opportunity for synergy.

[0067] In addition to cleaning robots and transport robots, robots may also include caregiving robots, guidance robots, medical robots, etc., that have a primary function.

[0068] Furthermore, AI may be used in the inquiry analysis unit 205, the linkage processing unit 206, the answer creation unit 207, and the corresponding DB 208. By learning from many examples and then relearning based on the feedback, the reasoning ability for answers will improve, enabling more appropriate answers.

[0069] Furthermore, in step 106, you may select multiple employees to handle the task. For example, in Figure 8, the candidates are employee X, employee W, and employee Y in that order. Accuracy is increased by receiving responses from multiple employees. Also, even if some employees are unable to handle the task, the responses from the remaining employees can be used to address the issue.

[0070] For step S106, a text-based similarity calculation may be used. This involves converting the query content into text, changing it to a vector representation, and then calculating the similarity. Figure 10 is a flowchart showing the process when using the similarity calculation. The model for this similarity calculation is stored in the corresponding DB208 and will be used.

[0071] In the employee selection unit 206a, the query analyzed in step S102 is converted to text and subjected to text analysis (step S1061). Next, vector analysis of the query content is performed (step S1062). Then, the similarity between the vector-analyzed query and the skill data 208d in employee DB 209 is calculated using the cosine similarity concept or the Eudrite distance concept (step S1063). Based on this similarity, the candidates are ranked, and the top candidate is selected as the corresponding employee (step S1064). For example, if the similarity is X, W, Y, Z, then X becomes the corresponding employee. Steps S1061 to S1064 correspond to step S106.

[0072] Furthermore, since feedback is provided in step S004, the feedback processing unit 210 collects this feedback (step S1101) and saves it (step S1102). Then, it reconstructs or fine-tunes the model in the corresponding DB 208 (step S1103). It also retrieves past response records and information of the responding employee regarding the feedback (step S1104) and performs text analysis on the content of the inquiry at that time (step S1105). Then, it corrects the vector representation of the skill data 209d based on the text analysis and the model (step S1106) and reflects this in the similarity calculation in the following step S106. Steps S1101 to S1105 correspond to step S110.

[0073] Figure 11 shows an example of the hardware resources of the operating device 200. The operating device 200 is a computer having a processor 200a, memory 200b, and a transmit / receive circuit 200c as hardware resources. Note that there may be multiple processors 200a, memory 200b, and transmit / receive circuits 200c.

[0074] In Embodiment 1, the video / sound analysis unit 202, inquiry analysis unit 205, cooperation processing unit 206, response creation unit 207, and feedback processing unit 210 are executed by the processor 200a by software, firmware, or a combination of software and firmware described as a program stored in memory 200b. The transmit / receive circuit 200c is responsible for acquiring information from the transmit / receive unit 201. Memory 200b is responsible for the person location storage unit 203, environment storage unit 204, corresponding DB 208, and employee DB 209.

[0075] The processor 200a is also called a CPU (Central Processing Unit), central processing unit, arithmetic unit, microprocessor, or DSP. For memory 200b, semiconductor memory, magnetic disks, flexible disks, optical disks, compact disks, minidiscs, or DVDs may be used. Possible semiconductor memories include RAM, ROM, flash memory, EPROM, and EEPROM.

[0076] Figure 12 shows another example of the hardware resources of the operating device 200. In the example in Figure 12, the operating device 200 has a processing circuit that includes a processor 200a, memory 200b, a transmit / receive circuit 200c, and dedicated hardware 200d. The dedicated hardware 200d implements some of the functions of the operating device 200. Alternatively, all of the functions of the operating device 200 may be implemented by the dedicated hardware 200d. The dedicated hardware 200d can be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0077] Embodiment 2. In Embodiment 2, the robot proactively checks with people to see if they have any problems. This is primarily intended for places where an unspecified number of people come, such as hospitals and amusement parks. Figure 13 is an operation flowchart of the robot operation system 1 in Embodiment 2. In Figure 13, the same reference numerals are used for processes that are the same as or similar to those in Figure 8, and the explanation is omitted or simplified.

[0078] In step S001, robot B100b performs its main task of cleaning while simultaneously acquiring images of its surroundings using the camera unit 104b. If robot B100b detects a person in the images who is experiencing difficulty, it approaches that person and checks what the problem is (step S007). For example, it might ask, "Is there anything I can help you with?" from speaker 112b. If the person responds to this voice prompt with an inquiry, the robot then performs the same process as shown in Figure 6. For example, the person might ask, "How do I get to ***?" or "How do I proceed with the *** procedure?"

[0079] Problematic behaviors include standing still and looking around, pacing back and forth in the same spot, and remaining motionless in front of information boards.

[0080] The processing from step S007 onward is the same as in Figure 8. However, robot B100b does not resume its main operations after step S007. This is because resuming the main operations could cause an unfamiliar inquirer to wander off somewhere.

[0081] In this way, by having the robot initiate interaction, it is possible to improve services in places where there are many different people.

[0082] Furthermore, Embodiment 2 can also be applied to the office of a single company. In this case, for example, in step S007, the system might say, "There is someone who can help solve your problem. Would you like them to help or would you like me to inquire on your behalf?"

[0083] Embodiment 3. In Embodiment 3, another robot is made to perform an action other than making an inquiry. Figure 14 is a block diagram showing the schematic configuration of the robot operation system 1 in Embodiment 3. In this case, a hospital is assumed.

[0084] In Figure 14, robot D100d is additionally positioned. Robot D100d is a humanoid caregiving robot, as shown in Figures 15 and 16. Figure 15(a) is a front view of robot D100d, and Figure 15(b) is a side view of D100d.

[0085] The robot D100d's appearance is mainly composed of a head 101d, a torso 102d, and a walking section 103d. The walking section 103d has two legs 103d1 on the left and right. It can move by moving these legs 103d1.

[0086] Furthermore, the head 101d is equipped with two imaging units 104d, which are cameras, on the left and right sides. The head 101d is rotatable horizontally. Therefore, 360-degree horizontal imaging is possible using the imaging units 104d.

[0087] The torso 102d has arms 102d1 on both sides. These arms 102d1 are equipped with fingers 102d2, allowing them to grasp objects. A monitor 106d is also provided on the back.

[0088] Robot D100d further includes an ambient sensor 107d, a control unit 108d, a position detection unit 109d, a transmitting / receiving unit 110d, a battery 111d, a speaker 112d, and a microphone 113d. These configurations are the same as those of robot A100a shown in Figure 3.

[0089] In Figure 14, the operating device 200 has a robot DB (database) 211. Figure 17 shows the robot information held by the robot DB 211. The robot DB 211 holds identifier data 211a, type data 211b, assigned location data 211c, and function data 211d. Since this is assumed to be a hospital, the employees in the employee DB 209 are doctors and nurses.

[0090] Next, the operation of the robot operation system 1 in Figure 14 will be explained based on the operation flowchart of the robot operation system 1 in Figure 18. In Figure 18, the same reference numerals are used for processes that are the same as or similar to those in Figure 8, and the explanation is omitted or simplified.

[0091] Robot B100b performs its main task of cleaning (step S001). During this time, it transmits video information captured by the camera unit 104b and audio information acquired by the microphone 113b to the operating device 200 via the transmitting / receiving unit 110b.

[0092] Similarly, robots A100a and D100d perform their main tasks (step S301). Specifically, robot A100a delivers meals and other items to patient rooms, while robot D100d provides care for patients in their rooms.

[0093] In this state, a patient in a room being cleaned by robot B100b verbally requests that robot B100b perform an action unrelated to cleaning. Robot B100b receives this request via microphone 113b (step S002). For example, the request might say, "My stomach is upset. I need to go to the toilet. Please press the nurse call button."

[0094] The inquiry received by robot B100b is received by the inquiry analysis unit 205 via the transmission / reception unit 201 and the video / sound analysis unit 202, and the content of the inquiry is analyzed (step S102).

[0095] The inquiry analysis unit 205 then determines whether it is possible to handle the request (step S111). If it is possible to handle the request, steps S105 and beyond are performed.

[0096] However, in the case of this particular situation, it is not possible to handle it. If it is determined in step S111 that it is not possible to handle the case, the employee selection unit 206a extracts employees who can handle the case, in this case nurses who can handle the case (hereinafter referred to as "handling nurses"), based on the employee database 209 (step S106).

[0097] Next, the robot selection unit 206b selects a robot to correspond to the assigned nurse, as well as a robot to perform direct action (step S112). This robot is selected from those closest to the assigned nurse's current location. Additionally, a care robot is selected to assist the patient in going to the toilet. The selection of the care robot is based on the assigned location data 211c and function data 211d of the robot DB 211. In this process, robot A100a is selected to notify the assigned nurse. Also, robot D100d is selected to assist the patient.

[0098] Next, the response command creation unit 206c creates a response command and sends it to the selected robot (step S113). For example, robot A100a is instructed to contact the responding nurse to inquire whether it is possible to go to the patient's room as the patient is complaining of feeling unwell. Robot D100d is instructed to go to the patient's room and assist the patient.

[0099] In response, robots A100a and D100d receive the response command (step S302) and take action according to the command (step S303). For example, robot A100a asks the responding nurse, "Ms. XX seems unwell. Could you please go to her room immediately?" Robot D100d then heads to the patient's room.

[0100] Next, the robot D100d receives feedback from the patient (step S304), and the feedback processing unit 210 reflects the content of the feedback (step S114).

[0101] In this way, by issuing separate commands to multiple robots in response to a single inquiry, faster processing becomes possible.

[0102] Furthermore, in step S002, the robot B100b may generate an inquiry based on the patient's condition. For example, if it recognizes that the patient is suffering in bed, it may generate an inquiry such as "I'm in pain. Please call a doctor" and send it to the operating device 200.

[0103] Embodiment 4. In Embodiment 4, if a suitable employee cannot be selected in step S106, instructions are issued simultaneously to multiple robots. Figure 19 is an operation flowchart of the robot operation system 1 in Embodiment 4. In Figure 19, the same reference numerals are used for processes that are the same as or similar to those in Figure 8, and their explanations are omitted or simplified. Here, a construction site such as a building is assumed. Robot B100b is a robot for transporting construction materials.

[0104] In step S002, robot B100b receives an inquiry from a worker. For example, the inquiry might concern how to use a newly installed machine.

[0105] In step S103, no answer is possible. Therefore, in step S106, the employee selection unit 206a selects an employee to handle the task. However, it is determined that none of the employee skill data 208d contains information related to the newly introduced machine, and therefore, an employee could not be selected.

[0106] In this case, the robot selection unit 206b selects one or more robots, preferably all of the robots at the construction site (step S115). Then, the response command creation unit 206c sends a response command to emit an inquiry voice (step S116). Here, it is assumed that robot A100a has been selected.

[0107] Robot A100a receives this response command in step S202. Then, in step S203, it emits a voice message from speaker 112a asking around if anyone knows how to use the newly installed machine. It then obtains a response from an employee nearby who is able to answer.

[0108] In this way, if an employee capable of handling an inquiry cannot be selected, the response rate can be increased by having other robots ask questions to nearby objects and obtain answers.

[0109] Embodiment 5. In enclosed spaces such as hospitals, there is a desire for patients to communicate with each other. However, interacting with people who do not share the same hobbies or views can be boring and even painful. To address this situation, in Embodiment 5, data is stored in a patient database (database), a type of personal database, based on information acquired by the robot. This enables the system to respond to inquiries from patients.

[0110] Figure 20 is a block diagram illustrating the schematic configuration of the robot operation system 1 in Embodiment 5. Note that a DB storage unit 212 and a patient DB 213 have been added in this configuration. Other components are identical to those in Figure 1, and therefore use the same reference numerals, omitting or simplifying their descriptions.

[0111] Figure 21 shows the patient information held by patient DB 213. Patient DB 213 holds patient name data 213a, gender data 213b, photograph data 213c, hospital room data 213d, skill data 213e, and personality data 213f, all linked together.

[0112] Next, the data collection and storage process for patient DB213 will be explained based on the data collection and storage flowchart in Figure 22. First, of the patient database 213, the patient name data 213a, gender data 213b, photo data 213c, and room number data 213d are data owned by the hospital. Therefore, they are stored from the beginning.

[0113] In this state, the robot 100 acquires video and audio information while performing its main tasks, and this information is received by the operating device 200 (step S401). In the operating device 200, the video and audio analysis unit 202 analyzes the video and audio information. Then, the DB storage unit 212 receives the audio and video information from the video and audio analysis unit 202 and analyzes it based on the photo data 213c of the patient DB 213 (step S402). Next, from the audio and video for each patient, the patient is identified and words related to the patient's skills are extracted (step S403). Then, the extracted skills are stored as skill data 213e (step S404).

[0114] Furthermore, the robot infers personality from the video and tone of voice (step S405). Then, it stores the inferred personality data as personality data 213f (step S406). Personality is expressed using words that influence human interaction, such as extroverted, easily angered, and friendly. The robot determines whether it has completed its main task (step S407), and if not, it proceeds to steps S401 onwards. By continuing this process, data is accumulated in the patient DB 213.

[0115] Next, the operation of the robot operation system 1 when using the patient DB213 will be explained based on the operation flowchart of the robot operation system 1 in Figure 23. In Figure 23, the same reference numerals are used for processes that are the same as or similar to those in Figure 8, and the explanation is omitted or simplified.

[0116] First, in step S002, robot B100b receives an inquiry from a patient. Let's assume the inquiry is about sharing knowledge and interacting with other patients. For example, "Are there any patients who enjoy *** as a hobby?"

[0117] In this case, the inquiry analysis unit 205 will be unable to provide an answer in step 103. The collaboration processing unit 206 has a patient selection unit (not shown) that has the same function as the employee selection unit 206a, and selects a patient to be selected (step S117). This selection is mainly based on the information in the skill data 212e of the patient DB 212. In addition, gender data 212b and personality data 212f are also referred to. Note that the patient selection unit is also an example of a person selection unit.

[0118] If a suitable patient can be selected, steps S107 and beyond will be executed, and in step S203, an inquiry will be made to the suitable patient. For example, if the inquiry in step S002 was "Are there any patients who enjoy *** as a hobby?", the inquiry in step S203 might be, "A patient is looking for someone who enjoys *** as a hobby; would you be willing to introduce them?"

[0119] Afterward, the system obtains a response from the patient in question, such as "OK to refer," and then proceeds to steps S204 and beyond. If the patient's response is positive, the response in step S005 might be something like, "Patient +++ in room *** has similar hobbies and would like to connect with them."

[0120] In this way, even without precise information such as skills, it is possible to respond to inquiries by collecting and accumulating information from robots that frequently move around people.

[0121] Furthermore, in the collection and storage of patient data, if permissible, the robot 100 may establish a communication connection when it approaches the patient's mobile device, such as a smartphone. The robot may then acquire patient information from the mobile device and store the data in the patient database 213.

[0122] Furthermore, if there are common skills among the patients in patient DB213, robot 100 may suggest to the patient in step S002 that they interact with other patients. For example, "There is someone who shares your hobby. Would you like to interact with them?"

[0123] Although preferred embodiments have been described in detail above, the invention is not limited to these embodiments, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of disclosure.

[0124] Furthermore, when referring to the number, quantity, amount, range, etc., of each element in the embodiments, the apparatus of this disclosure is not limited to the referred number unless specifically stated or clearly defined in principle. Also, the structures, etc., described in these embodiments are not necessarily essential unless specifically stated or clearly defined in principle.

[0125] The various aspects of this disclosure are summarized below as an appendix. (Note 1) An autonomous mobile operation system comprising a plurality of autonomous mobile units and an operating device capable of communicating with the plurality of autonomous mobile units, wherein the operating device has a cooperation processing unit that, upon receiving a first inquiry from a first person from a first autonomous mobile unit which is one of the plurality of autonomous mobile units, selects a second person capable of responding to the first inquiry based on the first inquiry, and instructs a second autonomous mobile unit which is one of the plurality of autonomous mobile units different from the first autonomous mobile unit to make a second inquiry to the second person based on the first inquiry. (Note 2) The autonomous mobile operation system according to Appendix 1, characterized in that when the coordinating processing unit receives from the second autonomous mobile unit a first response made by the second person to the second inquiry, it instructs the first autonomous mobile unit to give the first person a second response based on the first response. (Note 3) The autonomous mobile operation system according to Appendix 1 or Appendix 2, characterized in that the operating device has a person database in which the names of persons and the skills possessed by those persons are stored in association with each other, and the cooperation processing unit selects the second person based on the person database. (Note 4) The autonomous mobile device operation system according to any one of the appendices 1 to 3, characterized in that the autonomous mobile device has a shooting unit, a sound generation unit, and a sound receiving unit. (Note 5) The autonomous mobile operation system according to Appendix 4, wherein the operating device has a person location storage unit that identifies the person based on video information captured by the imaging unit of the autonomous mobile body and stores the relationship between the person and the location where the person is located, and the cooperation processing unit selects the second autonomous mobile body based on the person location storage unit. (Note 6) The autonomous mobile operation system according to Appendix 5, characterized in that the second autonomous mobile unit has a shooting unit that photographs the second person stored in the person position memory unit. (Note 7) The autonomous mobile operation system according to Appendix 6, characterized in that the first inquiry is acquired by the sound receiving unit of the first autonomous mobile. (Note 8) The autonomous mobile operation system according to Appendix 7, characterized in that the operating device has a feedback processing unit that, upon receiving feedback from the first person based on the second response from the first autonomous mobile, reflects the feedback in the person database and the cooperation processing unit. (Note 9) The autonomous mobile operation system according to Appendix 8, characterized in that the first inquiry is made in response to a voice emitted from the voice generating unit of the first autonomous mobile. (Note 10) The autonomous mobile operation system according to any one of the appendices 1 to 9, characterized in that the coordinating processing unit issues the command to the second autonomous mobile, and at the same time issues a command to a third autonomous mobile, which is one of the plurality of autonomous mobiles different from the first autonomous mobile and the second autonomous mobile, to take action in response to the first inquiry. (Note 11) The autonomous mobile operation system according to Appendix 4, characterized in that, if the cooperation processing unit cannot select the second person based on the person database, it instructs at least one of the plurality of autonomous mobile units, different from the first autonomous mobile unit, to issue a second query based on the first query from the voice generation unit. (Note 12) The autonomous mobile operation system according to Appendix 4, characterized in that the operating device has a database storage unit that stores data in the person database based on the video information and sound information received by the imaging unit and sound receiving unit of the autonomous mobile body. (Note 13) The autonomous mobile operation system according to Appendix 12, characterized in that the database storage unit stores data in the person database using information acquired from the person's mobile terminal. (Note 14) The autonomous mobile operation system according to any one of the appendices 1 to 13, characterized in that the first autonomous mobile and the second autonomous mobile are one of a cleaning robot, a transport robot, a caregiving robot, a guidance robot, or a medical robot. (Note 15) An autonomous mobile operation method for operating multiple autonomous mobile units, comprising: a person selection step of receiving a first inquiry from a first person, which is one of the multiple autonomous mobile units, and selecting a second person capable of responding to the first inquiry based on the first inquiry; an autonomous mobile unit selection step of selecting a second autonomous mobile unit, which is one of the multiple autonomous mobile units different from the first autonomous mobile unit; and a command step of instructing the second person to make a second inquiry to the second autonomous mobile unit based on the first inquiry. (Note 16) The autonomous mobile operation method according to Appendix 15, characterized by having a response command step of receiving a first response made by the second person to the second inquiry from the second autonomous mobile, and instructing the first autonomous mobile to give the first person a second response based on the first response. (Note 17) A computer that operates multiple autonomous mobile units, An autonomous mobile operation program characterized by causing the program to execute: a person selection step of receiving a first query from a first autonomous mobile, which is one of the plurality of autonomous mobiles, from a first person, and selecting a second person capable of responding to the first query based on the first query; an autonomous mobile selection step of selecting a second autonomous mobile, which is one of the plurality of autonomous mobiles different from the first autonomous mobile; and a command step of instructing the second person to make a second query based on the first query to the second autonomous mobile. (Note 18) The autonomous mobile operation program according to Appendix 17, characterized in that it causes the second autonomous mobile to receive a first response made by the second person to the second inquiry, and to execute a response command step of instructing the first autonomous mobile to give the first person a second response based on the first response. [Explanation of Symbols]

[0126] 100 Robot, 100a Robot A, 100b Robot B, 100c Robot C, 100d Robot D, 101a 101b Head, 102a 102b 102d Body part, 102d1 Arm part, 102d2 Finger part, 103a 103b running section, 103d walking section, 103a 103b tires, 1103d1 Legs, 104a 104b 104d Photography Department, 105a Shelf, 106a 106b 106d monitors, 107a 107b 107d Ambient sensors, 108a 108b 108d Control unit, 109a 109b 109d Position detection unit, 110a 110b 110c Transceiver section, 111a 111b 111c battery, 112a 112b 112d Speakers, 113a 113b 113d Mike, 114a Transported Material Management Department, 115b Cleaning Department 200 Operating device, 200a Processor, 200b Memory, 200c transmit / receive circuit, 200d dedicated hardware 201 Transmitter / Receiver Unit, 202 Video / Audio Analysis Unit, 203 Person location memory unit, 204 Environment memory unit, 205 Inquiry analysis unit, 206 Collaboration Processing Unit, 206a Employee Selection Unit, 206b Robot Selection Unit, 206c Corresponding Command Creation Unit, 206d Coordinated Response Creation Unit, 207 Answer creation section, 208 Support database, 209 Employee Database, 209a Employee Name Data, 209b Photo Data, 209c Department data, 209d Skill data, 209e Work status data, 210 Feedback processing unit, 211 Robot DB, 211a Identifier data, 211b Type data, 211c Assigned location data, 211d Functional data, 212 DB storage section, 213 patient DB, 213a Patient name data, 213b Gender data, 213c Photo data, 213d Patient room data, 213e Skill data, 213f Personality data

Claims

1. In an autonomous mobile operation system comprising multiple autonomous mobile units and an operating device capable of communicating with the multiple autonomous mobile units, The aforementioned operating device includes a person database in which the names of individuals and the skills they possess are stored in relation to each other. An autonomous mobile operation system characterized by having a cooperation processing unit that, upon receiving a first inquiry from a first person, which is one of the plurality of autonomous mobile units, extracts characteristic keywords from the content of the first inquiry, selects a person who is associated with the skills in the person database and has high homogeneity with the keywords as a second person capable of responding to the first inquiry, and instructs a second autonomous mobile unit, which is one of the plurality of autonomous mobile units different from the first autonomous mobile unit and is closest to the current location of the second person, to make a second inquiry to the second person based on the first inquiry.

2. An autonomous mobile operation system comprising a plurality of autonomous mobile units and an operating device capable of communicating with the plurality of autonomous mobile units, The aforementioned operating device includes a person database in which the names of individuals and the skills they possess are stored in relation to each other. An autonomous mobile operation system characterized by having a cooperation processing unit that, upon receiving a first query from a first autonomous mobile unit, which is one of the plurality of autonomous mobile units, from a first autonomous mobile unit, converts the content of the first query into text, selects a second person capable of responding to the first query from a person in the person database whose skills have a high similarity to the texted first query, and instructs a second autonomous mobile unit, which is one of the plurality of autonomous mobile units different from the first autonomous mobile unit and is closest to the current location of the second person, to make a second query to the second person based on the first query.

3. The autonomous mobile operation system according to claim 1 or 2, characterized in that when the coordinating processing unit receives from the second autonomous mobile unit a first response made by the second person to the second inquiry, it instructs the first autonomous mobile unit to give the first person a second response based on the first response.

4. The autonomous mobile device operation system according to claim 3, characterized in that the autonomous mobile device has a shooting unit, a sound generation unit, and a sound receiving unit.

5. The autonomous mobile operating system according to claim 4, wherein the operating device has a person location storage unit that identifies the person based on video information captured by the imaging unit of the autonomous mobile body and stores the relationship between the person and the location where the person is located, and the cooperation processing unit selects the second autonomous mobile body based on the person location storage unit.

6. The autonomous mobile device operation system according to claim 5, characterized in that the second autonomous mobile device has a shooting unit that photographs the second person stored in the person position memory unit.

7. The autonomous mobile operation system according to claim 6, characterized in that the first inquiry is acquired by the sound receiving unit of the first autonomous mobile.

8. The autonomous mobile operation system according to claim 7, characterized in that the operating device has a feedback processing unit that, upon receiving feedback from the first person based on the second response from the first autonomous mobile, reflects the feedback in the person database and the cooperation processing unit.

9. The autonomous mobile operation system according to claim 8, characterized in that the first inquiry is made in response to a voice emitted from the voice generating unit of the first autonomous mobile.

10. The autonomous mobile operation system according to claim 1 or 2, characterized in that the coordinating processing unit issues the command to the second autonomous mobile, and at the same time issues a command to a third autonomous mobile, which is one of the plurality of autonomous mobiles different from the first autonomous mobile and the second autonomous mobile, to take action in response to the first inquiry.

11. The autonomous mobile operation system according to claim 4, characterized in that, if the cooperation processing unit cannot select the second person based on the person database, it instructs at least one of the plurality of autonomous mobile units, which is different from the first autonomous mobile unit, to issue the second inquiry based on the first inquiry from the voice generation unit.

12. The autonomous mobile operation system according to claim 4, characterized in that the operating device has a database storage unit that stores data in the person database based on the video information and sound information received by the imaging unit and the sound receiving unit of the autonomous mobile body.

13. The autonomous mobile operation system according to claim 12, characterized in that the database storage unit stores data in the person database using information acquired from the person's mobile terminal.

14. The autonomous mobile operation system according to claim 1 or 2, characterized in that the first autonomous mobile and the second autonomous mobile are any of a cleaning robot, a transport robot, a caregiving robot, a guidance robot, or a medical robot.

15. An autonomous mobile operation method performed in an autonomous mobile operation system comprising a plurality of autonomous mobile units and an operating device capable of communicating with the plurality of autonomous mobile units, The aforementioned operating device A person selection step in which a first autonomous mobile body, which is one of the plurality of autonomous mobile bodies, receives a first inquiry from a first person, extracts characteristic keywords from the content of the first inquiry, and selects a second person capable of responding to the first inquiry from a person database in which the person's name and the skills the person possesses are associated and stored, the person associated with the skills that have a high degree of similarity to the keywords, An autonomous mobile body selection step of selecting a second autonomous mobile body from among the plurality of autonomous mobile bodies, which is different from the first autonomous mobile body, and which is closest to the current position of the second person, An autonomous mobile operation method characterized by performing a command step of instructing the second autonomous mobile to make a second inquiry to the second person based on the first inquiry.

16. An autonomous mobile operation method performed in an autonomous mobile operation system comprising a plurality of autonomous mobile units and an operating device capable of communicating with the plurality of autonomous mobile units, The aforementioned operating device A person selection step in which a first autonomous mobile body, which is one of the plurality of autonomous mobile bodies, receives a first inquiry from a first person, transcribes the content of the first inquiry into text, and selects a second person capable of responding to the first inquiry from a person database in which the person's name and the skills the person possesses are associated and stored, the person associated with the skills that have a high similarity to the transcribed content of the first inquiry, An autonomous mobile body selection step of selecting a second autonomous mobile body from among the plurality of autonomous mobile bodies, which is different from the first autonomous mobile body, and which is closest to the current position of the second person, An autonomous mobile operation method characterized by performing a command step of instructing the second autonomous mobile to make a second inquiry to the second person based on the first inquiry.

17. A computer that operates multiple autonomous mobile units, A person selection step in which a first autonomous mobile body, which is one of the plurality of autonomous mobile bodies, receives a first inquiry from a first person, extracts characteristic keywords from the content of the first inquiry, and selects a second person capable of responding to the first inquiry from a person database in which the person's name and the skills the person possesses are associated and stored, the person associated with the skills that have a high degree of similarity to the keywords, An autonomous mobile body selection step of selecting a second autonomous mobile body from among the plurality of autonomous mobile bodies, which is different from the first autonomous mobile body, and which is closest to the current position of the second person, A command step of instructing the second autonomous mobile body to make a second inquiry based on the first inquiry to the second person, An autonomous mobile operation program characterized by causing it to execute.

18. A computer for operating multiple autonomous mobile units, A person selection step in which a first autonomous mobile body, which is one of the plurality of autonomous mobile bodies, receives a first inquiry from a first person, transcribes the content of the first inquiry into text, and selects a second person capable of responding to the first inquiry from a person database in which the person's name and the skills the person possesses are associated and stored, the person associated with the skills that have a high similarity to the transcribed content of the first inquiry, An autonomous mobile body selection step of selecting a second autonomous mobile body from among the plurality of autonomous mobile bodies, which is different from the first autonomous mobile body, and which is closest to the current position of the second person, A command step of instructing the second autonomous mobile body to make a second inquiry based on the first inquiry to the second person, An autonomous mobile operation program characterized by causing it to execute.

Images