Service support method, service support device, robot, and program

Abstract

This service support method for supporting services executed by a plurality of robots (10) comprises: calculating a quality level (R1) with switching, which indicates the overall quality including the quality of a first service and the quality of a second service in the occasion when the first service performed by a predetermined robot among the plurality of robots is switched to the second service; calculating a quality level (R0) without switching, which indicates the overall quality including the quality of the first service and the quality of the second service in the occasion when the first service performed by the predetermined robot is not switched to the second service; and outputting switching information (ic) related to service switching on the basis of the quality level (R1) with switching and the quality level (R0) without switching.

Description

Service support method, service support device, robot and program

[0001] The present disclosure relates to a service support method, a service support device, a robot that performs a service, and a program that support a service performed by a plurality of robots.

[0002] Conventionally, methods for providing multiple services using multiple robots have been known. Patent Document 1 discloses a method in which, when a service to be performed by a robot arises, the service effect is calculated for each of the multiple robots, and the robot with the greatest service effect is caused to perform the service.

[0003] Patent No. 7051556

[0004] However, with the method disclosed in Patent Document 1, the number of robots performing a particular service may increase too much, which may result in a decrease in the overall quality of multiple services.

[0005] Therefore, the present disclosure provides a service support method and the like that suppresses a decline in the overall quality of multiple services executed by multiple robots.

[0006] A service support method according to one aspect of the present disclosure is a service support method for supporting services performed by a plurality of robots, which calculates a quality level at the time of switching indicating the overall quality of the quality of the first service and the quality of the second service when a first service performed by a specific robot among the plurality of robots is switched to a second service, calculates a quality level at the time of non-switching indicating the overall quality of the quality of the first service and the quality of the second service when the first service performed by the specific robot is not switched to the second service, and outputs switching information regarding the switching of the service based on the quality level at the time of switching and the quality level at the time of non-switching.

[0007] A service support device according to one aspect of the present disclosure is a service support device that supports services performed by a plurality of robots, and includes: a quality level calculation unit that calculates a quality level at switching that indicates the overall quality of the quality of the first service and the quality of the second service when a first service performed by a specific robot among the plurality of robots is switched to a second service; and a quality level at non-switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the specific robot is not switched to the second service; and a switching information output unit that outputs switching information regarding the switching of the service based on the quality level at switching and the quality level at non-switching.

[0008] A robot according to one aspect of the present disclosure is the predetermined robot that communicates with the above-described service support device, and operates based on the switching information output from the service support device.

[0009] A program according to one aspect of the present disclosure causes a computer to execute the above-described service support method.

[0010] In addition, the general or specific aspects of the present disclosure may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0011] According to the service support method and the like according to one aspect of the present disclosure, it is possible to prevent a decline in the overall quality of multiple services performed by multiple robots.

[0012] FIG. 1 is a diagram illustrating an example of a plurality of services performed by a plurality of robots. FIG. 2 is a diagram illustrating the overall configuration of a service support system. FIG. 3 is a block diagram illustrating the functional configuration of a robot and a service support device included in the service support system. FIG. 4 is a schematic diagram of a robot performing a service. FIG. 5 is a diagram illustrating an example of robot-related information acquired by the service support device. FIG. 6 is a diagram illustrating an example of service request information acquired by the service support device. FIG. 7 is a diagram illustrating trigger information stored in the service support device. FIG. 8 is a diagram illustrating coefficients and the like for deriving a quality level of a service. FIG. 9 is a diagram illustrating a first operation example of a robot and a service support device. FIG. 10 is a diagram illustrating a second operation example of a robot and a service support device. FIG. 11 is a flowchart illustrating a service support method according to an embodiment. FIG. 12 is a diagram illustrating a service support method according to a first modification of the embodiment. FIG. 13 is a diagram illustrating candidate allocations of services performed by robots. FIG. 14 is a diagram illustrating a service support method according to a second modification of the embodiment. FIG. 15 is a diagram illustrating an example of a service currently being performed by a robot. FIG. 16 is a diagram illustrating candidate settings for service allocation to a robot. FIG. 17 is a diagram illustrating a third operation example of a robot and a service support device. FIG. 18 is a diagram showing an example of selecting a robot whose service is changed to inspection and security.

[0013] Conventionally, a method for performing a plurality of services using a plurality of robots is known. Here, as a comparative example, an example in which a service being performed by a predetermined robot is switched to another service will be described.

[0014] FIG. 1 is a diagram illustrating an example of multiple services executed by multiple robots.

[0015] FIG. 1 shows an example in which the service currently being performed by robot 11 is delivery, and the services currently being performed by robots 12, 13, and 14 are inspection and security.

[0016] For example, in the comparative example, when a service related to the robot 11 occurs, the service effect E of the robot alone when the service is switched and the service effect E of the robot alone when the service is not switched are calculated to determine whether or not to switch the service. The service effect E is derived using the following (Equation 1).

[0017] E=α×t1 / (t0+t1)...(Formula 1)

[0018] In Equation 1, t0 is the travel time required for the robot to move to the service execution position, t1 is the execution time required for the robot to execute the service, and α is a service parameter, which is a value determined based on, for example, the service priority, whether the service is currently being executed, whether an alternative service is available for the currently executing service, etc.

[0019] In the comparative example, if the service effect E of the robot 11 when the service is switched is higher than the service effect E of the robot alone when the service is not switched, the service currently being executed by the robot 11 is switched to another service. However, this method may result in an excessive number of robots performing a specific service, which may lower the overall quality of multiple services.

[0020] The service support method and the like according to the present disclosure include the following processes for preventing a decrease in the overall quality of a plurality of services executed by a plurality of robots. An example of the service support method and the like according to the present disclosure will be described below.

[0021] The service support method of Example 1 is a service support method for supporting services performed by a plurality of robots, which calculates a quality level at the time of switching that indicates the overall quality of the quality of the first service and the quality of the second service when a first service performed by a specified robot of the plurality of robots is switched to a second service, calculates a quality level at the time of non-switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the specified robot is not switched to the second service, and outputs switching information regarding the switching of the service based on the quality level at the time of switching and the quality level at the time of non-switching.

[0022] In this way, by calculating the quality level when the service executed by the robot is switched and the quality level when it is not switched, it is possible to compare the quality level when it is switched and the quality level when it is not switched, thereby preventing a decrease in the overall quality of multiple services executed by multiple robots.

[0023] The service support method of Example 2 may be the service support method described in Example 1, further comprising the step of determining whether to switch the first service performed by the specified robot to the second service based on the quality level at the time of switching and the quality level at the time of non-switching, and outputting the determination result as the switching information.

[0024] In this way, by determining whether or not to switch the first service performed by the robot to the second service based on the quality level at the time of switching and the quality level at the time of non-switching, it is possible to prevent a decline in the overall quality of multiple services including the first service and the second service.

[0025] The service support method of Example 3 may be the service support method described in Example 2, wherein if the quality level at the time of switching is lower than or equal to the quality level at the time of non-switching, it is determined not to switch the first service performed by the specified robot to the second service, and if the quality level at the time of switching is higher than the quality level at the time of non-switching, it is determined to switch the first service performed by the specified robot to the second service.

[0026] In this manner, by determining whether or not to switch the first service provided by the robot to the second service, it is possible to prevent a decline in the overall quality of multiple services including the first service and the second service.

[0027] The service support method of Example 4 is a service support method described in any of Examples 1 to 3, in which, when a trigger event occurs that causes consideration of switching the service, a quality level at the time of switching and a quality level at the time of non-switching are calculated, and when the trigger event does not occur, it is not necessary to calculate the quality level at the time of switching and the quality level at the time of non-switching.

[0028] This allows a decision to be made as to whether or not to switch the robot's services at the appropriate timing when a trigger event occurs, thereby effectively preventing a decline in the overall quality of multiple services performed by multiple robots.

[0029] The service support method of Example 5 is a service support method described in any of Examples 1 to 4, wherein the quality level is derived based on a point addition value and a point subtraction value, the point addition value being the sum of a value obtained by multiplying the number of robots performing the first service by a first coefficient and a value obtained by multiplying the number of robots performing the second service by a second coefficient, and the point subtraction value being the sum of a value obtained by subtracting points when the number of robots performing the first service is less than a first threshold and a value obtained by subtracting points when the number of robots performing the second service is less than a second threshold.

[0030] This allows the quality level to be calculated accurately, which makes it possible to accurately determine whether or not to switch the robot's services and prevent a decrease in the overall quality of multiple services.

[0031] The service support method of Example 6 is the service support method described in Example 5, wherein the absolute value of the value to be deducted when the number of robots performing the first service is less than the first threshold value is greater than the first coefficient, and the absolute value of the value to be deducted when the number of robots performing the second service is less than the second threshold value is greater than the second coefficient.

[0032] This allows the quality level to be calculated appropriately, thereby making it possible to appropriately determine whether or not to switch the robot's services and to prevent a decrease in the overall quality of multiple services.

[0033] A service support method of Example 7 is the service support method according to any one of Examples 1 to 6, and may further include displaying the switching information on a monitor.

[0034] According to this, for example, switching information indicating whether or not to switch services can be presented to a monitor, etc. This makes it possible to improve the clarity of service support.

[0035] The service support method of Example 8 is a service support method described in any of Examples 1 to 7, and when calculating the quality level at the time of switching and the quality level at the time of non-switching, each of the quality levels may be calculated in a specified area where the specified robot operates.

[0036] This makes it possible to prevent a decline in the overall quality of multiple services in a specified area where a specified robot is operating.

[0037] The service support method of Example 9 is a service support method described in any of Examples 1 to 8, and when calculating the quality level at the time of switching and the quality level at the time of non-switching, each of the quality levels may be calculated based on schedule information of the specified robot.

[0038] This makes it possible to prevent the overall quality of multiple services from deteriorating over time.

[0039] The service support method of Example 10 is a service support method described in any of Examples 1 to 9, and if it is determined not to switch the first service performed by the specified robot to the second service, the second service may be performed by another robot other than the specified robot.

[0040] This makes it possible to prevent a decrease in the overall quality of a plurality of services including the second service.

[0041] The service support method of Example 11 is a service support method described in any of Examples 1 to 9, and when it is decided to switch the first service performed by the specified robot to the second service, the service performed by the specified robot may be switched to the second service after having another robot different from the specified robot perform the first service.

[0042] This makes it possible to prevent a decrease in the overall quality of a plurality of services including the first service.

[0043] The service support method of Example 12 is a service support method described in any of Examples 1 to 9, wherein, when it is decided to switch the first service performed by the specified robot to the second service, the second service may be temporarily performed by another robot different from the specified robot, and then the service performed by the specified robot may be switched to the second service.

[0044] This makes it possible to prevent a decrease in the overall quality of a plurality of services including the second service.

[0045] The service support device of Example 13 is a service support device that supports services performed by a plurality of robots, and includes a quality level calculation unit that calculates a quality level at switching that indicates the overall quality of the quality of the first service and the quality of the second service when a first service performed by a specific robot among the plurality of robots is switched to a second service, and a quality level at non-switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the specific robot is not switched to the second service, and a switching information output unit that outputs switching information regarding the switching of the service based on the quality level at switching and the quality level at non-switching.

[0046] In this way, by calculating the quality level when the service performed by the robot is switched and the quality level when it is not switched, it is possible to compare the quality level when it is switched and the quality level when it is not switched. With this device, it is possible to prevent a decrease in the overall quality of multiple services performed by multiple robots.

[0047] The robot of Example 14 is the predetermined robot that communicates with the above-mentioned service support device, and operates based on the switching information output from the service support device.

[0048] This robot can prevent a decline in the overall quality of multiple services.

[0049] The program of Example 14 is a program for causing a computer to execute the service support method according to any one of Examples 1 to 12.

[0050] According to this program, it is possible to provide a service support method that can prevent a decrease in the overall quality of a plurality of services executed by a plurality of robots.

[0051] Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components not described in independent claims will be described as optional components.

[0052] Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. Furthermore, in each figure, substantially the same configuration is assigned the same reference numeral, and duplicate explanations may be omitted or simplified. Furthermore, even when the same object is illustrated in each figure, the scale may be changed for convenience.

[0053] Furthermore, in this specification, terms indicating the relationship between elements, such as coincidence, equality, and parallelism, terms indicating the shape of elements, such as plate-like and rectangular, as well as numerical values ​​and numerical ranges, are not expressions that only express the strict meaning, but are expressions that also include a substantially equivalent range, for example, a difference of about a few percent.

[0054] (Embodiment) [Configuration of Service Support System] The configuration of a service support system including a robot and a service support device will be described with reference to FIGS. 2 to 4. FIG.

[0055] Fig. 2 is a diagram showing the overall configuration of the service support system 1. Fig. 3 is a block diagram showing the functional configuration of the robot and service support device 50 included in the service support system 1.

[0056] 2 and 3, the service support system 1 includes a plurality of robots 11, 12, 13, and 14, and a service support device 50 that supports services. Note that these figures also show a terminal device 40.

[0057] The service support device 50 is a device that supports services performed by the multiple robots 11 to 14. The service support device 50 also functions as a management device that manages the operation of the multiple robots 11 to 14. The service support device 50 is installed in a building such as an office building, a commercial facility, or an apartment building. The service support device 50 may also be installed in a location different from where the robots 11 to 14 are located.

[0058] The terminal device 40 is communicatively connected to the service support device 50 via the communication network N. Information regarding the service requested by the user is input to the terminal device 40. The terminal device 40 transmits the input service request information "is" to the service support device 50. The service support device 50 provides service support using the robots 11 to 14 in accordance with the service request information "is."

[0059] The plurality of robots 11 to 14 and the service support device 50 can communicate with each other via a communication network N. Hereinafter, all or some of the plurality of robots 11, 12, 13, and 14 may be referred to as robots 10. The number of robots 10 may be two or more, and may be 10 or 100.

[0060] FIG. 4 is a schematic diagram of a robot 10 that performs a service.

[0061] The robot 10 shown in Fig. 4 is an autonomously traveling robot. The robot 10 performs various services based on schedule information transmitted from the service support device 50. The robot 10 is a multi-service robot, and performs various services such as delivery, inspection and security, and cleaning inside and outside a building. The detailed configurations of the robot 10 and the service support device 50 will be described below.

[0062] [Configuration of Robot] The configuration of the robot 10 according to the embodiment will be described with reference to FIG.

[0063] 3, the robot 10 includes a switching information acquisition unit 25, a control unit 26, a working unit 27, and a storage unit 28. The robot 10 also includes a detection unit 21, a robot status acquisition unit 22, a service status acquisition unit 23, and a robot information output unit 24.

[0064] The storage unit 28 is, for example, a volatile memory or a non-volatile memory. The storage unit 28 stores a computer program for operating the robot 10, a communication address of the service support device 50, and trigger information it (described later). The storage unit 28 may also store schedule information for the robot 10 and map information for the interior and exterior of the building.

[0065] The switching information acquisition unit 25 functions as a wireless communication unit and communicates with the service support device 50 via the communication network N. The switching information acquisition unit 25 acquires switching information ic output from the service support device 50. The switching information ic includes information on whether or not the service currently being executed by the robot 10 will be switched to another service. The switching information ic acquired by the switching information acquisition unit 25 is output to the control unit 26.

[0066] The control unit 26 is, for example, a processor, and controls each component included in the robot 10. That is, the control unit 26 controls the switching information acquisition unit 25, the working unit 27, the memory unit 28, the detection unit 21, the robot status acquisition unit 22, the service status acquisition unit 23, and the robot information output unit 24. The control unit 26 outputs a work command to the working unit 27 based on the switching information ic output from the switching information acquisition unit 25.

[0067] The working unit 27 operates based on work commands output from the control unit 26. Based on the work commands, the working unit 27 performs work necessary to execute various services. The working unit 27 may be, for example, a vehicle mechanism for moving the robot 10, a light for emitting light, a speaker for outputting sound, a monitor for outputting images, a movable arm, or a cleaning mechanism.

[0068] The control unit 26 also outputs information about the service currently being executed by the robot 10 to the service status acquisition unit 23. The control unit 26 also controls the operation of the detection unit 21 in accordance with the service currently being executed by the robot 10.

[0069] The detection unit 21 is a device that detects the current state of the robot 10 and the surrounding conditions of the robot 10. The detection unit 21 includes, for example, an acceleration sensor, a gyro sensor, a GPS (Global Positioning System) device, etc., and detects the current state of the robot 10. The detection unit 21 also includes, for example, a camera, a laser length measuring device, a microphone, etc., and detects the surrounding conditions of the robot 10. The detection information detected by the detection unit 21 is output to the robot state acquisition unit 22.

[0070] The robot state acquisition unit 22 acquires information such as the current state of the robot 10 detected by the detection unit 21 and the surrounding conditions of the robot 10. The information acquired by the robot state acquisition unit 22 is output to the service state acquisition unit 23.

[0071] The service status acquisition unit 23 acquires information about the service currently being executed by the robot 10. The information about the service includes information about the type of service currently being executed by the robot 10 and the progress of the service. The service status acquisition unit 23 acquires information about the type of service from the control unit 26, and also acquires information about the progress of the service from the robot status acquisition unit 22 connected to the detection unit 21. The information acquired by the service status acquisition unit 23 is output to the robot information output unit 24.

[0072] The robot information output unit 24 acquires the plurality of pieces of information output from the service status acquisition unit 23. The plurality of pieces of information output from the service status acquisition unit 23 includes robot information such as the current state of the robot, the surrounding situation of the robot 10, and the service currently being performed by the robot 10. The robot information output unit 24 functions as a wireless communication unit and is capable of communicating with the service support device 50 via the communication network N. The robot information output unit 24 transmits the acquired robot information to the service support device 50.

[0073] [Configuration of Service Support Device] The configuration of the service support device 50 according to the embodiment will be described with reference to FIG.

[0074] As shown in FIG. 3, the service support device 50 includes an information acquisition unit 51, a trigger determination unit 52, a quality level calculation unit 53, a service switching determination unit 54, a switching information output unit 55, and a storage unit 58.

[0075] The information acquisition unit 51 analyzes the robot information output from the robot 10 to acquire specific information such as the current state of the robot 10, the surrounding situation of the robot 10, and the service currently being executed by the robot 10. Hereinafter, both the robot information output from the robot 10 and the information obtained by analyzing the robot information will be referred to as robot-related information ir.

[0076] Information such as the current state of the robot 10 and the surrounding circumstances of the robot 10 is information for understanding, for example, any abnormalities occurring around the robot 10. The current state of the robot 10 is, for example, information such as the speed, acceleration, and current position of the robot 10. The surrounding circumstances of the robot 10 is, for example, information such as objects present around the robot 10, the number and type of objects, etc. The surrounding objects include people such as suspicious persons, passersby, and sick people, as well as dangerous objects, obstacles, garbage, and other robots. The objects may also include building components such as walls, doors, pillars, corridors, walls, and ceilings.

[0077] The service currently being performed by the robot 10 includes information about the type of service and the progress of the service. The information about the type of service may be, for example, a task (mission) assigned to the robot 10 for various services such as delivery, inspection and security, and cleaning. The information about the progress of the service may be, for example, the completion rate of the service or the time until the service is completed. The information about the progress of the service may be obtained by detecting checkpoints in each service. If the service is delivery, the information about the progress of the service may be location information of the robot 10 while it is moving or stopped.

[0078] FIG. 5 is a diagram showing an example of the robot-related information ir acquired by the service support device 50. As shown in FIG.

[0079] The figure shows an example of information about the services currently being performed by the robots 11 to 14 and the surrounding conditions of the robots 11 to 14. Specifically, it shows that the service being performed by the robot 11 is delivery, and the services being performed by the robots 12, 13, and 14 are inspection and security. In addition, Fig. 5 shows that there is a suspicious person near the robot 11, that there is nothing particularly unusual about the robot 12, that there are two passersby near the robot 13, and that there is an obstacle near the robot 14.

[0080] The information acquisition unit 51 also acquires the service request information is output from the terminal device 40 .

[0081] FIG. 6 is a diagram showing an example of the service request information "is" acquired by the service support device 50. As shown in FIG.

[0082] The service request information "is" includes specific details of the service requested by the user. The figure shows the details of work requested by the user for various services such as delivery, inspection and security, cleaning, etc.

[0083] The information acquisition unit 51 outputs the acquired robot-related information ir and service request information is to the trigger determination unit 52 .

[0084] The trigger determination unit 52 is a processing unit that determines whether a trigger event that requires service switching has occurred. The trigger determination unit 52 makes the above determination by comparing the robot-related information ir and the service request information is with the trigger information it stored in the storage unit 58.

[0085] FIG. 7 is a diagram showing the trigger information it stored in the service support device 50. As shown in FIG.

[0086] The trigger information it is information for determining whether a trigger event has occurred. The trigger information it includes information about a task (mission) that can be a trigger event and a recommended robot that can perform the task. For example, in the same figure, when the service is delivery, a task that can be a trigger event is receiving a delivery order, and the recommended robot that can perform this task is the robot that is closest to the delivery base. Also, when the service is inspection and security, a task that can be a trigger event is detecting a suspicious person, and the recommended robot that can perform this task is the robot that detected the suspicious person.

[0087] The trigger determination unit 52 determines whether the task of the trigger information it is included in the robot-related information ir or the service request information is. The trigger determination unit 52 also determines whether the service currently being executed by the recommended robot matches the service corresponding to the task.

[0088] If the robot-related information ir or the service request information is does not include the task of the trigger information it, the trigger determination unit 52 determines that the timing for switching services has not arrived and that a trigger event has not occurred. Furthermore, if the service currently being executed by the recommended robot matches the service corresponding to the task, the trigger determination unit 52 determines that there is no need to switch services and that a trigger event has not occurred. In these cases, the trigger determination unit 52 outputs a control signal to the switching information output unit 55 to continue the service without switching the current service. The switching information output unit 55 outputs switching information ic including information indicating that the current service will not be switched and that the service will be continued.

[0089] On the other hand, if the robot-related information ir or the service request information is includes the task of the trigger information it, and if the service currently being executed by the recommended robot does not match the service corresponding to the task, the trigger determination unit 52 determines that a trigger event has occurred that requires consideration of switching the service. When a trigger event has occurred, the trigger determination unit 52 outputs a trigger signal for calculating the quality level of the service to the quality level calculation unit 53. The trigger determination unit 52 also outputs the robot-related information ir and service request information is used for the determination to the quality level calculation unit 53.

[0090] The quality level calculation unit 53 calculates the overall quality levels of the multiple services for each of the cases where the services are switched and where they are not switched, based on the robot-related information ir and the service request information is. For example, the quality level calculation unit 53 calculates a quality level R1 at the time of switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the robot 10 is switched to the second service. The quality level calculation unit 53 also calculates a quality level R0 at the time of non-switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the robot 10 is not switched to the second service.

[0091] FIG. 8 is a diagram showing coefficients and the like for deriving the service quality levels R1 and R0.

[0092] The figure shows the value coefficient of each service, the threshold number of robots 10 required, and the value of points deducted if the number of robots 10 is less than the threshold. The value coefficient, threshold number of robots 10, and value of points deducted for each service are determined based on the importance and priority of the service. Note that the value coefficient, threshold number of robots 10, and value of points deducted can each be dynamically changed depending on time or location.

[0093] In the following description, delivery is the first service and inspection and security is the second service. The figure shows an example in which the first coefficient, which is the value coefficient of the first service, is 0.5, and the second coefficient, which is the value coefficient of the second service, is 1.0. In this example, the value coefficient of the second service is set higher than that of the first service.

[0094] The figure also shows that the first threshold, which is the threshold for the number of robots 10 required for the first service, is 1, and that the value of points deducted when the number of robots 10 is less than the first threshold, is -3. The figure also shows that the second threshold, which is the number of robots 10 required for the second service, is 1, and that the value of points deducted when the number of robots 10 is less than the second threshold, is -3.

[0095] The first threshold and the second threshold are set to reduce the risk of switching services. For example, the absolute value of the point deduction when the number of robots 10 performing the first service is less than the first threshold is set to be greater than the first coefficient, and the absolute value of the point deduction when the number of robots 10 performing the second service is less than the second threshold is set to be greater than the second coefficient.

[0096] The quality level calculation unit 53 derives the quality levels R1 and R0 based on the added point value va and the deducted point value vs shown below. The added point value va is a value obtained by multiplying the number of robots 10 performing the first service by a first coefficient and a value obtained by multiplying the number of robots 10 performing the second service by a second coefficient. The deducted point value vs is a value obtained by multiplying the number of robots 10 performing the first service by a first threshold and a value obtained by deducting the number of robots 10 performing the second service by a second threshold.

[0097] The quality level calculation unit 53 derives the quality levels R1 and R0 by summing the added point value va and the subtracted point value vs. The quality levels R1 and R0 calculated by the quality level calculation unit 53 are output to the service switching determination unit 54.

[0098] The service switching determination unit 54 determines whether to switch the first service provided by the robot 10 to the second service based on the quality level R1 at the time of switching and the quality level R0 at the time of non-switching. Specifically, the service switching determination unit 54 determines not to switch the first service provided by the robot 10 to the second service when the quality level R1 at the time of switching is equal to or lower than the quality level R0 at the time of non-switching, and determines to switch the first service provided by the robot 10 to the second service when the quality level R1 at the time of switching is higher than the quality level R0 at the time of non-switching. The determination result by the service switching determination unit 54 is output to the switching information output unit 55.

[0099] The switching information output unit 55 outputs the above-mentioned determination result as switching information IC to the robot 11. The robot 10 operates based on this switching information IC. In this way, the service support device 50 allocates services to be executed by each robot 10.

[0100] The switching information output unit 55 may display the switching information ic on the display unit 57 of the service support device 50, and then output the switching information ic to the robot 11. The switching information output unit 55 may display the switching information ic on a monitor of a monitoring device that monitors the movement of the robot 10, and then output the switching information ic to the robot 11.

[0101] [Operation Example 1 of Robot and Service Support Device] Operation example 1 of the robot 10 and the service support device 50 will be described with reference to Fig. 9. In operation example 1, a case where the robot 11 detects a suspicious person in its vicinity will be described as an example.

[0102] FIG. 9 is a diagram showing a first example of the operation of the robots 11 to 14 and the service support device 50. In FIG.

[0103] FIG. 9A shows an example in which the service performed by the robot 11 is delivery, and the services performed by the robots 12 to 14 are inspection and security.

[0104] The information acquisition unit 51 acquires robot-related information ir indicating that the robot 11 has discovered a suspicious person, based on the robot information transmitted from the robot 11.

[0105] The trigger determination unit 52 determines whether the information about the discovery of a suspicious individual corresponds to a trigger event for considering switching services. In this case, the trigger determination unit 52 compares the robot-related information ir with the trigger information it stored in the memory unit 58 and determines that the information about the discovery of a suspicious individual is included in the task of the trigger information it. Furthermore, because the suspicious individual was detected by the robot 11 performing delivery, the trigger determination unit 52 determines that the service currently being performed by the recommended robot does not match the service corresponding to the task. Therefore, the trigger determination unit 52 determines that a trigger event for considering switching the service of the robot 11 has occurred, and outputs a trigger signal to the quality level calculation unit 53.

[0106] The quality level calculation unit 53 calculates a quality level R1 at the time of switching when the service is switched and a quality level R0 at the time of non-switching when the service is not switched, based on the trigger signal. Fig. 9(b) shows the quality level R1 at the time of switching, and Fig. 9(c) shows the quality level R0 at the time of non-switching.

[0107] 9(b), when the service being performed by robot 11 is switched from delivery to inspection and security, the number of robots performing delivery becomes zero, and the number of robots performing inspection and security becomes four, robots 11 to 14. In this example, too, delivery will be described as the first service, and inspection and security as the second service.

[0108] The quality level R1 at the time of switching is calculated as the sum of the added point value va and the subtracted point value vs.

[0109] The added point value va is calculated as follows: In this example, the number of robots performing the first service multiplied by the first coefficient is 0 robots x 0.5 = 0, and the number of robots performing the second service multiplied by the second coefficient is 4 robots x 1.0 = 4, and the added point value va, which is the sum of these values, is va = 4.

[0110] The deduction value vs is calculated as follows: In this example, the number of robots performing the first service (= 0) is less than the first threshold value (= 1), so the deduction value is -3, and the number of robots performing the second service (= 4) is more than the second threshold value (= 1), so the deduction value vs is 0, and the sum of these values ​​is vs = -3. As a result, the quality level R1 at the time of switching is R1 = va + vs = 4 + (-3) = 1.

[0111] As shown in (c) of Figure 9, if the service being performed by robot 11 is not switched from delivery to inspection and security, there will be one robot performing delivery and three robots performing inspection and security, robots 12 to 14.

[0112] The quality level R0 when no switching is performed is also calculated by adding the added point value va and the subtracted point value vs.

[0113] The added point value va is calculated as follows: In this example, the number of robots performing the first service multiplied by the first coefficient is 1 robot x 0.5 = 0.5, and the number of robots performing the second service multiplied by the second coefficient is 3 robots x 1.0 = 3, and the added point value va, which is the sum of these values, is va = 3.5.

[0114] The deduction value vs is calculated as follows: In this example, the number of robots performing the first service (= 1) is the same as the first threshold (= 1), so the deduction value is 0, and the number of robots performing the second service (= 3) is greater than the second threshold (= 1), so the deduction value vs is also 0, and the sum of these values ​​is vs = 0. As a result, the quality level R0 when not switching is R0 = va + vs = 3.5 + 0 = 3.5.

[0115] 9, the overall quality of the service is less likely to be degraded if the service currently being executed by the robot 11 is not switched. The quality level calculation unit 53 outputs the results of these calculations to the service switching determination unit 54.

[0116] The service switching decision unit 54 decides not to switch the first service provided by the robot 11 to the second service because the quality level R1 at the time of switching is equal to or lower than the quality level R0 at the time of non-switching. The decision result by the service switching decision unit 54 is output to the switching information output unit 55. The switching information output unit 55 outputs switching information ic including this decision result, i.e., switching information ic including information that the service will not be switched, to the robot 11. The robot 11 continues the currently running service without switching the service.

[0117] If the service of the robot 11 is not switched, the service support device 50 may cause another robot other than the robot 11, for example, a robot currently executing the second service, to execute the newly generated task.

[0118] [Second Example of Operation of Robot and Service Support Device] A second example of operation of the robot 10 and the service support device 50 will be described with reference to FIG.

[0119] FIG. 10 is a diagram showing a second example of the operation of the robots 11 to 14 and the service support device 50. In FIG.

[0120] FIG. 10A shows an example in which the service performed by the robots 11 and 12 is delivery, and the service performed by the robots 13 and 14 is inspection and security.

[0121] Operation example 2 will also be described taking as an example a case where the robot 11 detects a suspicious person in its vicinity. Operation example 2 differs from operation example 1 in that there are two robots making deliveries. Note that the processing of the information acquisition unit 51 and the trigger determination unit 52 in operation example 2 is the same as in operation example 1, and therefore a description thereof will be omitted.

[0122] The quality level calculation unit 53 calculates a quality level R1 at the time of switching when the service is switched and a quality level R0 at the time of non-switching when the service is not switched, based on the trigger signal from the trigger determination unit 52. Fig. 10(b) shows the quality level R1 at the time of switching, and Fig. 10(c) shows the quality level R0 at the time of non-switching.

[0123] As shown in (b) of Figure 10, when the service performed by robot 11 is switched from delivery to inspection and security, the robot performing delivery becomes robot 12, and the robots performing inspection and security become robots 11, 13, and 14.

[0124] The quality level R1 at the time of switching is calculated as the sum of the added point value va and the subtracted point value vs.

[0125] The added point value va is calculated as follows: In this example, the number of robots performing the first service multiplied by the first coefficient is 1 robot x 0.5 = 0.5, and the number of robots performing the second service multiplied by the second coefficient is 3 robots x 1.0 = 3, and the added point value va, which is the sum of these values, is va = 3.5.

[0126] The deduction value vs is calculated as follows: In this example, the number of robots performing the first service (= 1) is the same as the first threshold (= 1), so the deduction value is 0, and the number of robots performing the second service (= 3) is greater than the second threshold (= 1), so the deduction value vs is also 0, and the sum of these values ​​is vs = 0. As a result, the quality level R1 at the time of switching is R1 = va + vs = 3.5 + 0 = 3.5.

[0127] As shown in (c) of Figure 10, if the service being performed by robot 11 is not switched from delivery to inspection and security, the robots performing delivery will be two, robots 11 and 12, and the robots performing inspection and security will be two, robots 13 and 14.

[0128] The quality level R0 when no switching is performed is also calculated by adding the added point value va and the subtracted point value vs.

[0129] The added point value va is calculated as follows: In this example, the number of robots performing the first service multiplied by the first coefficient is 2 robots × 0.5 = 1, and the number of robots performing the second service multiplied by the second coefficient is 2 robots × 1.0 = 2, and the added point value va, which is the sum of these values, is va = 3.

[0130] The deduction value vs is calculated as follows: In this example, the number of robots performing the first service (= 2) is greater than the first threshold (= 1), so the deduction value is 0, and the number of robots performing the second service (= 2) is greater than the second threshold (= 1), so the deduction value vs is also 0, and the sum of these values ​​is vs = 0. As a result, the quality level R0 when not switching is R0 = va + vs = 3 + 0 = 3.

[0131] 10, the overall quality of the service will not be degraded if the robot 11 switches the service currently being executed. The quality level calculation unit 53 outputs the calculation results to the service switching determination unit 54.

[0132] The service switching determination unit 54 determines to switch the first service performed by the robot 11 to the second service because the quality level R1 at the time of switching is higher than the quality level R0 at the time of non-switching. The result of the determination by the service switching determination unit 54 is output to the switching information output unit 55. The switching information output unit 55 outputs switching information ic including the result of this determination, i.e., switching information ic including information that the service will be switched, to the robot 11. The robot 11 switches from the first service to the second service and executes it.

[0133] [Service Support Method] A service support method according to the embodiment will be described with reference to FIG.

[0134] FIG. 11 is a flowchart showing a service support method according to an embodiment.

[0135] As shown in FIG. 11, the service support device 50 acquires the robot-related information ir and the service request information is (step S10).

[0136] The service support device 50 determines whether a trigger event has occurred that would require the robot 10 to switch services, based on the robot-related information ir and the service request information is (step S20). First, the service support device 50 determines whether the robot-related information ir or the service request information is includes a task included in the trigger information it. The service support device 50 also determines whether the service currently being executed by the recommended robot matches the service corresponding to the task.

[0137] The service support device 50 determines that a trigger event has occurred that requires consideration of switching the service when the robot-related information ir or the service request information is contains a task of the trigger information it and the service currently being executed by the recommended robot does not match the service corresponding to the task.

[0138] If a trigger event has not occurred (No in S20), the service support device 50 determines not to switch the currently running service (step S70). On the other hand, if a trigger event has occurred (Yes in S20), the service support device 50 proceeds to the next step.

[0139] In the next step, the service support device 50 calculates the overall quality level of a plurality of services for both the case where the service is switched and the case where the service is not switched, based on the robot-related information ir and the service request information is (step S30).

[0140] For example, the service support device 50 calculates a quality level R1 at the time of switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the robot 10 is switched to the second service. The quality level calculation unit 53 also calculates a quality level R0 at the time of non-switching that indicates the overall quality of the quality of the first service and the quality of the second service when the first service performed by the robot 10 is not switched to the second service.

[0141] Then, the service support device 50 determines whether the quality level R1 at the time of switching is higher than the quality level R0 at the time of non-switching (step S40).

[0142] If the quality level R1 at the time of switching is equal to or lower than the quality level R0 at the time of non-switching (No in S40), the service support device 50 determines not to switch the first service performed by the robot 10 to the second service (step S70). In other words, the service support device 50 determines to continue the service currently being performed by the robot 10. After step S70, the service support device 50 outputs switching information ic including information that the service will not be switched (S80).

[0143] On the other hand, if the quality level R1 at the time of switching is higher than the quality level R0 at the time of non-switching (Yes in S40), the service support device 50 decides to switch the first service performed by the robot 10 to the second service (step S50).

[0144] The service support device 50 outputs switching information ic including information that the service will be switched (step S60). Steps S10 to S80 are repeatedly executed between the service support device 50 and the multiple robots 10. By executing steps S10 to S80, it is possible to prevent a decrease in the overall quality of the multiple services executed by the multiple robots 10.

[0145] [First Modification of the Embodiment] A service support method according to a first modification of the embodiment will be described with reference to FIGS. 12 and 13. FIG.

[0146] FIG. 12 is a diagram illustrating a service support method according to the first modification of the embodiment.

[0147] FIG. 12(a) shows an example in which the service performed by robot 11 is delivery, the service performed by robots 12, 13, and 14 is inspection and security service, and the service performed by robots 15 and 16 is cleaning.

[0148] In Modification 1, an example in which the robot 11 detects a suspicious person in its vicinity will also be described. Modification 1 differs from the above-described Operation Example 1 in that two additional robots are performing cleaning. Note that the processing of the information acquisition unit 51 and the trigger determination unit 52 in Modification 1 is the same as in Operation Example 1, and therefore a description thereof will be omitted.

[0149] FIG. 13 is a diagram showing candidates for allocation of a service to be executed by the robot 10. In FIG.

[0150] As shown in FIG. 13, in the first modification, in addition to the quality level, the service effect E shown in (Equation 1) is also included in the evaluation items.

[0151] E=α×t1 / (t0+t1)...(Formula 1)

[0152] In variant 1, when the service is delivery, the service parameter α is set to 0.5 and the execution time t1 is set to 1.2, when the service is inspection and security, the service parameter α is set to 1 and the execution time t1 is set to 0.8, and when the service is cleaning, the service parameter α is set to 0.3 and the execution time t1 is set to 0.4. In addition, the travel time t0 when switching the service from delivery to inspection and security is set to 0.2, the travel time t0 when switching the service from inspection and security to delivery is set to 0.3, and the travel time t0 when switching the service from cleaning to inspection and security is set to 0.5.

[0153] 13 shows the total value of the service effect E of multiple robots 11 to 16. Looking at the total value of the service effect E, allocation candidate 1 has a higher service effect E than the other candidates, but in the overall evaluation that includes both the service effect E and the quality level R1 at the time of switching, its evaluation score is lower than the other candidates.

[0154] In this example, the service effect E of allocation candidate 2 is 4.3, which is a lower value than the service effect E of allocation candidate 1, but the quality level R1 at the time of switching is 4.8 and the overall evaluation is 9.1, so that it has a higher evaluation score than the other candidates. Therefore, in variant example 1, allocation candidate 2 is selected, and the service of robot 15 is switched from cleaning to inspection and security, as shown in Figure 12 (b). This makes it possible to prevent a decrease in the overall quality of multiple services performed by robot 10.

[0155] In this way, the robot 10 and the service support device 50 may determine the allocation of services to be performed by the robot 10 by performing a comprehensive evaluation that includes both the service effect E and the quality level.

[0156] [Second Modification of the Embodiment] In the above-described service support method, for example, the switching information ic may be output to the robot 10 immediately after the service switching decision unit 54 decides to switch the service, but this is not limited to this. In the second modification, an example will be described in which the switching information ic is displayed on the monitor, and then information regarding whether or not to switch the service is output to the robot 10 based on input information input by the operator.

[0157] FIG. 14 is a diagram illustrating a service support method according to the second modification of the embodiment.

[0158] Fig. 14(a) shows a state in which the robot 11 performing delivery has discovered a suspicious person, and Fig. 14(b) and (c) show examples in which switching information ic is displayed on the display unit 57 of the service support device 50. Specifically, Fig. 14(b) displays a screen for confirming whether or not to switch the service of the robot 11 from delivery to inspection and security. Fig. 14(c) displays a screen for confirming whether or not to switch the service, after presenting that not switching the service of the robot 11 performing delivery will not degrade the overall quality of multiple services.

[0159] The service support device 50 presents these screens to the operator. For example, the service support device 50 may ask the operator to make a decision on switching if the difference between quality level R0 and quality level R1 is within a predetermined range (e.g., small). Since having the operator make all decisions all the time would increase the workload and burden, the operator may be asked to make the decision on switching only when the difference between quality level R0 and quality level R1 is small.

[0160] The service support device 50 outputs information regarding whether or not the service is to be switched to the robot 10 based on the input information entered by the operator who checks the screen.

[0161] For example, when displaying switching information on a monitor to allow an operator to make a decision about switching, the service support device 50 may also present the estimated time of completion of the service before switching as switching information. The estimated time of completion, for example, is the estimated delivery time in the case of delivery, or the time when all inspection locations are completed in the case of inspection and security. If the estimated time of completion of the service is close to the current time when the operator decides to switch, the service can be continued without switching, and another service can be requested after the current service is completed. This allows services to be carried out efficiently.

[0162] In this way, the service support device 50 may display a screen for confirming whether or not to switch the service of the robot 10, or may display information on the screen regarding the recommended service support in addition to confirming whether or not to switch the service. Furthermore, the service support device 50 may display this confirmation information on a terminal device different from the service support device 50 itself.

[0163] In the above-described service support method, for example, the quality level calculation unit 53 may calculate the overall service quality level of an area where multiple robots 10 operate, and determine whether or not to switch services based on that quality level, but this is not limiting. In the third modification, an example will be described in which, when calculating the quality level R1 at the time of switching and the quality level R0 at the time of non-switching, the respective quality levels R1 and R0 are calculated for a predetermined part of the area where the robots 10 operate.

[0164] For example, if a first area contains robot 11 that makes deliveries and robots 12 and 13 that perform inspection and security, and a second area contains robots 14 and 15 that make deliveries and robot 16 that performs inspection and security, switching the service of robot 11 from delivery to inspection and security does not pose a major problem when viewed from the perspective of the entire area, since there are also other robots 14 and 15 that perform deliveries. However, since there will be no robots that perform deliveries in the first area, the quality of service will decline when focusing on the first area.

[0165] In this way, when determining whether to switch services, the decision may be made based on the quality level of the service in a specific area, rather than just the entire area where the service is provided, thereby preventing a decline in the quality of the service in the specific area.

[0166] In the above-described service support method, for example, the quality level may be calculated by setting a threshold value for the number of robots 10 required for each service to a predetermined value, but this is not limitative. The threshold value for the number of robots 10 required for each service may be dynamically changed depending on the demand for each service, the environment, etc.

[0167] For example, by predicting the possibility of harm from suspicious individuals, the threshold number of robots performing inspection and security duties before business hours can be set to 0, and the threshold number of robots 10 performing inspection and security duties on holidays when many children are present can be set to 2. This makes it possible to provide services in accordance with demand and the environment, and to prevent a decline in service quality.

[0168] [Fifth Modification of the Embodiment] In the above-described service support method, for example, the quality level of a service may be calculated at a predetermined time when multiple robots 10 are operating, and whether or not to switch services may be determined based on the quality level at that time, but this is not limited to this. In the fifth modification, an example will be described in which the quality level of a service is calculated based on schedule information of the robot 10. Note that the schedule information is information created by predicting the location and time when a service is likely to occur based on past performance, etc.

[0169] In this example, the quality level of the service is not calculated only at the time of switching the service, but the quality level is calculated for a predetermined period or after a predetermined time has elapsed, and then a decision is made as to whether or not to switch the service. For example, when a trigger event occurs that switches the robot's service, it may be better to switch the service temporarily, but if another trigger event is predicted to occur 10 minutes later, it may be better not to switch the service. The decision as to whether or not to switch the service can be made based on the quality level of the service, including the time that has elapsed 10 minutes later.

[0170] In this way, when determining whether to switch services, the quality level may be calculated based on the schedule information of the robot 10. This makes it possible to prevent the quality of the service from deteriorating over time.

[0171] [Sixth Modification of the Embodiment] In the above-described service support method, if it is determined not to switch the first service performed by the robot 10 to the second service, the second service may be performed by another robot other than the robot 10.

[0172] For example, if a trigger event occurs that switches the service of robot 11 from delivery to inspection and security, but the calculation result of the service quality level determines that it is better not to switch the service of robot 11, another robot 12 in the vicinity of robot 11 may be made to perform that service.

[0173] [Variant Example 7] In the above-described service support method, when it is decided to switch the first service performed by the robot 10 to the second service, the service performed by the robot 10 may be switched to the second service after having another robot different from the robot 10 perform the first service.

[0174] For example, when a trigger event for switching the robot's service occurs and it is determined that the service should be switched, the service support device 50 may wait a short time rather than immediately switching the first service being performed by the robot 11. Specifically, the service support device 50 may wait until the other robot 12 arrives at the location of the robot 11, and after the arrival, have the other robot 12 perform the first service being performed by the robot 11, and then switch the service being performed by the robot 11 to the second service.

[0175] In this way, by having another robot 12 perform the first service that the robot 11 is performing, and then switching the service of the robot 11, it is possible to prevent interruptions in the first service that the robot 11 was performing, thereby preventing a decrease in the quality of the service.

[0176] [Variant Example 8 of the embodiment] In the above-described service support method, when it is decided to switch the first service performed by the robot 10 to a second service, the second service may be temporarily performed by another robot different from the robot 10, and then the service performed by the robot 10 may be switched to the second service.

[0177] For example, when a trigger event for switching the robot's service occurs and it is determined that the service should be switched, the service support device 50 may wait a short time before switching to the second service being performed by the other robot 12, rather than immediately switching to the second service being performed by the other robot 12. Specifically, the service support device 50 may wait until the robot 11 arrives at the location of the other robot 12, and after arrival, have the robot 11 perform the second service being performed by the other robot 12, and then switch the service of the robot 12 to the other service.

[0178] In this way, by having the robot 11 perform the second service being performed by another robot 12 and then switching the service of the robot 11, it is possible to prevent interruptions in the second service that the robot 11 is about to perform, thereby preventing a decrease in the quality of the service.

[0179] [Modification 9 of the Embodiment] In Modification 9 of the embodiment, another example in which a robot performs multiple services simultaneously will be described.

[0180] For example, as shown in Table 1, assume that there are four robots that perform delivery and security inspections, and that a main service and a sub-service are assigned to each of the robots 11 to 14. Each of the robots 11 to 14 can switch between the main service and the sub-service to perform its service.

[0181]

[0182] A robot whose assigned service is delivery moves based on a delivery route and performs delivery services, while a robot whose assigned service is inspection and security moves based on a patrol route and performs inspection and security services.

[0183] However, if the robots whose services are delivery and those whose services are inspection and security are not allocated in a balanced manner, the service as a whole may be biased towards one of the services, which may result in a decline in the effectiveness, efficiency, and quality of the overall service. For example, if the service is over-emphasized on delivery services, many areas will be missed for inspection, and the efficiency of inspection and security will decline. On the other hand, if the service is over-emphasized on inspection and security services, there will be fewer cases where deliveries can be made via the shortest route, and delivery efficiency will decline. For this reason, the allocation of the number of robots performing the service will be switched, taking into account the quality of the overall service. The ratio of the allocation of the number of robots can also be dynamically changed depending on the time of day, etc.

[0184] Table 2 shows an example of a switching trigger that triggers a switch to another service.

[0185]

[0186] For example, a switching trigger that triggers switching to the delivery service is when a delivery request is received. When the service support device 50 acquires delivery request information (information on the delivery item, delivery location, delivery time, etc.), it determines that a delivery request has been received.

[0187] For example, a switching trigger that triggers switching to the inspection and security service may be the discovery of a suspicious person, receiving a report of a suspicious person, or a schedule (regular inspection time). When the service support device 50 detects a traffic participant around the robot who has been in the same place for a certain period of time or who has been loitering in the same place, it determines that the participant is a suspicious person. Information about the robot's surroundings can be acquired by a detection unit 21 such as a sensor mounted on the robot. Furthermore, when the service support device 50 acquires information about a report of a suspicious person (such as the location of the report and the content of the report), it determines that a report of a suspicious person has been received. Furthermore, the service support device 50 determines the switching time based on a predetermined schedule.

[0188] For example, a switching trigger that triggers switching to a cleaning service may be the discovery of a dirty spot in the area, a request for cleaning, or a schedule (regular cleaning time). The service support device 50 compares current and past image information of the same location, and if there is a difference in the image information, determines that the photographed location is dirty. In this case, it may be possible to detect whether the dirty spot can be cleaned by a robot. For example, semantic segmentation technology may be used to detect whether the dirty spot can be cleaned by a robot. Furthermore, the service support device 50 determines that a cleaning request has been received when cleaning information (information on the cleaning location, the type of dirt, etc.) is acquired. Furthermore, the service support device 50 determines the switching time based on a predetermined schedule.

[0189] For example, a trigger for switching to the advertising service may be the robot being free of other tasks or the robot discovering a densely populated area within the area. The service support device 50 acquires service status information indicating whether there is anything to be performed as a main task using the service status acquisition unit, and determines whether to switch the subtask to advertising based on the service status information and the robot's service management information. The service support device 50 discovers a densely populated area within the area by detecting whether the number of traffic participants around the robot is greater than a predetermined number and whether the surrounding traffic participants are within a predetermined range (area). Information about the robot's surroundings can be acquired by a detection unit 21, such as a sensor mounted on the robot.

[0190] Here, another example of switching services will be described.

[0191] For example, if delivery requests temporarily increase and delivery tasks suddenly increase, the service support device 50 may change the service of a robot performing a service other than delivery to a delivery service. Furthermore, if a dirty spot is discovered during an inspection and security guard service within an area and the dirt is cleanable by a robot, the robot may propose to switch services to the service support device 50, and the robot's service may be changed to cleaning. Furthermore, if a robot discovers a crowded area during an inspection and security guard service, the robot may propose to switch services to the service support device 50, and the robot's service may be changed to an advertising service. Furthermore, if a person who appears to be a suspicious person is discovered and reported, but the location of the suspicious person is unknown, the service support device 50 may switch the entire area to enhanced security mode.

[0192] Next, a specific example of service switching will be described.

[0193] FIG. 15 is a diagram showing an example of the services currently being provided by the robots 11 to 14.

[0194] 15 shows an arrangement of four robots that perform delivery services and inspection and security services. In this example, robot 11 provides delivery 1, robot 12 provides delivery 2, robot 13 provides inspection and security 1, and robot 14 provides inspection and security 2. The delivery service accounts for 50% of the total, and the inspection and security service accounts for 50%.

[0195] In this state, if a person who appears to be a suspicious person is discovered and a report about the suspicious person is received but the location of the suspicious person is unknown, the service support device 50 changes the entire area to enhanced security mode. In the enhanced security mode, the service support device 50 sets the robots performing inspection security service so that 75% or more of the total number of robots are in the enhanced security mode.

[0196] Fig. 16 is a diagram showing setting candidates 1, 2, and 3 for service allocation to the robots 11 to 14. Fig. 17 is a diagram showing an operation example 3 of the robots 11 to 14 and the service support device 50. Fig. 17(a), (b), and (c) show the operations of setting candidates 1, 2, and 3, respectively.

[0197] In the example shown in Fig. 16, the total service effect of setting candidate 1 is 3.6, the total service effect of setting candidate 2 is 3.8, and the total service effect of setting candidate 3 is 3.4. In the example shown in Fig. 16, the quality level of setting candidate 1 is 4, the quality level of setting candidate 2 is 4, and the quality level of setting candidate 3 is 1. Fig. 16 also shows the overall ratings obtained by adding up the service effects and quality levels, with the overall rating of setting candidate 1 being 7.6, the overall rating of setting candidate 2 being 7.8, and the overall rating of setting candidate 3 being 4.4. In this example, setting candidate 2 has the highest overall rating.

[0198] The following describes the process steps a, b, and c for changing the ratio of robots performing inspection and security services from 50% to 75%. Each process step a to c is as follows:

[0199] Processing content a: Select a robot to change the service to inspection security. Processing content b: If it is decided to change the service, decide when to change it. Processing content c: Decide how to change the current service.

[0200] First, "Processing content a: Selection of robots whose service is changed to inspection and security" will be described.

[0201] The service support device 50 reallocates services so as to satisfy the conditions to be achieved and maximize the sum of the quality level and the service effect. In this example, the conditions to be achieved are that the ratio of robots performing inspection and security services is 75% or more of the total.

[0202] The value of the service effect when switching services is derived by the following (Equation 2).

[0203] Service effect = 1 / 1 + | (estimated end time when the main service is switched to the sub-service) - (estimated end time of the current main service) | × (priority of the main service after the switch) ... (Equation 2)

[0204] The priority of the main service after the switch is, for example, 1.2 for the inspection and security service and 1 for the delivery service. Note that the service effect is 1 if the service is not switched.

[0205] The quality level is determined by the number of robots providing the service. For example, if the number of robots providing the service is equal to or greater than a predetermined threshold, the quality level is 1 x the number of robots. If the number of robots providing the service is equal to or less than a predetermined threshold, the quality level is -3. In this example, the predetermined threshold is 1 robot.

[0206] When selecting a robot to switch services, it is desirable to select a robot that minimizes the difference between the expected service end time if the service is continued and the expected service end time if the service is switched. It is also desirable to select a robot taking into consideration the magnitude of the impact of switching services (e.g., if there are no robots left to perform a certain service). It is also desirable to set priorities for each service in advance and select a robot taking into consideration the priority of the main service after the switch. It is also possible to select a robot that maximizes the difference when subtracting the current priority of the main service from the priority of the main service after the switch.

[0207] Furthermore, if there is a priority for the service being provided, the robot that provides the service corresponding to that priority may be set as a robot that does not change its main service. An example of a service corresponding to a priority is a delivery robot that provides priority deliveries to customers who have subscribed to the premium course of the delivery service.

[0208] Next, "Processing content b: When it is decided to change the service, determine the timing of the change" will be described.

[0209] For example, the robot switches services when it receives a service change instruction from the service support device 50, such as changing from a delivery service to an inspection and security service. Furthermore, the robot immediately switches services if the difference between the estimated service end time if the service were continued and the estimated service end time if the service were switched is within a predetermined third threshold. If the difference is not within the third threshold, the robot further determines whether the difference between the estimated service end time if the service were continued and the current time is within a predetermined fourth threshold.

[0210] If the difference is within the fourth threshold, the current service continues and is switched to another service after the current service ends. If the difference is not within the fourth threshold, the service is switched immediately. In this example, the original service is treated as a sub-service, and a delay in the end time of the service is allowed.

[0211] If the difference is not within the fourth threshold, another nearby robot may take over the service and determine whether the difference between the scheduled end time of the service and the current time is within the fourth threshold. If the difference is not within the fourth threshold, another nearby robot may take over the service and switch the current service.

[0212] For example, consider a case where there is a robot X whose main service is cleaning and a sub-service is inspection and security, and a robot Y whose main service is inspection and security and a sub-service is cleaning, and inspection and security in an area is to be strengthened, and the service of robot X is changed from cleaning to inspection and security. For example, if robot X cleans along its inspection and security patrol route, the cleaning time will be significantly delayed compared to the schedule, and there is a cleaning location, which is robot X's main task, on robot Y's inspection and security patrol route, the service support device 50 sets robot Y to take over cleaning, which is robot X's main service, and to clean the cleaning location while robot Y is performing inspection and security.

[0213] Next, "Processing content c: Decide how to change the current service" will be described.

[0214] For example, when the service is changed from delivery to inspection and security, the current delivery route is changed to a patrol route that prioritizes inspection and security. When the service is changed from delivery to advertising, the current delivery route is changed to a driving route that prioritizes passing through areas with high crowds. Information about areas with high crowds is obtained from past information or sensor information. When the service is changed from delivery to cleaning, the current delivery route is changed to a cleaning route that prioritizes passing through areas to be cleaned. Then, after cleaning is completed at the areas to be cleaned, the service is returned to delivery.

[0215] For example, when the service is changed from "inspection and security" to "delivery," the current patrol route is changed to a delivery route that prioritizes delivery. When the service is changed from "inspection and security" to "advertising," the current patrol route is changed to a driving route that prioritizes passing through areas with high crowds. Information about areas with high crowds is obtained from past information or sensor information. When the service is changed from "inspection and security" to "cleaning," the current patrol route is changed to a cleaning route that prioritizes passing through areas to be cleaned. Then, after cleaning is completed at the areas to be cleaned, the service is returned to inspection and security.

[0216] For example, when the service is "changed from advertising to delivery," the current driving route is changed to a delivery route that prioritizes delivery. When the service is "changed from advertising to inspection and security," the current driving route is changed to a patrol route that prioritizes inspection and security. When the service is "changed from advertising to cleaning," the current driving route is changed to a cleaning route that prioritizes passing through cleaning locations. Then, after cleaning is completed at the cleaning locations, the service is returned to advertising.

[0217] For example, when a service is "changed from cleaning to delivery," the current cleaning route is changed to a delivery route that prioritizes delivery. In this case, delivery is prioritized and cleaning is carried out when passing through cleaning areas. When a service is "changed from cleaning to inspection and security," the current cleaning route is changed to a patrol route that prioritizes inspection and security. In this case, inspection and security is prioritized and cleaning is carried out when passing through cleaning areas. When a service is "changed from cleaning to advertising," the current cleaning route is changed to a driving route that prioritizes passing through crowded areas. In this case, advertising is prioritized and cleaning is carried out when passing through cleaning areas.

[0218] As described above, in the ninth modification of the embodiment, a main service and a sub-service are assigned to each of the robots 11 to 14, and the service support device 50 performs the service by switching between the main service and the sub-service for each of the robots 11 to 14. Also, in the ninth modification, the service effect is derived based on the difference between the estimated end time when the main service is switched to the sub-service and the estimated end time of the current main service, and the switching of the service is evaluated based on this service effect and the quality level.

[0219] Next, the evaluation when switching services will be further explained.

[0220] For example, with regard to deliveries, the magnitude of effectiveness may be determined based on whether the delivery is made quickly, whether it is made at the right time, whether it is made to the right person, whether the right item is delivered, or whether it is delivered to a wider area within the specified time. With regard to inspection and security, the magnitude of effectiveness may be determined based on whether a suspicious person can be found, whether it can be explained that no problem is occurring, whether the problem can be resolved quickly, or whether many areas can be guarded. With regard to advertising, the magnitude of effectiveness may be determined based on whether many people see it, whether it can visit many places, or whether it can move quickly to crowded places. With regard to cleaning, the magnitude of effectiveness may be determined based on whether it is cleaned thoroughly, whether it is cleaned quickly, or whether the place or area that is cleaned is wide. Note that a method that can be predicted to some extent in advance and can be quantified is adopted.

[0221] The evaluation combining the priority of each service and the service effect will be explained.

[0222] Because service effects differ for each service, they are standardized to calculate service effects, which makes it possible to sum up and compare services on the same scale.

[0223] Table 3 shows an example of the priority and service effect of each service.

[0224]

[0225] In Table 3, the number of viewers (= foot traffic x viewer rate) may be used as a method for calculating the service effect of the advertisement. Foot traffic refers to the number of pedestrians around the robot acquired by the detection unit 21 such as a sensor. Viewer rate refers to the percentage of surrounding pedestrians who turn their gaze in the direction of the robot, as determined by the detection unit 21.

[0226] FIG. 18 is a diagram showing an example of selecting a robot whose service is changed to inspection and security.

[0227] Figure 18 shows an example where inspection and security robots make up 75% or more of the total. Services are reallocated so that the conditions to be achieved shown here are met and the sum of the quality level and service effect is maximized.

[0228] In the example shown in Figure 18, the total service effect of setting candidate 4 is 76.4, the total service effect of setting candidate 5 is 80.8, and the total service effect of setting candidate 6 is 79.0. In the example shown in Figure 18, the quality level of setting candidate 4 is 4, the quality level of setting candidate 5 is 4, and the quality level of setting candidate 6 is -6. Figure 18 also shows the overall evaluation obtained by adding up the service effects and quality levels, with the overall evaluation of setting candidate 4 being 80.4, the overall evaluation of setting candidate 5 being 84.8, and the overall evaluation of setting candidate 6 being 73.0. In this example, setting candidate 5 has the highest overall evaluation.

[0229] The service effect was calculated using a different method for each service. Linear movement such as delivery and cleaning represents time, while surface movement such as inspection and security and advertising represents area. Time was assigned a value of 10 up to within 5 minutes of the scheduled arrival time, and -1 for every 5 minutes thereafter. Area was assigned a value of 10 up to within 5% of the expected area, and -1 for every 5% thereafter.

[0230] The quality level was determined by the number of robots providing the service. For example, if the number of robots providing the service is equal to or greater than a predetermined threshold, the quality level is 1 x the number of robots. If the number of robots providing the service is equal to or less than a predetermined threshold, the quality level is set to -10. The predetermined threshold in this example is 1 robot.

[0231] (Other Embodiments) Although the embodiments (including modified examples) have been described above, the present disclosure is not limited to such embodiments.

[0232] In the above example, the information acquisition unit 51 analyzes the robot-related information output from the robot 10 to acquire specific information such as the current state of the robot 10, the surrounding situation of the robot 10, and the service currently being executed by the robot 10, but this is not limiting. For example, if the robot 10 can analyze the specific information described above, the information acquisition unit 51 may receive the analyzed information and use this analyzed information as the robot-related information ir.

[0233] The general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0234] The order of the processes described in the flowcharts of the above embodiments is merely an example. The order of the processes may be changed, or the processes may be executed in parallel.

[0235] The division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to another functional block.Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or in time-sharing by a single piece of hardware or software.

[0236] Furthermore, in the above-described embodiments, each component (e.g., a processing unit such as a control unit) may be configured with dedicated hardware or may be realized by executing a software program suitable for that component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Furthermore, for example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0237] In addition, this disclosure also includes forms obtained by applying various modifications to the above embodiments, etc. that a person skilled in the art would conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the intent of this disclosure.

[0238] The present disclosure can be widely used as a service support method for supporting services performed by multiple robots.

[0239] 1 Service support system 10, 11, 12, 13, 14, 15, 16 Robot 21 Detection unit 22 Robot status acquisition unit 23 Service status acquisition unit 24 Robot information output unit 25 Switching information acquisition unit 26 Control unit 27 Working unit 28 Memory unit 50 Service support device 51 Information acquisition unit 52 Trigger determination unit 53 Quality level calculation unit 54 Service switching decision unit 55 Switching information output unit 57 Display unit 58 Memory unit ic Switching information ir Robot-related information is Service request information it Trigger information N Communication network R0, R1 Quality level va Added point value vs Deducted point value

Claims

1. A service support method for supporting a service performed by a plurality of robots, the method comprising: calculating a quality level at switching time indicating an overall quality of a quality of the first service and a quality of the second service when a first service performed by a specific robot among the plurality of robots is switched to a second service; calculating a quality level at non-switching time indicating an overall quality of a quality of the first service and a quality of the second service when the first service performed by the specific robot is not switched to the second service; and outputting switching information regarding the service switching based on the quality level at switching time and the quality level at non-switching time.

2. The service support method according to claim 1, further comprising the steps of: determining whether or not to switch the first service provided by the specified robot to the second service based on the quality level at the time of switching and the quality level at the time of non-switching; and outputting the result of the determination as the switching information.

3. The service support method of claim 2, further comprising: determining not to switch the first service performed by the specified robot to the second service when the quality level at the time of switching is lower than or equal to the quality level at the time of non-switching; and determining to switch the first service performed by the specified robot to the second service when the quality level at the time of switching is higher than the quality level at the time of non-switching.

4. A service support method according to any one of claims 1 to 3, wherein, when a trigger event occurs that necessitates the consideration of switching the service, a quality level at the time of switching and a quality level at the time of non-switching are calculated, and, when the trigger event does not occur, a quality level at the time of switching and a quality level at the time of non-switching are not calculated.

5. A service support method as described in any one of claims 1 to 3, wherein the quality level is derived based on a plus point value and a minus point value, the plus point value being the sum of a value obtained by multiplying the number of robots performing the first service by a first coefficient and a value obtained by multiplying the number of robots performing the second service by a second coefficient, and the minus point value being the sum of a value deducted when the number of robots performing the first service is less than a first threshold value and a value deducted when the number of robots performing the second service is less than a second threshold value.

6. The service support method described in claim 5, wherein the absolute value of the point deduction when the number of robots performing the first service is less than the first threshold value is greater than the first coefficient, and the absolute value of the point deduction when the number of robots performing the second service is less than the second threshold value is greater than the second coefficient.

7. A service support method according to any one of claims 1 to 3, further comprising displaying the switching information on a monitor.

8. A service support method according to any one of claims 1 to 3, wherein when calculating the quality level at the time of switching and the quality level at the time of non-switching, each of the quality levels is calculated in a specified area in which the specified robot operates.

9. A service support method according to any one of claims 1 to 3, wherein when calculating the quality level during switching and the quality level during non-switching, each of the quality levels is calculated based on schedule information of the specified robot.

10. A service support method as described in claim 2 or 3, wherein when it is determined not to switch the first service performed by the specified robot to the second service, the second service is performed by another robot other than the specified robot.

11. A service support method as described in claim 2 or 3, wherein, when it is decided to switch the first service performed by the specified robot to the second service, the first service is executed by another robot different from the specified robot, and then the service performed by the specified robot is switched to the second service.

12. A service support method as described in claim 2 or 3, wherein, when it is decided to switch the first service performed by the specified robot to the second service, the second service is temporarily performed by another robot different from the specified robot, and then the service performed by the specified robot is switched to the second service.

13. A service support device that supports services performed by a plurality of robots, comprising: a quality level calculation unit that calculates a quality level at switching time indicating an overall quality of the quality of the first service and the quality of the second service when a first service performed by a specific robot among the plurality of robots is switched to a second service, and a quality level at non-switching time indicating an overall quality of the quality of the first service and the quality of the second service when the first service performed by the specific robot is not switched to the second service; and a switching information output unit that outputs switching information regarding the switching of the service based on the quality level at switching time and the quality level at non-switching time.

14. A robot that communicates with the service support device according to claim 13 and operates based on the switching information output from the service support device.

15. A program for executing the service support method according to any one of claims 1 to 3.