Information processing device, robot device, and control system

Abstract

The information processing device (100) has an acquisition unit (120) that acquires target person position information, target person position information, map information, and position information of one or more robot devices (200); a calculation unit (130) that calculates a route from the position of the target person to the position of the target person using the target person position information, target person position information, and map information; a determination unit (140) that determines a placement position based on the route and determines the robot device (200) to be placed based on the position information and the placement position of the robot device (200); and a communication unit (150) that transmits information indicating the placement position and an instruction to move to the placement position to the determined robot device (200), and transmits a guidance instruction or a blockage instruction to the determined robot device (200).

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, a robot device, and a control system. [Background technology]

[0002] In commercial facilities and the like, there are many people. Therefore, it may be difficult for people to arrive at their destination. In response to this, guide robots have been proposed (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-117095 Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, there are cases where a person such as an injured person (hereinafter, a target person) appears at a commercial facility, etc. As described above, there are many people in the commercial facility, etc. Therefore, it takes time for a person such as an ambulance worker to arrive at the target person's location.

[0005] The objective of this disclosure is to reduce arrival times. [Means for solving the problem]

[0006] An information processing device according to one aspect of the present disclosure is provided. The information processing device includes an acquisition unit that acquires target person position information indicating a position of a target person, target person position information indicating a position of a target person, map information, and position information of one or more robot devices, a calculation unit that calculates a route from the position of the target person to the position of the target person using the target person position information, the target person position information, and the map information, a determination unit that determines a placement position where a robot device is to be placed based on the route, and determines a robot device to be placed based on the position information of the robot device and the placement position, and a communication unit that transmits information indicating the placement position and a movement instruction to the placement position to the determined robot device, and transmits a guidance instruction to guide a person on the route to another location, or transmits a blocking instruction to block a road at the placement position to the determined robot device. The guide target person is a person different from the people present on the route. Effect of the Invention

[0007] According to the present disclosure, arrival times can be reduced. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a control system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating hardware included in an information processing device according to the first embodiment. [Diagram 3] FIG. 2 is a diagram illustrating hardware included in the robot device of the first embodiment. [Figure 4] FIG. 2 is a block diagram showing the functions of the control system according to the first embodiment. [Diagram 5] 4 is a flowchart showing an example of processing executed by the information processing device according to the first embodiment. [Figure 6] 4 is a flowchart showing an example of processing executed by the robot device of the first embodiment. [Figure 7] FIG. 4 is a diagram showing a specific example of processing executed by the control system of the first embodiment. [Figure 8]13 is a flowchart showing an example of processing executed by an information processing device according to a third embodiment. [Figure 9] 13 is a flowchart showing an example of processing executed by a robot device according to a third embodiment. [Figure 10] 13(A) and 13(B) are diagrams illustrating a specific example of the operation of the robot device according to the third embodiment. [Figure 11] FIG. 13 is a diagram illustrating hardware included in a robot device according to a fourth embodiment. [Figure 12] 13 is a flowchart showing an example of processing executed by a robot device according to a fourth embodiment. [Figure 13] FIG. 13 is a diagram showing a control system according to a sixth embodiment. [Figure 14] 13 is a flowchart showing an example of processing executed by an information processing device according to the eighth embodiment. [Figure 15] 13 is a flowchart showing an example of processing executed by a robot device according to an eighth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. The following embodiment is merely an example, and various modifications are possible within the scope of the present disclosure.

[0010] Embodiment 1 1 is a diagram showing a control system according to the embodiment 1. The control system includes an information processing device 100 and robotic devices 200a, 200b, and 200c. The information processing device 100 and the robotic devices 200a, 200b, and 200c communicate with each other via a network.

[0011] For example, the robot devices 200a, 200b, and 200c are present in a commercial facility. In the following description, it is assumed that the robot devices 200a, 200b, and 200c are present in the commercial facility. The robot devices 200a, 200b, and 200c can patrol the commercial facility. The robot devices 200a, 200b, and 200c can detect injured or sick people, lost children, suspicious people, and the like. Here, the injured or sick people, lost children, suspicious people, and the like are referred to as target persons. The robot devices 200a, 200b, and 200c are collectively referred to as the robot device 200.

[0012] The control system performs control so that the guide target person arrives at the location of the target person in a short time. For example, the guide target person may be an emergency worker, a guardian, a security guard, etc. The control will be described in detail below.

[0013] Also, Fig. 1 shows three robot devices. The number of robot devices is not limited to three. For example, the number of robot devices may be one. Also, for example, the number of robot devices may be four or more. That is, the number of robot devices is one or more.

[0014] First, the hardware of the information processing device 100 will be described. 2 is a diagram showing hardware included in the information processing device of embodiment 1. The information processing device 100 includes a processor 101, a volatile storage device 102, and a non-volatile storage device 103.

[0015] The processor 101 controls the entire information processing device 100. For example, the processor 101 is a central processing unit (CPU) or a field programmable gate array (FPGA). The processor 101 may be a multiprocessor. The information processing device 100 may also include a processing circuit.

[0016] The volatile storage device 102 is a main storage device of the information processing device 100. For example, the volatile storage device 102 is a random access memory (RAM). The non-volatile storage device 103 is an auxiliary storage device of the information processing device 100. For example, the non-volatile storage device 103 is a hard disk drive (HDD) or a solid state drive (SSD).

[0017] Next, the hardware of the robot device 200 will be described. 3 is a diagram showing hardware included in the robot device of embodiment 1. The robot device 200 includes a processor 201, a volatile storage device 202, a non-volatile storage device 203, a driving unit 204, a camera 205, a display device 206, and a speaker 207.

[0018] The processor 201 controls the entire robotic device 200. For example, the processor 201 is a CPU, an FPGA, or the like. The processor 201 may be a multiprocessor. The robotic device 200 may also include a processing circuit.

[0019] The volatile storage device 202 is a main storage device of the robot device 200. For example, the volatile storage device 202 is a RAM. The non-volatile storage device 203 is an auxiliary storage device of the robot device 200. For example, the non-volatile storage device 203 is an HDD or SSD.

[0020] The driving unit 204 drives the robot device 200. The camera 205 is an imaging device. For example, the display device 206 displays content. The speaker 207 outputs sound.

[0021] Next, the function of the control system will be described. 4 is a block diagram showing functions of the control system according to embodiment 1. The information processing device 100 includes a storage unit 110, an acquisition unit 120, a calculation unit 130, a determination unit 140, and a communication unit 150.

[0022] The storage unit 110 may be realized as a storage area secured in the volatile storage device 102 or the non-volatile storage device 103 . A part or all of the acquiring unit 120, the calculating unit 130, the determining unit 140, and the communicating unit 150 may be realized by a processing circuit. Also, a part or all of the acquiring unit 120, the calculating unit 130, the determining unit 140, and the communicating unit 150 may be realized as a module of a program executed by the processor 101.

[0023] The storage unit 110 stores various information. For example, the storage unit 110 stores map information. For example, if the robot device 200 is located in a commercial facility, the map information is a map of the commercial facility. The functions of the acquisition unit 120, the calculation unit 130, the determination unit 140, and the communication unit 150 will be described later.

[0024] The robot device 200 includes a memory unit 210 , a communication unit 220 , a control unit 230 , a determination unit 240 , an output unit 250 , and a determination unit 260 .

[0025] The storage unit 210 may be realized as a storage area secured in the volatile storage device 202 or the non-volatile storage device 203 . A part or all of the communication unit 220, the control unit 230, the determination unit 240, the output unit 250, and the decision unit 260 may be realized by a processing circuit. Also, a part or all of the communication unit 220, the control unit 230, the determination unit 240, the output unit 250, and the decision unit 260 may be realized as a module of a program executed by the processor 201.

[0026] The storage unit 210 stores various information. For example, the storage unit 210 stores map information. When the robot device 200 is located in a commercial facility, the map information is a map of the commercial facility. The communication unit 220 periodically transmits the position of the robot device 200 to the information processing device 100. The position of the robot device 200 is stored in the storage unit 110. The communication unit 220 may also transmit the position of the robot device 200 to an external device. For example, the external device is a cloud server. The external device is not shown in the figure. The functions of the control unit 230, the judgment unit 240, the output unit 250, and the decision unit 260 will be described later.

[0027] Next, the process executed by the control system will be described with reference to a flowchart. First, the process executed by the information processing device 100 will be described. FIG. 5 is a flowchart illustrating an example of processing executed by the information processing device according to the first embodiment. (Step S11) The acquisition unit 120 acquires target person position information indicating the position of the target person. For example, the acquisition unit 120 acquires target person position information from a patrolling robot device 200. Also, for example, the acquisition unit 120 acquires target person position information from a surveillance camera installed in a commercial facility. Also, for example, the acquisition unit 120 acquires target person position information obtained by a human input operation.

[0028] (Step S12) The acquisition unit 120 acquires guidance target person position information indicating the position of the guidance target person. For example, the acquisition unit 120 acquires the guidance target person position information from the storage unit 110 or an external device. Also, for example, the acquisition unit 120 acquires guidance target person position information obtained by a person's input operation.

[0029] (Step S13) The acquisition unit 120 acquires specific information that is information capable of identifying the guidance target person. For example, the acquisition unit 120 acquires the specific information from the storage unit 110 or an external device. Also, for example, the acquisition unit 120 acquires the specific information obtained by a human input operation. For example, the specific information may be a face image of the person to be guided, or a terminal device owned by the person to be guided.

[0030] (Step S14) The acquisition unit 120 acquires map information from the storage unit 110 or an external device. (Step S15) The calculation unit 130 calculates a route from the location of the person to be guided to the location of the target person, using the target person location information, the guidance target person location information, and the map information. (Step S16) The acquisition unit 120 acquires the position information of the robot device 200 from the storage unit 110 or an external device.

[0031] (Step S17) The determination unit 140 determines a placement position where the robot device 200 is placed based on the route. For example, if the route is a straight line, the placement position is the center of the route. Alternatively, for example, the placement position is near the route. Alternatively, for example, if there are one or more branch points on the route, the placement position is a branch point. In the following description, the placement position is assumed to be a branch point.

[0032] (Step S18) The determination unit 140 determines the robot device 200 to be placed based on the position information of the robot device 200 and the placement position. For example, the determination unit 140 determines the robot device 200 located closest to the placement position as the robot device 200 to be placed.

[0033] (Step S19) The communication unit 150 transmits the identification information, information indicating the route, information indicating the placement position, and an instruction to move to the placement position to the determined robotic device 200. This enables the determined robotic device 200 to move to the placement position. The communication unit 150 also transmits a guidance instruction to the determined robot device 200 to guide a person on the route to another location.

[0034] The communication unit 150 may also transmit information indicating a move to the location of the target person to a terminal device held by the person to be guided. As a result, the person to be guided decides to move to the location of the target person. Also, a person present at the information center may verbally inform the person to be guided (e.g., a guardian) of the move to the location of the target person (e.g., a lost child).

[0035] Next, the process executed by the robot device 200 will be described. FIG. 6 is a flowchart illustrating an example of a process executed by the robot device according to the first embodiment. (Step S21) The communication unit 220 receives the identification information, the information indicating the route, the information indicating the arrangement position, and an instruction to move to the arrangement position. The communication unit 220 also receives a guidance instruction. (Step S22) The control unit 230 uses the map information and the information indicating the placement position to move the robot device 200 to the placement position. As a result, the driving unit 204 operates to move the robot device 200 to the placement position.

[0036] (Step S23) The determination unit 240 determines whether or not the person to be guided has arrived at the placement position, using the video captured by the camera 205 and the specific information. For example, when the specific information is a face image, the determination unit 240 determines whether or not the person to be guided has arrived at the placement position, using the video and the face image. If the person to be guided has not arrived at the placement position, the process proceeds to step S24. If the person to be guided has arrived at the placement position, the process proceeds to step S25.

[0037] (Step S24) The output unit 250 outputs information for guiding people on the route to another location. For example, the output unit 250 outputs an image saying "People are passing, please move." to the display device 206. Also, for example, the output unit 250 outputs sound information saying "People are passing, please move." to the speaker 207. This causes people on the route to move to another location. Then, the process proceeds to step S23. Furthermore, the output unit 250 may output the information after determining the direction in which to output the information based on the information indicating the route and the position information of the robot device 200.

[0038] (Step S25) The determination unit 260 determines the traveling direction of the person to be guided, using the arrival direction of the person to be guided and the information indicating the route. (Step S26) The output unit 250 outputs information indicating the traveling direction. For example, the output unit 250 outputs the information indicating the traveling direction to the display device 206. Note that, for example, the information indicating the traveling direction is an arrow, text information, or animation. The output unit 250 may also output the information indicating the traveling direction to the speaker 207 as sound information. In this way, by outputting information indicating the traveling direction, the person to be guided can recognize the traveling direction.

[0039] (Step S27) The output unit 250 outputs the normal content to the display device 206. Note that step S27 is a process performed after the guidance target person has passed the placement position.

[0040] Also, step S25 may be executed shortly before the guide target person arrives at the placement position.

[0041] Next, the processing executed by the control system will be described using a concrete example. Fig. 7 is a diagram showing a specific example of processing executed by the control system of embodiment 1. Fig. 7 shows a floor 10 of a commercial facility. Many people are present on the floor 10. Fig. 7 also shows a target person 11, a person to be guided 12, and robot devices 200a to 200e.

[0042] The information processing device 100 calculates a path 13. The information processing device 100 determines placement positions 14a to 14d based on the path 13. The information processing device 100 determines the robot devices 200a to 200d to be placed based on the position information of the robot devices 200a to 200e and the placement positions 14a to 14d. The information processing device 100 transmits the identification information, information indicating the path 13, information indicating the placement position 14a, a movement instruction to the placement position 14a, and a guidance instruction to the robot device 200a. The information processing device 100 transmits the identification information, information indicating the path 13, information indicating the placement position 14b, a movement instruction to the placement position 14b, and a guidance instruction to the robot device 200b. The information processing device 100 transmits the identification information, information indicating the path 13, information indicating the placement position 14c, a movement instruction to the placement position 14c, and a guidance instruction to the robot device 200c. The information processing device 100 transmits to the robot device 200d the identification information, the information indicating the path 13, the information indicating the arrangement position 14d, an instruction to move to the arrangement position 14d, and an instruction to guide the robot device 200d.

[0043] When the robot device 200a receives a movement instruction or the like from the information processing device 100, the robot device 200a moves to the placement position 14a. The robot device 200a outputs information for guiding a person present on the route 13 to another location. As a result, the person present in the vicinity of the placement position 14a moves to another location.

[0044] When the robot device 200b receives a movement instruction or the like from the information processing device 100, the robot device 200b moves to the arrangement position 14b. The robot device 200b outputs information for guiding a person present on the route 13 to another location. As a result, the person present around the arrangement position 14b moves to another location.

[0045] When the robot device 200c receives a movement instruction or the like from the information processing device 100, the robot device 200c moves to the arrangement position 14c. The robot device 200c outputs information for guiding a person present on the route 13 to another location. As a result, the person present in the vicinity of the arrangement position 14c moves to another location.

[0046] When the robot device 200d receives a movement instruction or the like from the information processing device 100, the robot device 200d moves to the arrangement position 14d. The robot device 200d outputs information for guiding a person present on the route 13 to another location. As a result, the person present in the vicinity of the arrangement position 14d moves to another location.

[0047] In this way, by the output processing of the robot devices 200a to 200d, many people on the route 13 move to other places. Therefore, the number of people on the route 13 decreases. Therefore, the guide target person 12 can arrive at the location of the destination target person 11 in a short time.

[0048] According to the first embodiment, the information processing device 100 can shorten the arrival time of the guidance target person 12 by issuing guidance instructions to the robot devices 200a to 200d. In addition, the robot device 200 can shorten the arrival time of the guidance target person 12 by performing output processing.

[0049] Embodiment 2 Next, a description will be given of embodiment 2. In embodiment 2, differences from embodiment 1 will be mainly described. In embodiment 2, descriptions of matters common to embodiment 1 will be omitted. For example, in the first embodiment, the robot device 200 outputs an image stating “A person is passing, please move” to the display device 206 as information for guiding a person on the route to another location.

[0050] In the second embodiment, the output unit 250 outputs to the display device 206 the contents of stores not on the route or the contents of events not being held on the route as information for guiding a person on the route to another location. These contents are stored in the storage unit 210. The storage unit 210 also stores the positions of stores not on the route or the positions of event venues not being held on the route. Furthermore, the stores not on the route are stores in the commercial facility where the robotic device 200 is located. The events not being held on the route are events being held or scheduled to be held in the commercial facility where the robotic device 200 is located. The output unit 250 may determine the content to be output based on the location information stored in the storage unit 210.

[0051] People on the route move to another location by viewing the content. This reduces the number of people on the route, allowing the guided person to arrive at the destination in a short time.

[0052] According to the second embodiment, the robot device 200 can shorten the arrival time of the guide target person.

[0053] Embodiment 3 Next, a description will be given of embodiment 3. In embodiment 3, differences from embodiment 1 will be mainly described. In embodiment 3, descriptions of matters common to embodiment 1 will be omitted.

[0054] Next, the process executed by the information processing device 100 in the third embodiment will be described with reference to a flowchart. Fig. 8 is a flowchart showing an example of processing executed by the information processing device of the third embodiment. The processing in Fig. 8 differs from the processing in Fig. 5 in that step S19a is executed. Therefore, step S19a will be explained in Fig. 8. Explanation of the processing other than step S19a will be omitted. Also, in the third embodiment, the placement position of the robot device 200 does not have to be a branch point.

[0055] (Step S19a) The communication unit 150 transmits to the determined robot device 200 the identification information, information indicating the route, information indicating the placement position, and an instruction to move to the placement position. The communication unit 150 also transmits a blocking instruction to the determined robot device 200 to block the road at the placement position.

[0056] Fig. 9 is a flowchart showing an example of processing executed by the robot device of the embodiment 3. The processing in Fig. 9 differs from the processing in Fig. 6 in that steps S21a, 22a, and 24a are executed, and steps S24 to 26 are not executed. Therefore, in Fig. 9, steps S21a, 22a, and 24a will be explained. Explanations of the processing other than steps S21a, 22a, and 24a will be omitted.

[0057] (Step S21a) The communication unit 220 receives the identification information, the information indicating the route, the information indicating the arrangement position, and an instruction to move to the arrangement position. The communication unit 220 also receives a blocking instruction. (Step S22a) When the robotic device 200 arrives at the placement position, the control unit 230 controls the robotic device 200 to block the road. As a result, the robotic device 200 blocks the road by the operation of the driving unit 204. Note that, before blocking the road, the robotic device 200 desirably notifies people on the road that the road will be blocked. (Step S24a) The control unit 230 releases the state in which the robot device 200 blocks the road.

[0058] Next, a specific example of the operation of the robot device 200 will be described. 10(A) and (B) are diagrams showing a specific example of the operation of the robot device according to the third embodiment. FIG. 10(A) shows the road 21. When the robot devices 200a and 200b arrive at their placement positions, they block the road. FIG. 10(A) shows the state in which the robot devices 200a and 200b are blocking the road. When the robot devices 200a and 200b block the road, there is no one between the robot devices 200a and 200b. When the person to be guided 22 arrives, the robot devices 200a and 200b release the state in which they are blocking the road. In this way, the operation of the robot devices 200a and 200b enables the person to be guided 22 to arrive at the location of the destination person in a short time.

[0059] According to the third embodiment, the information processing device 100 can shorten the arrival time of the person to be guided 22 by issuing a blocking instruction to the robot devices 200a and 200b. In addition, the robot devices 200a and 200b can shorten the arrival time of the person to be guided 22 by blocking the road at the placement positions. Furthermore, the robot device 200 in the third embodiment does not necessarily have to include the determination unit 260.

[0060] The control system may also perform the following processes. FIG. 10B shows a wide road 23. When the road cannot be blocked by one robot device, the information processing device 100 may block the road with multiple robot devices. For example, the determination unit 140 determines whether the road can be blocked by one robot device based on the road width of the route and the width of the robot device 200. When the road cannot be blocked by one robot device, the determination unit 140 determines the placement positions so that the road is blocked by multiple robot devices. For example, the determination unit 140 determines the placement positions of the robot devices 200a and 200c so that the robot devices 200a and 200c block the road. The determination unit 140 determines the placement positions of the robot devices 200b and 200d so that the robot devices 200b and 200d block the road. The road width of the route is specified from map information. Furthermore, information on the width of the robot device 200 is stored in the storage unit 110 or an external device. Information on the width of the robot device 200 is acquired by the acquisition unit 120.

[0061] 10B shows a state in which the robot devices 200a to 200d are blocking the road. When the guide target 22 arrives, the robot devices 200a to 200d release the road blocking state.

[0062] Embodiment 4 Next, a fourth embodiment will be described. In the fourth embodiment, differences from the first and second embodiments will be mainly described. In the fourth embodiment, descriptions of the same matters as the first and second embodiments will be omitted.

[0063] First, the hardware of the robot device 200 will be described. 11 is a diagram showing hardware included in the robot device of embodiment 4. The robot device 200 further includes a display device 206a. The display device 206a displays content.

[0064] Next, the process executed by the robot device 200 will be described with reference to a flowchart. Fig. 12 is a flowchart showing an example of processing executed by the robot device of embodiment 4. The processing in Fig. 12 differs from the processing in Fig. 6 in that steps S24b and 27b are executed. Therefore, steps S24b and 27b will be described in Fig. 12. Descriptions of the processing other than steps S24b and 27b will be omitted.

[0065] (Step S24b) The output unit 250 outputs to the display device 206a the content of a store not on the route or the content of an event not held on the route as information for guiding a person on the route to another location. That is, the output unit 250 outputs the content to the display device 206a as in the second embodiment. (Step S27b) The output unit 250 outputs the normal content to the display devices 206 and 206a.

[0066] In this way, the robot device 200 continues to display the content on the display device 206a until the person to be guided passes the placement position. When the person to be guided arrives at the placement position, the robot device 200 displays information indicating the traveling direction on the display device 206. Here, the display device 206a is also called the first display device. The display device 206 is also called the second display device.

[0067] By displaying different information on the display device 206 and the display device 206a, people near the installation location (i.e., users of the commercial facility) lose interest in the display on the display device 206. In the case of a single display device, the display device 206 displays the traveling direction, which increases the possibility that the user will become interested in the traveling direction. If the user moves in the traveling direction, there is a possibility that the user will obstruct the movement of the person to be guided. Therefore, by displaying the content on the display device 206a, the robotic device 200 makes the user pay attention to the display on the display device 206a. In this way, the robotic device 200 can reduce the user's interest in the display on the display device 206. Therefore, by displaying different information on the display device 206 and the display device 206a, the robotic device 200 can prevent the user from obstructing the movement of the person to be guided.

[0068] Embodiment 5. Next, a fifth embodiment will be described. In the fifth embodiment, differences from the first embodiment will be mainly described. In the fifth embodiment, descriptions of the same matters as the first embodiment will be omitted.

[0069] Calculation of a route will be described in the fifth embodiment. The calculation unit 130 uses the target person position information, the guided person position information, and map information to calculate a route that reduces the number of branch points that the guided person passes through.

[0070] According to the fifth embodiment, the information processing device 100 calculates a route that reduces the number of branch points that the person to be guided passes through, so that the person to be guided can arrive at the location of the destination person in a short time.

[0071] Furthermore, the calculation unit 130 may use the destination target person position information, the guidance target person position information, and the map information to calculate a route such that the guidance target person goes straight at the branching point as much as possible. When the route is calculated, the output unit 250 may output information indicating the traveling direction and also output information indicating that the guidance target person will go straight to the point where the next robot device is located. By the information processing device 100 calculating a route such that the guidance target person goes straight at the branching point as much as possible, the guidance target person can arrive at the location of the destination target person in a short time.

[0072] Embodiment 6 Next, a sixth embodiment will be described. In the sixth embodiment, differences from the first embodiment will be mainly described. In the sixth embodiment, descriptions of the same matters as the first embodiment will be omitted.

[0073] 13 is a diagram showing a control system according to the sixth embodiment. The control system may further include a congestion degree calculation device 300. The information processing device 100 and the congestion degree calculation device 300 communicate with each other via a network.

[0074] The congestion degree calculation device 300 calculates the congestion degree of each passage indicated by the map information. For example, the congestion degree calculation device 300 calculates the congestion degree of each passage by using an image received from a surveillance camera.

[0075] The acquisition unit 120 acquires the congestion degree of each passage from the congestion degree calculation device 300. The calculation unit 130 calculates a route by which the guidance target person arrives at the location of the destination target person in the shortest time, using the destination target person position information, the guidance target person position information, the map information, and the congestion degree of each passage.

[0076] According to the sixth embodiment, a route is calculated taking into consideration the degree of congestion, so that a guide target person can arrive at the location of a destination target person in a short time.

[0077] In the above, a case has been described in which the congestion degree calculation device 300 calculates the congestion degree of each passage. The calculation unit 130 may calculate the congestion degree of each passage. For example, the calculation unit 130 calculates the congestion degree of each passage using an image received from a surveillance camera. When the calculation unit 130 calculates the congestion degree of each passage, the acquisition unit 120 acquires the congestion degree of each passage from the calculation unit 130.

[0078] Embodiment 7 Next, a seventh embodiment will be described. In the seventh embodiment, differences from the first embodiment will be mainly described. In the seventh embodiment, descriptions of the commonalities between the seventh embodiment and the first embodiment will be omitted.

[0079] In the seventh embodiment, the determination of the placement position will be described. The determination unit 140 determines the placement position where the robot device 200 is placed based on the route. Furthermore, when the placement position of the robot device 200 is a branch point, the determination unit 140 determines the placement position to be a branch point that exists on the route and is closest to a position at a predetermined distance from the target person's position based on the route and the target person position information. For example, the distance is 10 m. Here, the determined placement position is called a determined placement position.

[0080] The robot device 200 moves to the determined placement position. The robot device 200 outputs guidance information at the determined placement position. In this way, the information processing device 100 and the robot device 200 can prevent users of the commercial facility from flowing into an area where a target person is present.

[0081] Embodiment 8 Next, an eighth embodiment will be described. In the eighth embodiment, differences from the first embodiment will be mainly described. In the eighth embodiment, descriptions of the commonalities between the first embodiment and the eighth embodiment will be omitted.

[0082] The process executed by information processing device 100 in the eighth embodiment will be described with reference to a flowchart. Fig. 14 is a flowchart showing an example of a process executed by the information processing device of the eighth embodiment. The process in Fig. 14 differs from the process in Fig. 5 in that steps S13c and 19c are executed. Therefore, steps S13c and 19c will be described in Fig. 14. Descriptions of the processes other than steps S13c and 19c will be omitted.

[0083] (Step S13c) The acquiring unit 120 acquires the identification information. Here, the identification information may be information capable of identifying a group of people to be guided. For example, the identification information is clothing. For example, the clothing is the clothing of an emergency worker or a security guard. The acquiring unit 120 acquires the number of people to be guided from the storage unit 110 or an external device.

[0084] (Step S19c) The communication unit 150 transmits to the determined robot device 200 the identification information, information indicating the number of people to be guided, information indicating the route, information indicating the placement position, and an instruction to move to the placement position. The communication unit 150 also transmits a guidance instruction to the determined robot device 200 to guide a person on the route to another location.

[0085] Next, the process executed by the robot device 200 will be described with reference to a flowchart. Fig. 15 is a flowchart showing an example of processing executed by the robot device of the eighth embodiment. The processing in Fig. 15 differs from the processing in Fig. 6 in that steps S21c and 26c are executed. Therefore, steps S21c and 26c will be explained in Fig. 15. Explanation of the processing other than steps S21c and 26c will be omitted. Note that in step S23, the determination unit 240 may determine whether the person to be guided has arrived at the placement position based on the clothing of the person to be guided indicated by the specific information.

[0086] (Step S21c) The communication unit 220 receives the specific information, information indicating the number of people to be guided, information indicating the route, information indicating the arrangement position, and an instruction to move to the arrangement position. The communication unit 220 also receives a guidance instruction.

[0087] (Step S26c) The output unit 250 determines whether or not all of the people to be guided have arrived at their locations based on the information indicating the number of people to be guided. If all of the people to be guided have arrived at their locations, the process proceeds to step S27. If all of the people to be guided have not arrived at their locations, the output unit 250 continues to output information indicating the direction of travel.

[0088] According to the eighth embodiment, when there are multiple people to be guided, the robot device 200 continues to output information indicating the traveling direction until all of the people to be guided arrive at the placement position. This prevents the multiple people to be guided from getting lost.

[0089] The features of each of the embodiments described above can be combined with each other as appropriate. [Explanation of symbols]

[0090] 10 floor, 11 destination person, 12 guide target person, 13 route, 14a to 14d placement position, 21 path, 22 guide target person, 23 path, 100 information processing device, 101 processor, 102 volatile storage device, 103 non-volatile storage device, 110 storage unit, 120 acquisition unit, 130 calculation unit, 140 decision unit, 150 communication unit, 200 robot device, 200a to 200e robot device, 201 processor, 202 volatile storage device, 203 non-volatile storage device, 204 drive unit, 205 camera, 206, 206a display device, 207 speaker, 210 storage unit, 220 communication unit, 230 control unit, 240 determination unit, 250 output unit, 260 decision unit, 300 congestion degree calculation device.

Claims

1. an acquisition unit that acquires target person location information indicating a location of a target person, guide target person location information indicating a location of a guide target person, map information, and location information of one or more robot devices; a calculation unit that calculates a route from the location of the person to be guided to the location of the target person by using the target person location information, the guidance target person location information, and the map information; a determination unit that determines a placement position where the robot device is to be placed based on the path, and determines a robot device to be placed based on position information of the robot device and the placement position; a communication unit that transmits, to the determined robot device, information indicating the placement position and an instruction to move to the placement position, and transmits a guidance instruction to the determined robot device to guide a person present on the route to another location, or transmits a blocking instruction to the determined robot device to block the road at the placement position; An information processing device having the above configuration.

2. the calculation unit calculates a route that reduces the number of branch points through which the guidance target person passes, using the target person position information, the guidance target person position information, and the map information; The information processing device according to claim 1 .

3. the calculation unit calculates a route such that the person to be guided goes straight at a branch point as much as possible, using the target person position information, the guidance target person position information, and the map information; The information processing device according to claim 1 .

4. The acquisition unit acquires a congestion degree of each passage indicated by the map information, the calculation unit calculates a route by which the person to be guided arrives at the position of the person to be guided in the shortest time by using the target person position information, the target person position information, the map information, and the congestion degree of each passage; The information processing device according to claim 1 .

5. When the arrangement position is a branch point, the determination unit determines, based on the route and the target person position information, a branch point that is on the route and is closest to a position at a predetermined distance from the target person's position as the arrangement position. The information processing device according to claim 1 .

6. A robot device having a camera and a driving unit, A storage unit that stores map information; a communication unit that receives specific information that is information that can identify a person to be guided, information that indicates a location on a route, an instruction to move to the location, and a guidance instruction; a control unit that moves the robot device to the placement position using the map information and the information indicating the placement position; a determination unit that determines whether the person to be guided has arrived at the placement position by using the image captured by the camera and the specific information; an output unit that outputs information for guiding a person present on the route to another location when the person to be guided has not arrived at the placement location; A robot device having the following:

7. A determination unit is further included, The communication unit receives information indicating the route, The determination unit determines a traveling direction of the person to be guided by using an arrival direction of the person to be guided and information indicating the route, the output unit outputs information indicating the traveling direction when the person to be guided arrives at the arrangement position. The robotic device according to claim 6.

8. The communication unit receives information indicating the number of people to be guided, the output unit continues to output the information indicating the traveling direction when all of the persons to be guided have not arrived at the arrangement position based on the information indicating the number of the persons to be guided. The robotic device according to claim 7.

9. Further comprising a first display device; The output unit outputs, to the first display device, content of a store that is not on the route or content of an event that is not being held on the route. The robot device according to claim 7 or 8.

10. Further comprising a second display device; the first display device displays the content until the person to be guided passes through the arrangement position; When the person to be guided arrives at the arrangement position, the output unit outputs information indicating the traveling direction to the second display device. The robotic device according to claim 9.

11. An information processing device; A robot device having a camera, a driving unit, and a storage unit for storing map information; Including, The information processing device includes: acquiring target person position information indicating a position of a target person, target person position information indicating a position of a target person to be guided, map information, and position information of one or more robot devices, calculating a route from the position of the target person to the position of the target person to be guided using the target person position information, the target person position information, and the map information, and determining a placement position, which is a position at which to place the robot device, based on the route; determining a robot device to be placed based on the position information of the robot device and the placement position; transmitting, to the determined robot device, specific information that is information capable of identifying the person to be guided, information indicating the location, and an instruction to move to the location, and transmitting a guidance instruction to the determined robot device so as to guide the person on the route to another location; The robot device includes: A robotic device according to the present invention, The robot device includes: receiving the identification information, the information indicating the placement position, the movement instruction, and the guidance instruction; Using the map information and the information indicating the placement location, moving to the placement location; Using the image captured by the camera and the specific information, it is determined whether the person to be guided has arrived at the placement position; If the person to be guided has not arrived at the arrangement position, output information for guiding people present on the route to another location. Control system.

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