JP4490448B2 - Robot control system - Google Patents

Description

  The present invention relates to a robot control system that controls a plurality of robots.

  Conventionally, a task received from an operator is judged by referring to the robot specification database to determine whether it can be executed only by an autonomous robot device, and if it can be executed, the command is executed. There has been disclosed a robot control system that searches for another robot device that complements a portion that cannot be performed, and executes a command by sharing the robot device (see Patent Document 1).

JP 2003-291083 A

  However, in the conventional robot control system, even when there are a plurality of requested serviceable robots, the optimum robot cannot be selected from the plurality of robots. There was a problem that it was not possible to provide a good service.

  In addition, as a conventional example other than a robot, as a method of selecting one service from a plurality of service candidates, it is common to give priority to a fixed or last-selected one (for example, Windows (Registered trademark) pull-down menu). However, since it is uniform, it has not been possible to flexibly meet the detailed requests of users.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot control system capable of providing an optimum service.

In order to achieve the above object, according to the present invention, a user database for storing the user identification information of the robot control system, the service identification information, and an event for starting the service provided to the user by the robot in association with each other; A service database for associating and storing service identification information, detailed service identification information indicating a specific service for executing the service indicated by the service identification information, and robot possession capability necessary for the detailed service; , Robot database that stores the robot identification information, robot possession ability and robot state in association with each other, past service start time, detailed service identification information , robot position information and user position at the past service start time Service history data that associates and stores information And receiving data including user identification information from outside the robot control system and including information necessary for detecting the event, and identifying the event and the user based on the received data A means for detecting information, and on the condition of the detected event and user identification information, search the user database to obtain service identification information, and on the condition of the obtained service identification information as the condition The service database is searched to acquire the identification information of the detailed service and the possession ability of the robot necessary for the detail service, and the robot state is retrieved by searching the robot database on the condition of the possession ability of the robot necessary for the obtained service. there means for acquiring identification information of the robot is in the idling state, outside of the robot control system From means for acquiring position information of the current user and the robot, the identification information of the identification information and the robot of the obtained detailed service condition, by referring to the service history database, the acquired within a predetermined time period Presence / absence of detailed service indicated by the identification information of the detailed service, position information of the acquired current user and robot, and position information of the user and robot at the past service start time stored in the service history database And the number of times of providing the detailed service indicated by the acquired detailed service identification information , and providing to the user based on at least one of the presence / absence of the acquired detailed service, the difference and the number of times of provision Determining means for determining identification information of a detailed service indicating a detailed service to be performed; and And a means for causing the robot indicated by the acquired identification information of the robot to execute the detailed service indicated by the determined identification information of the detailed service.

  ADVANTAGE OF THE INVENTION According to this invention, the robot control system which can provide an optimal service can be provided.

Hereinafter, a robot control system according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an entire robot control system according to an embodiment of the present invention.
As shown in the figure, a network 1 such as a LAN or the Internet is connected to robots 2 to 4 that perform services for users, sensors 5 to 7 that detect sensor data for detecting service start events, and the like. ing.

The network 1 is connected to a platform 8 that detects a service start event based on sensor data from the sensors 5 to 7 and selects an optimal robot that performs the service.
FIG. 2 is a functional block diagram showing details of the platform.

  In FIG. 2, the robot shown in FIG. 1 is shown as a service processing unit. Further, a presentation unit 11 for service execution confirmation and an input unit 12 for instructing acceptance / rejection are connected to the network 1, and these include, for example, a display device such as a computer display and an input device such as a keyboard. It is realized by.

The service processing units 2 to 4 provide services to users based on instructions from the platform 8.
The service execution confirmation presenting unit 11 presents whether or not the service determined in the platform 8 can be executed.
The input unit 12 for instructing acceptance / rejection inputs an instruction as to whether or not the service presented by the presentation unit 11 can be executed.

The platform 8 includes a sensor information collection unit 21, a service start event detection unit 22, a service determination unit 23, and a database 24.
The sensor information collection unit 21 collects sensor data from the various sensors 5 to 7. The sensor targeted by the sensor information collection unit 21 may include not only the external sensor installed in the environment but also the internal sensor that the robot itself has.

The service start event detection unit 22 issues an event to the service determination unit 23 when the sensor data matches a predefined event generation condition.
The service determination unit 23 determines a provided service while referring to the database 24 based on the processing flow shown in FIGS. Thereafter, the service determination unit 23 selects the service processing units 2 to 4 that can realize the determined service, and starts the service (delivering sensor information necessary for performing the service as necessary).

The database 24 includes a user database, a robot database, a detailed service database, and a service database.
As shown in Table 1, the user database stores a user ID (identification information), a user name, a service ID, an event (starting a service), and user positions XU and YU in association with each other. Here, the user position is the current position of the user, and sensor data regarding the position of the user collected by the sensor information collecting unit 21 is sequentially registered.

表１においては、利用者ＩＤ「１２３４５６７８」、利用者名「ヤマダタロウ」、サービスＩＤ「１０」、イベント「入室」及び利用者位置ＸＵ，ＹＵ「１００，１００］が記憶されている。
ロボットデータベースは、表２に示すように、ロボットＩＤ、ロボット名、ロボット保有能力、ロボット位置ＸＲ，ＹＲ及びロボット状態を互いに関連付けて記憶する。ここで、ロボット位置は、ロボットの現在位置であり、センサ情報収集部２１によって収集されたロボットの位置に関するセンサデータが逐次登録される。また、ロボット状態はロボットの現在の状態を示しており、センサ情報収集部２１によって収集されたロボットの状態に関するセンサデータが逐次登録される。

In Table 1, a user ID “12345678”, a user name “Yamada Taro”, a service ID “10”, an event “room entry”, and user positions XU and YU “100, 100” are stored.
As shown in Table 2, the robot database stores the robot ID, the robot name, the robot holding ability, the robot positions XR and YR, and the robot state in association with each other. Here, the robot position is the current position of the robot, and sensor data relating to the position of the robot collected by the sensor information collection unit 21 is sequentially registered. The robot state indicates the current state of the robot, and sensor data relating to the state of the robot collected by the sensor information collecting unit 21 is sequentially registered.

表２においては、ロボットＩＤ「１」、ロボット名「ロボットＡ」、ロボット保有能力「movable/able to speak」、ロボット位置ＸＲ，ＹＲ「２００，２００」及びロボット状態「idling/rotating/moving/speakingなどのうちの１つ」が記憶されている。ここで、「movable」はロボットが移動可能、「able to speak」はロボットが発話可能であることを意味する。また、「idling」は、ロボットが動作可能な状態であることを意味し、「rotating」はロボットが回転している状態、[moving]はロボットが移動している状態、「speaking」はロボットが発話している状態を意味する。

In Table 2, the robot ID “1”, the robot name “Robot A”, the robot possession ability “movable / able to speak”, the robot positions XR, YR “200, 200”, and the robot state “idling / rotating / moving / speaking” Etc. "is stored. Here, “movable” means that the robot can move, and “able to speak” means that the robot can speak. “Idling” means that the robot is operable, “rotating” means that the robot is rotating, [moving] means that the robot is moving, and “speaking” means that the robot is moving. It means a state of speaking.

  As shown in Table 3, the detailed service database stores the detailed service ID, the detailed service name, the service ID, the service grade, and the robot possession ability necessary for the service in association with each other.

表３においては、詳細サービスＩＤ「１１」については、詳細サービス名「近寄り発話」、サービスＩＤ「１０」、サービスグレード「１０」及びサービスに必要なロボット保有能力「movable/able to speak」が記憶され、詳細サービスＩＤ「１２」については、詳細サービス名「近寄り」、サービスＩＤ「１０」、サービスグレード「５」及びサービスに必要なロボット保有能力「movable」が記憶され、詳細サービスＩＤ「１３」については、詳細サービス名「発話」、サービスＩＤ「１０」、サービスグレード「１」及びサービスに必要なロボット保有能力「able to speak」が記憶されている。

In Table 3, for the detailed service ID “11”, the detailed service name “close utterance”, the service ID “10”, the service grade “10”, and the robot possession ability “movable / able to speak” necessary for the service are stored. For the detailed service ID “12”, the detailed service name “close”, the service ID “10”, the service grade “5”, and the robot possession capability “movable” necessary for the service are stored, and the detailed service ID “13”. Is stored in detail service name “utterance”, service ID “10”, service grade “1”, and robot possession ability “able to speak” necessary for the service.

  As shown in Table 4, the service database stores service IDs and service names in association with each other.

表４においては、サービスＩＤ「１０」及びサービス名「挨拶」が記憶されている。
次に、本発明の実施の形態に係るロボット制御システムの動作について、図３のフローチャートを参照して説明する。
ここでは、ロボットがいる部屋に利用者が入室したとき、ロボットが挨拶をするというサービスを具体例に説明する。この場合、図２の「サービス処理部」は「ロボット」に相当する。

In Table 4, the service ID “10” and the service name “greeting” are stored.
Next, the operation of the robot control system according to the embodiment of the present invention will be described with reference to the flowchart of FIG.
Here, a specific example of a service in which a robot greets when a user enters a room with a robot will be described. In this case, the “service processing unit” in FIG. 2 corresponds to a “robot”.

The greeting service performed by the robot has three patterns: (1) approach and speak, (2) speak and (3) approach, and the robot uses the “approach to the user” function and “greeting text” It shall have the function of “speak”.
A user carries an RF (Radio Frequency) tag, and an RF tag reader that detects a user ID emitted by the RF tag is installed in the room. Also, assume that a camera is installed in the room to detect the position of the user. The “sensor” in FIG. 2 corresponds to an RF tag reader and a camera here.

When the user carrying the RF tag enters the room and the RF tag reader detects the user ID (for example, 12345678), the RF reader transmits the user ID to the sensor information collection unit 21.
When the camera installed in the room detects the user position (XU, YU), it transmits it to the sensor information collection unit 21. In order to detect the position of the user, for example, a camera is installed on the ceiling so that the entire room can be captured within the field of view, and a known template matching technique (see, for example, JP-A-9-330402) is used. Use.

Alternatively, for example, a plurality of directional infrared sensors are installed on the ceiling, and the user attaches infrared LEDs (where visible from the ceiling). And you may obtain | require a user's position from the installation position of the infrared sensor which sensed the infrared light.
The sensor information collection unit 21 registers the user position in the user DB, and transmits the user position and the user ID to the service start event detection unit 22.

When the user ID is detected and the user position is in the room, the service start event detecting unit 22 notifies the service determining unit 23 of the event that “(user ID) is (entering)” and the user ID. Transmit (S1).
The service determination unit 23 determines a service based on the processing flow from S2 onward shown in FIG.

A “service ID” that matches the “user ID” and “event” sent by the service start event detection unit 22 is searched from the user DB (S2). If there is a matching “service ID”, the process proceeds to S3. Move on to processing. On the other hand, if it does not exist, the process ends.
“Detailed service ID” that matches “Service ID” and “Robot possession ability necessary for service” are searched from the detailed service DB (S3), and the matching “Detailed service ID” and “Robot possession ability necessary for service” are retrieved. If there is, the process proceeds to S4. On the other hand, if it does not exist, the process ends.

By searching the robot DB, a robot ID whose “robot state” is idling is searched (S4). If a robot ID exists, the process proceeds to S5. On the other hand, if it does not exist, the process ends.
Of the retrieved “robot IDs”, search for “robot ID” whose robot possession ability matches the “robot possession ability necessary for service” retrieved in S3 (S5), and if the robot ID exists The process proceeds to S6. On the other hand, if it does not exist, the process ends.

  Thereafter, a set of “robot ID” searched in S5 and “detailed service ID” corresponding to this “robot ID” is stored in a memory (not shown) (S6), and the robot ID searched in S6 Then, it is determined whether or not there are two or more sets of “detailed service IDs” corresponding thereto (S7). When it is determined that two or more sets exist, the “detailed service ID” stored in S6 is determined. Among them, the detailed service ID having the highest “service grade” is selected (S8), and the process proceeds to S9.

On the other hand, if it is determined in S7 that there are not two or more sets of the robot ID searched in S6 and the corresponding “detailed service ID”, the process proceeds to S9.
In S9, the robot ID corresponding to the selected detailed service ID is read from the memory, the detailed service ID selected in S10 and the read robot ID are determined as the service details to be executed and the robot to execute the service, respectively. The service is provided to the user (S10).

Therefore, according to the robot control system according to the embodiment of the present invention, even when there are a plurality of robots that can provide a service, the robot that can provide the highest-grade service is selected. Therefore, the optimum service can be provided to the user.
<Other embodiments>
In the above-described embodiment, the case of selecting a robot that can provide the highest-grade service has been described, but here, another method for selecting a detailed service ID will be described.

  In the present embodiment, the database 24 stores a service history database shown in Table 5 in addition to the above-described user database, robot database, detailed service database, and service database.

表５に示すように、サービス履歴データベースにはサービス開始日時、詳細サービスＩＤ、ロボットＩＤ、利用者ＩＤ及びサービス開始状況における利用者位置（ＸＵ_L，ＹＵ_L）、ロボット位置（ＸＲ_L，ＹＲ_L）が記憶されている。
表５の例においては、サービス開始日時「２００４年１２月７日１２時０分３０秒」、詳細サービスＩＤ「１１」、ロボットＩＤ「１」、利用者ＩＤ「１２３４５６７８」及びサービス開始状況における利用者位置「ＸＵ_L＝１００，ＹＵ_L＝１００」、ロボット位置「ＸＲ_L＝２００，ＹＲ_L＝２００」が記憶されている。

As shown in Table 5, the service history database includes a service start date and time, a detailed service ID, a robot ID, a user ID, a user position (XU _L , YU _L ) in a service start situation, and a robot position (XR _L , YR _L ) Is stored.
In the example of Table 5, service start date and time “December 7, 2004, 12: 0: 30”, detailed service ID “11”, robot ID “1”, user ID “12345678”, and usage in service start status The person position “XU _L = 100, YU _L = 100” and the robot position “XR _L = 200, YR _L = 200” are stored.

Next, another method for selecting the detailed service ID after the case where it is determined in S7 shown in FIG. 3 that there are two or more sets of the detailed service ID and the robot ID will be described with reference to the flowchart of FIG. To do.
Of the plurality of detailed service IDs corresponding to the robot ID searched in S5 of FIG. 3, the service provided in an appropriate period (for example, the last one month) is extracted from the service history DB and selected based on it. The matrix A is calculated (S11). For example, if there are five detailed service IDs corresponding to the robot ID searched in S5 in FIG. 3 (here, called S1, S2, S3, S4, and S5, respectively) and S2 and S5 are extracted, Let A = [0,1,0,0,1].

  The (current) service start status is acquired (S12). For example, when using the user position (XU, YU) and the robot position (XR, YR) as materials for determining the situation, the user DB and robot are used with the user ID and robot ID as conditions (keys). Extract user position and robot position from DB.

On the condition of the detailed service ID, the service start status is extracted from the service history DB (S13). For example, as in S12, when the user position and the robot position are used for service start situation determination, the service start situation (user position (XU _L , YU _L ) and the robot position (XR _L , YR _L ) are searched.

Next, the difference between the (current) situation obtained in S12 and the (previous) service start situation obtained in S13 is calculated, a service having a small difference value is selected, and a selection matrix B is obtained based on the selected service. Calculate (S14). For example, the difference D is calculated as follows:
D = (XU-XU _L ) ² + (YU-YU _L ) ² + (XR-XR _L ) ² + (YR-YR _L ) ²
When the service ID is smaller than the predefined value Dd, the detailed service ID is selected, and the selection matrix B is calculated based on the detailed service ID. For example, when S3 and S4 are selected, B = [0,0,1,1,0].

  Next, the detailed service ID corresponding to the robot ID searched in S5 in FIG. 3 is obtained from the detailed service history DB, and the selection matrix C is calculated based on the number N. (S15). For example, if two detailed service IDs that have been frequently provided in the past are adopted, if S4 and S5 are provided frequently, C = [0,0,0,1,1].

A weighting matrix W is calculated by multiplying the selection matrices A, B, and C by weighting factors α, β, and γ set in advance (S16).
W = αA + βB + γC
In the above example,
W = [0, α, 0,0, α] + [0,0, β, β, 0] + [0,0,0, γ, γ] = [0, α, β, (β + γ) , (α + γ)]
It becomes.

  Of the detailed services that have not yet been confirmed to the user, the user is confirmed whether the detailed service having the largest element of the weight matrix W may be executed (S17). As a presentation means for prompting confirmation, for example, the user speaks “Do you want to execute **” from a speaker provided in the robot.

  If the user accepts, the process proceeds to the next step. If the user refuses, a determination is made as to whether there is a detailed service not presented to the user (S21). Return to the previous step S17 (S18). If it is determined in S21 that it does not exist, the process is terminated. In S17, the detailed service having the element of the weight matrix W next to the detailed service confirmed this time is presented. The acceptance / rejection user input means, for example, records the user's utterance with a microphone and recognizes words such as “yes” and “no” by speech recognition.

  The selected detailed service ID is delivered to the service processing unit (robot), and the service processing unit provides a service to the user (S19). Then, the service determination unit 23 stores the date and time, the selected detailed service, the robot ID that provides the service, the provided user ID, and the service start status in the service history DB (S20).

  In the above processing flow, a detailed service having the largest element of the weight matrix W may be automatically provided without prompting the user to select as in S17. Further, the detailed service may be provided with the appearance probability based on the size of the element of the weight matrix W, instead of providing the fixed service in a descending order of the elements of the weight matrix W (fixedly).

  According to a robot control system according to another embodiment of the present invention, (1) a service provided within a recent fixed period, (2) a service with a small difference between sensor data in the history DB and current sensor data , (3) Extract the services that have been selected in the past, multiply the selection matrix representing the extracted services by the weighting factor considering (1), (2), (3), and add Choose the largest service. Therefore, since the most optimal robot is selected, an optimal service can be provided to the user.

Note that, in the above method, the probability that the service is selected may be changed based on the magnitude of the calculation result instead of adopting the service having the largest calculation result.
In the present embodiment, the case where the robot provides the service has been described. However, the present invention is not limited to the robot, and any device that can provide the service to the user may be used.

  The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  In addition, the method described in the embodiment is, for example, a magnetic disk (floppy (registered trademark) disk, hard disk, etc.), optical disk (CD-ROM, DVD) as programs (software means) that can be executed by a computer (computer). , MO, etc.), a semiconductor memory (ROM, RAM, flash memory, etc.) or the like, or can be transmitted and distributed via a communication medium. The program stored on the medium side includes a setting program that configures software means (including not only the execution program but also a table and data structure) in the computer. A computer that implements this apparatus reads a program recorded on a recording medium, constructs software means by a setting program as the case may be, and executes the above-described processing by controlling the operation by this software means. The recording medium referred to in this specification is not limited to distribution, but includes a storage medium such as a magnetic disk or a semiconductor memory provided in a computer or a device connected via a network.

It is a figure showing the whole robot control system concerning an embodiment of the invention. It is a functional block diagram which shows the detail of a platform. It is a flowchart for demonstrating operation | movement of the robot control system which concerns on embodiment of this invention. It is a flowchart for demonstrating operation | movement of the robot control system which concerns on the other embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Network, 2-4 ... Robot, 5-7 ... Sensor, 8 ... Platform, 11 ... Presentation part, 12 ... Input part, 21 ... Sensor information collection part, 22 Service start event detection part, 23 ... Service determination part, 24 ... Database.

Claims (6)

A user database that stores the identification information of the user of the robot control system, the identification information of the service, and an event for starting the service provided to the user by the robot in association with each other;
A service database for associating and storing service identification information, identification information of a detailed service indicating a specific service for executing the service indicated by the identification information of the service, and robot possession capability necessary for the detailed service;
A robot database that stores the identification information of the robot, the robot's possession ability, and the robot state in association with each other;
A service history database that stores past service start times, detailed service identification information , robot position information and user position information at past service start times,
Data including user identification information from outside the robot control system and including information necessary for detecting the event is received, and the event and user identification information is detected based on the received data. Means to
On the condition of the detected event and user identification information, the user database is searched to obtain service identification information, and the service database is searched on the condition of the obtained service identification information for details. The service identification information and the possession ability of the robot necessary for the detailed service are obtained, and the robot database is searched on condition of the possession ability of the robot necessary for the obtained service and the state of the robot is in the idling state. Means for obtaining identification information;
Means for acquiring current user and robot position information from outside the robot control system;
The presence / absence of a detailed service indicated by the acquired detailed service identification information within a predetermined period with reference to the service history database on condition of the acquired detailed service identification information and robot identification information, It is indicated by the difference between the acquired position information of the current user and robot and the position information of the user and robot at the previous service start time stored in the service history database and the identification information of the acquired detailed service. Determining means for acquiring the number of times of providing the detailed service and determining identification information of the detailed service indicating the detailed service to be provided to the user based on at least one of the presence / absence, difference and the number of times of providing the detailed service; ,
Means for causing the robot indicated by the acquired identification information of the robot to execute a detailed service indicated by the determined identification information of the detailed service. The determining means includes
Generating a first matrix A indicating whether or not there is a detailed service indicated by the identification information of the acquired detailed service within a predetermined period;
Generating a second matrix B indicating a difference between the acquired position information of the user and the robot at the start of the service and the position information of the user and the robot at the previous service start time stored in the service history database; ,
Generating a third matrix C indicating the number of times of providing the detailed service indicated by the acquired detailed service identification information ;
A weighting factor W = αA + βB + γC is obtained with α, β, γ set in advance, and the identification information of the detailed service is determined based on the element of the obtained weighting factor W. The robot control system according to 1. A user database that stores the identification information of the user of the robot control system, the identification information of the service, and an event for starting the service provided to the user by the robot in association with each other;
A service database for associating and storing service identification information, identification information of a detailed service indicating a specific service for executing the service indicated by the identification information of the service, and robot possession capability necessary for the detailed service;
A robot database that stores the identification information of the robot, the robot's possession ability, and the robot state in association with each other;
In a robot control method in a robot control system comprising a service history database that stores past service start time, detailed service identification information , robot position information and user position information at the past service start time,
Data including user identification information from outside the robot control system and including information necessary for detecting the event is received, and the event and user identification information is detected based on the received data. And steps to
On the condition of the detected event and user identification information, the user database is searched to obtain service identification information, and the service database is searched on the condition of the obtained service identification information for details. The service identification information and the possession ability of the robot necessary for the detailed service are obtained, and the robot database is searched on condition of the possession ability of the robot necessary for the obtained service and the state of the robot is in the idling state. Obtaining identification information;
Obtaining current user and robot position information from outside the robot control system;
The presence / absence of a detailed service indicated by the acquired detailed service identification information within a predetermined period with reference to the service history database on condition of the acquired detailed service identification information and robot identification information, It is indicated by the difference between the acquired position information of the current user and robot and the position information of the user and robot at the previous service start time stored in the service history database and the identification information of the acquired detailed service. Acquiring the number of times of providing the detailed service, and determining identification information of the detailed service indicating the detailed service to be provided to the user based on at least one of the acquired presence of the detailed service, the difference, and the number of times of providing;
And a step of causing the robot indicated by the acquired identification information of the robot to execute the detailed service indicated by the determined identification information of the detailed service. The determining step includes
Generating a first matrix A indicating whether or not there is a detailed service indicated by the identification information of the acquired detailed service within a predetermined period;
Generating a second matrix B indicating a difference between the acquired position information of the user and the robot at the start of the service and the position information of the user and the robot at the previous service start time stored in the service history database; ,
Generating a third matrix C indicating the number of times of providing the detailed service indicated by the acquired detailed service identification information ;
A weighting factor W = αA + βB + γC is obtained with α, β, γ set in advance, and the identification information of the detailed service is determined based on the element of the obtained weighting factor W. 3. The robot control method according to 3. A user database that stores the identification information of the user of the robot control system, the identification information of the service, and an event for starting the service provided to the user by the robot in association with each other;
A service database for associating and storing service identification information, identification information of a detailed service indicating a specific service for executing the service indicated by the identification information of the service, and robot possession capability necessary for the detailed service;
A robot database that stores the identification information of the robot, the robot's possession ability, and the robot state in association with each other;
In a program for controlling a robot control system comprising a service history database that stores past service start times, detailed service identification information , robot position information and user position information at past service start times,
The program is stored in the robot control system.
Data including user identification information and information necessary for detecting the event is received from outside the robot control system. Based on the received data, the event that starts the service and the user's Detect identification information,
On the condition of the detected event and user identification information, the user database is searched to obtain service identification information, and the service database is searched on the condition of the obtained service identification information for details. The service identification information and the possession ability of the robot necessary for the detailed service are obtained, and the robot database is searched on condition of the possession ability of the robot necessary for the obtained service and the state of the robot is in the idling state. Get identification information,
Get the current user and robot position information from outside the robot control system,
The presence / absence of a detailed service indicated by the acquired detailed service identification information within a predetermined period with reference to the service history database on condition of the acquired detailed service identification information and robot identification information, It is indicated by the difference between the acquired position information of the current user and robot and the position information of the user and robot at the previous service start time stored in the service history database and the identification information of the acquired detailed service. Acquiring the number of times of providing the detailed service, and determining the identification information of the detailed service indicating the detailed service to be provided to the user based on at least one of the presence / absence, difference and the number of times of providing the detailed service,
A program for causing a robot indicated by the acquired identification information of a robot to execute a detailed service indicated by the determined identification information of the detailed service. The detailed service identification information determination process is performed by the robot control system.
Generating a first matrix A indicating the presence or absence of a detailed service indicated by the acquired identification information of the detailed service within a predetermined period;
Generating a second matrix B indicating a difference between the acquired position information of the user and the robot at the start of the service and the position information of the user and the robot at the previous service start time stored in the service history database; ,
Generating a third matrix C indicating the number of times of providing a detailed service indicated by the acquired detailed service identification information ;
A weighting factor W = αA + βB + γC is obtained with α, β, γ set in advance, and the identification information of the detailed service is determined based on the element of the obtained weighting factor W. 5. The program according to 5.

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