JP5569073B2 - Service providing apparatus, service providing program, and service robot - Google Patents

Description

  The present invention relates to a service providing apparatus, a service providing program, and a service robot.

  2. Description of the Related Art Service providing apparatuses that provide services such as guidance and transportation in public spaces are known. An example of this service providing apparatus is a service robot. In order to provide a service using such a service robot, it is necessary to make the service robot recognize a person who provides the service as a service target person.

  For example, a technology to detect the approach to a service robot using sensors such as a CCD camera (Charge Coupled Device Image Sensor), an infrared camera, a microphone, an infrared tag, and a biosensor is proposed. Has been.

  When the approach of a person is detected through such sensors, the service robot displays a guidance content (contents) or outputs a voice, for example. provide.

JP 2008-242544 A JP 2008-260107 A JP 2008-197720 A JP 2008-142876 A

  However, the above-described conventional technology has a problem that it is not possible to appropriately select a service target person as described below.

  In other words, the above-described conventional technology merely waits for a person to approach the service robot and provides services uniformly in order from the person who approaches first. For this reason, in the above prior art, when the approach of a person who does not intend to receive the service is detected first, the person who wants the service approaching later may be ignored and the service may be provided to the previous approaching person. There is.

  The disclosed technology has been made in view of the above, and an object thereof is to provide a service providing apparatus, a service providing program, and a service robot capable of appropriately selecting a service target person.

  The service providing apparatus disclosed in the present application includes a movement information acquisition unit. The movement information acquisition unit acquires movement directions and movement speeds of a plurality of persons existing in a first area defined with reference to the own device. Furthermore, the service providing apparatus includes an interference determination unit. The interference determination unit is configured such that a person's movement estimation trajectory estimated from the movement directions and movement speeds of a plurality of persons acquired by the movement information acquisition unit is smaller than the first region and is based on the own apparatus. Whether to interfere with the second area defined as follows. Furthermore, the service providing apparatus includes a service target person selecting unit. The service target person selecting unit selects a person who is determined by the interference determination unit to interfere with the movement estimation trajectory in the second area as a service target person to which the device itself provides a service.

  According to one aspect of the service providing apparatus disclosed in the present application, there is an effect that a service target person can be appropriately selected.

FIG. 1 is a block diagram illustrating the configuration of the service providing apparatus according to the first embodiment. FIG. 2 is a block diagram illustrating the configuration of the service robot according to the second embodiment. FIG. 3A is a diagram schematically illustrating the appearance of the service robot. FIG. 3B is a diagram for explaining a person detection procedure in the LRF. FIG. 3C is a diagram for explaining the relationship between the search range of the LRF and the service area where the service provision is shifted to the execution stage. FIG. 4 is a diagram illustrating an example of interference determination. FIG. 5A is a graph showing the relationship between the shortest vertical distance and the priority when α is 0 and the moving speed is fixed at 0.1 m / s. FIG. 5B is a graph showing the relationship between the shortest vertical distance and the priority when α is set to 0 and the moving speed is fixed to 4.0 m / s. FIG. 6A is a graph showing the relationship between the shortest vertical distance and the priority when α is 0.5 and the moving speed is fixed at 0.1 m / s. FIG. 6B is a graph showing the relationship between the shortest vertical distance and the priority when α is set to 0.5 and the moving speed is fixed to 4.0 m / s. FIG. 7 is a diagram for explaining a rotational driving procedure of the service robot when the service target person is captured. FIG. 8 is a diagram for explaining a monitoring procedure for withdrawal behavior. FIG. 9 is a diagram for explaining a determination procedure for determination of departure. FIG. 10 is a flowchart illustrating an overall flow procedure of the service robot according to the second embodiment. FIG. 11 is a flowchart illustrating a procedure of service providing processing according to the second embodiment. FIG. 12 is a schematic diagram illustrating an example of a computer that executes a service providing program according to the third embodiment.

  Hereinafter, embodiments of a service providing device, a service providing program, and a service robot disclosed in the present application will be described in detail with reference to the drawings. Note that this embodiment does not limit the disclosed technology.

  FIG. 1 is a block diagram illustrating the configuration of the service providing apparatus according to the first embodiment. As illustrated in FIG. 1, the service providing apparatus 1 includes a movement information acquisition unit 2, an interference determination unit 3, and a service target person selection unit 4.

  Among these, the movement information acquisition unit 2 acquires the movement directions and movement speeds of a plurality of persons existing in the first area defined with reference to the own device. In addition, the interference determination unit 3 has a human movement estimation trajectory estimated from the movement directions and movement speeds of the plurality of persons acquired by the movement information acquisition unit 2 smaller than the first area and is based on the own apparatus. Whether to interfere with the second area defined as follows. In addition, the service target person selecting unit 4 selects a person whose movement estimation trajectory is determined to interfere with the second region by the interference determination unit 3 as a service target person to which the own apparatus provides a service.

  As described above, the service providing apparatus 1 according to the present embodiment selects a person who is about to enter the second area among the persons existing in the first area as a service target person. That is, in the service providing apparatus 1 according to the present embodiment, a person who is located in the first area but does not attempt to approach the second area is excluded from the service target person and tries to approach the second area. A person can be selected as a service target. For this reason, in the service providing apparatus 1 according to the present embodiment, even if a person existing in the first area does not intend to receive the service, a person who is willing to receive the service is included therein. Can be selected as a service target. Therefore, according to the service providing apparatus 1 according to the present embodiment, it is possible to appropriately select a service target person. Furthermore, according to the service providing apparatus 1 according to the present embodiment, there is no waste of providing a service to a person who does not intend to receive the service, and the efficiency related to the service provision can be improved.

  The service providing apparatus 1 according to the present embodiment can provide a service as a service robot capable of self-running, for example, in addition to providing a service as a server apparatus or a terminal apparatus fixedly installed at a predetermined place. In addition, the service providing apparatus 1 according to the present embodiment can be applied, for example, when various services such as a guidance service, a transportation service, an advertisement service, and a security service are performed. In addition, any service provided in an environment in which a service target person is selected from an unspecified number of people located in a public space can be similarly applied.

  Next, a service robot according to the second embodiment will be described. FIG. 2 is a block diagram illustrating the configuration of the service robot according to the second embodiment. The service robot 10 shown in FIG. 2 is a robot used for services in public spaces such as commercial facilities, museums, and stations. In the example of FIG. 2, it is assumed to be used when providing a guidance service by selecting a service target person from among an unspecified number of people located in a public space and reproducing contents.

  As shown in FIG. 2, the service robot 10 includes a display unit 11, a communication unit 12, a drive unit 13, an LRF 14, a storage unit 15, and a control unit 16. Note that the service robot 10 includes various functional units included in a known service robot, such as a voice output unit, a voice recognition unit, and a Web camera, in addition to the functional units illustrated in FIG.

  Among these, the display part 11 is a display device which displays various information, for example, the content for guidance, For example, a monitor, a display, a touch panel, etc. are applicable.

  The communication unit 12 is a processing unit that performs communication with an external device. As an example, the communication unit 12 downloads guidance content by communicating with a server device (not shown), or accepts a remote operation from the server device. .

  The drive unit 13 is a processing unit that drives a mechanism for the service robot 10 to self-run. For example, the drive unit 13 is self-propelled by rotating the direction of the service robot 10 main body or driving the wheel of the service robot 10 based on an instruction from a pre-processing start control unit 16e described later. Or stop self-running by braking the rotation.

  An LRF (laser range scanner) 14 is a device that three-dimensionally reads the shape of an object existing around the service robot 10 using a laser beam. FIG. 3A is a diagram schematically illustrating the appearance of the service robot. FIG. 3B is a diagram for explaining a person detection procedure in the LRF. FIG. 3C is a diagram for explaining the relationship between the search range of the LRF and the service area where the service provision is shifted to the execution stage.

  As shown in FIG. 3A, the LRF 14 is installed in the lower part of the service robot 10 so that a laser beam can be irradiated to a person's leg located in the search range for the search range that the detection capability of the LRF 14 reaches. . A drive unit 13 that drives a mechanism for the service robot 10 to self-run is provided below the service robot 10. As an example, the driving unit 13 drives a wheel to make the service robot 10 self-run, or drives a turning mechanism to turn the service robot 10. Under such an installation environment, the LRF 14 forms a fan-shaped search range 30 on the front surface of the main body with the service robot 10 at the center, as shown in FIG. 3B.

  The LRF 14 receives the reflected light of the laser beam irradiated to the search range 30, and outputs the received light data of the reflected light to the movement information acquisition unit 16a described later. The movement information acquisition unit 16a detects the human H from the presence or absence of the human H's foot using the received light data. In addition, the movement information acquisition unit 16a specifies the coordinates of the center of gravity of the human H as the coordinates of the location of the human H, and specifies the velocity vector (Vx, Vy) of the human H. The coordinates obtained in this way are obtained not as a global absolute coordinate system but as a robot coordinate system when the service robot 10 is the origin.

  By using such an LRF 14, the position of the person H away from the service robot 10 and the velocity vector of the person H can be detected in a wide angle. In the present embodiment, the LRF 14 is exemplified as a device for realizing human detection. However, any device may be mounted as long as it can detect human detection, a movement direction and a movement speed of a person. For example, an ultrasonic sensor can be used in addition to various cameras such as a plurality of cameras and an omnidirectional camera. Furthermore, other sensors such as an infrared camera, a microphone, an infrared tag, and a biosensor may be used, or a combination of these may be used.

  Here, the search range 30 of the LRF 14 is defined in shape and width based on the detection capability of the LRF 14. As an example, assume a case where a fan-shaped region having a radius of about 5 m formed on the front surface of the service robot 10 is defined as the search range 30 as shown in FIG. 3C. Note that the search range 30 is not limited to the illustrated shape and size, and can be changed to an arbitrary shape according to the performance of the LRF 14 and can be expanded and contracted to an arbitrary size. Further, here, the case where the entire range covered by the detection capability of the LRF 14 is set as the search range has been described, but the present invention is not limited to this, and a part of the range covered by the detection capability of the LRF 14 may be set as the search range. it can.

  On the other hand, in the service robot 10, a service area is defined as an area where the provision of service is shifted to the execution stage separately from the search range 30. The service area 40 is defined in such a range that the service robot 10 and the person receiving the service can transmit information to each other. Here, since the service robot 10 reproduces content through the display unit 11, a case is assumed in which the service area 40 is defined from the screen size of the display unit 11 and the display size (size) of the content. In the example shown in FIG. 3C, the service area 40 is a partial area of the search range 30, and a fan-shaped area having a radius of about 1.5 m formed on the front surface of the service robot 10 is defined as the service area 40.

  Note that the service area 40 is not limited to the shape and size shown in the drawing, and may be changed to any shape or may have any size depending on the performance of the LRF 14 and the performance of the device mounted according to the service content. It can be expanded and contracted. For example, when the service robot 10 is equipped with a voice recognition engine, the service area 40 can be a distance that allows the service robot 10 to recognize human speech, for example, about 1 m to about 2 m. However, since the service robot 10 operates in the order of human detection and selection of a service target person, the service area 40 is preferably defined to be smaller than the search range 30.

  Returning to the description of FIG. 2, the storage unit 15 is, for example, a semiconductor memory device such as a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 15 is not limited to the above type of storage device, and may be a RAM (Random Access Memory) or a ROM (Read Only Memory).

  The storage unit 15 stores various programs executed by the control unit 16, such as a self-running control program and a guidance program for the service robot 10. Further, the storage unit 15 stores data necessary for executing the previous program, for example, definition information of the search range 30 and the service area 40.

  In addition, the storage unit 15 also stores content 15a that is video data for guidance. The content 15a may be stored in the storage unit 15 in advance, or may be downloaded from a server device (not shown) at the stage of providing the service.

  The control unit 16 is, for example, an integrated circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA), or an electronic circuit such as a central processing unit (CPU) or a micro processing unit (MPU).

  The control unit 16 has an internal memory for storing programs defining various processing procedures and control data, and executes various processes using these. As shown in FIG. 2, the control unit 16 includes a movement information acquisition unit 16a, an interference control unit 16b, a priority calculation unit 16c, a service target selection unit 16d, a preprocessing start control unit 16e, and a service provision It has a part 16f and a withdrawal action detection part 16g.

  Here, the movement information acquisition unit 16a, the interference determination unit 16b, and the service target person selection unit 16d illustrated in FIG. 2 are respectively added to the movement information acquisition unit 2, the interference determination unit 3, and the service target person selection unit 4 illustrated in FIG. Correspond. Furthermore, although the movement information acquisition unit 2 illustrated in FIG. 1 corresponds to the LRF 14 illustrated in FIG. 2, hardware for detecting the movement speed and movement direction of a person is not limited to the LRF 14. As another example, data for detecting the moving speed and moving direction of a person may be acquired from an external device connected via a predetermined interface or network.

  Among these, the movement information acquisition unit 16a is a processing unit that acquires the position and velocity vector of the person H by analyzing the light reception data of the reflected light input from the LRF 14.

  Explaining this, the movement information acquisition unit 16a determines the presence or absence of the human H's foot from the received light data of the reflected light. At this time, when the human H's foot is detected, it is determined that the human H exists within the search range 30. When the person H is detected in this way, the movement information acquisition unit 16a further acquires the coordinates of the location of the person H and the velocity vector (Vx, Vy) by further analyzing the received light data. The location of the person H obtained in this way is in the robot coordinate system when the service robot 10 is the origin.

  The interference determination unit 16b is a processing unit that determines whether or not a person's movement estimation trajectory estimated from the coordinates of the location of the person H and the velocity vector acquired by the movement information acquisition unit 16a interferes with the service area 40. is there.

  Here, the interference determination unit 16b determines whether or not the moving speed of the person H is equal to or lower than a predetermined threshold prior to determining the interference between the movement estimation trajectory and the service area 40. Thus, the threshold determination of the moving speed is for excluding those who move at an excessively high speed from the selection targets by the service target person selecting unit 16d described later. This is because it can be estimated that a person who moves at an excessively fast speed does not intend to stop in the service area 40 and does not intend to receive service by the service robot 10.

  The threshold value used as the comparison value of the moving speed can be used by performing predetermined statistical processing on the moving speed of the passerby measured in the past. For example, a value obtained by multiplying the average value of the moving speed of passersby by a predetermined value, for example, 1.5 can be used. As an example, in the case where the service robot 10 is used in a place where an adult is jealous, since the walking speed of an adult is “1.0 m / s to 1.5 m / s”, “2.0 m / s ˜˜2.25 m / s ”can be set as the threshold value. By using a threshold value multiplied by such a value as a comparison value of the moving speed, it is possible to filter the persons who move at a speed higher than the fast walking from the service target person.

  Next, a procedure for determining whether or not interference between the movement estimation trajectory and the service area 40 is possible will be described. First, the interference determination unit 16b calculates a movement extension line from the current position as a movement estimation trajectory when the movement is continued from the position where the person H is located in the direction of the velocity vector.

  To explain this, when an arbitrary point on the moving plane is P (X, Y) and a vector for defining the direction of the straight line is D (Dx, Dy), the equation of the straight line vector is X (t) = P + tD. expressed. By substituting the location position P (X1, Y1) and the velocity vector (Vx, Vy) into this linear vector equation, the interference determination unit 16b calculates the movement extension line L of the human H. At this time, Dx is obtained by calculating “cos (atan2 (Vy, Vx))”. Dy is obtained by calculating “sin (atan2 (Vy, Vx))”.

  After calculating the movement extension line L in this way, the interference determination unit 16b performs an intersection determination between the movement extension line L and the circle defining the service area 40, whereby the movement estimation trajectory of the person H is determined to be the service area 40. It is determined whether or not the interference occurs.

To explain this, after substituting the linear equation “X (t) = P + tD” into the circular equation “| X−C | ² = R ² ” and “P−C” as Δ, Δ When transformed into a solution calculation formula, the following formula (1) is obtained. P (X1, Y1) is the location of the person H, and D (Dx = cos (atan2 (Vy, Vx)), Dy = sin (atan2 (Vy, Vx))) is a straight line determined from the velocity vector. It shall be in the direction. Further, C is the center coordinate of the circle of the service area 40. R is the radius of the circle of the service area 40.

Interference determination by substituting known P, D, C, and R into the square root portion “(D · Δ) ² − | D | ² (| Δ | ² −R ² )” in the above formula (1). The unit 16b determines whether the moving extension line L and the circle defining the service area 40 intersect. For example, when “(D · Δ) ² − | D | ² (| Δ | ² −R ² )” is larger than 0, the interference determination unit 16 b extends the movement because the straight line and the circle intersect. It is determined that the line L and the service area 40 interfere with each other. When “(D · Δ) ² − | D | ² (| Δ | ² −R ² )” is smaller than 0, the straight line and the circle do not intersect with each other. Are determined not to interfere with each other. When “(D · Δ) ² − | D | ² (| Δ | ² −R ² )” is 0, the straight line and the circle are tangent, but in this case, the movement extension line L And the service area 40 may be regarded as interference, or may be regarded as no interference.

FIG. 4 is a diagram illustrating an example of interference determination. Reference numeral 10 shown in FIG. 4 indicates a service robot. The code | symbol 30 shown in FIG. 4 shows a search range. The code | symbol 40 shown in FIG. 4 shows a service area. Reference signs H _A and H _B shown in FIG. 4 indicate the locations of human beings. Reference sign V _A and reference sign V _B shown in FIG. 4 indicate velocity vectors of the human H _A and the human H _B. Reference numerals L _A and L _B shown in FIG. 4 indicate movement extension lines of the human H _A and the human H _B.

In the example shown in FIG. 4, the movement extension line L _A of the human H _A does not intersect the service area 40, so it is determined by the interference determination unit 16 b that it does not interfere with the service area 40. As a result, since it is excluded from the service target person, the human _HA is not selected by the service target person selecting unit 16d described later. Meanwhile, the mobile extension L _B of human H _B, intersect the service area 40, because there are portions which mutually overlap, it is determined that interferes with the service area 40 by the interference determination unit 16b. Thus, human H _B is the candidate which can be selected as the service subject by the service subject selecting unit 16d to be described later.

  Returning to the description of FIG. 2, the priority calculation unit 16 c weights the moving direction and / or moving speed of the person H, thereby giving priority to the service provided by the own apparatus in the search range 30. It is a processing part which calculates for every. It should be noted that the priority calculation need not necessarily be executed because the service target person can be uniquely identified when the interference determination unit 16b determines that the movement estimation trajectory interferes with the service area 40. Absent.

  Here, the priority calculation unit 16c weights the moving speed so that the higher the moving speed of the person H, the lower the value is calculated. The reason why such weighting is adopted is that it can be estimated that there is no intention to stop in the service area 40 and there is no intention to receive service by the service robot 10. In addition, the priority calculation unit 16c weights the direction of the person so that the greater the degree that the service robot 10 deviates from the moving direction of the person H, the lower the value is calculated. The reason why such weighting is adopted is that when the human H is not facing the service robot 10, it is possible to estimate that the consciousness of the human H is not suitable for the service robot 10 and does not intend to receive the service. is there.

  As an example of a priority calculation formula that realizes weighting of the moving speed and the moving direction, the priority calculation section 16c uses the calculation formula shown in Expression (2).

  “Α” in the above equation (2) is a weighting parameter for defining which one of the weight of the moving speed and the weight of the direction of the person is to be prioritized, and 0 ≦ α ≦ It is defined in the range of 1. Further, UVi in the above equation (2) is obtained by normalizing the moving speed Vi. Further, Udi in the above equation (2) is obtained by normalizing the shortest vertical distance di between the movement extension line L and the origin of the robot coordinate system. Vi and di indicate the moving speed and the shortest vertical distance of the i-th person among persons who are determined that the movement estimation trajectory interferes with the service area 40. Vmax and dmax indicate the maximum movement speed and the maximum shortest vertical distance among the movement speed and the shortest vertical distance of the person who is determined that the movement estimation trajectory interferes with the service area 40.

  A priority calculation procedure using the equation (2) will be described. When the priority is calculated using the above equation (2), “α” is the weight of the moving speed Vi, and “1-α” is the weight of the shortest vertical distance di. Α that determines the distribution of the weight of the moving speed Vi and the weight of the shortest vertical distance di is defined in advance by a command from a server device (not shown). For example, the weight of the moving speed Vi is more important as α is set closer to 1, and the weight of the shortest vertical distance di is more important as α is set closer to 0.

  In an environment in which the weighting parameter α is set in advance, the priority calculation unit 16c determines that there are a plurality of persons who interfere with the movement estimation trajectory and the service area 40 by the interference determination unit 16b. Vmax and dmax are obtained. Then, the priority calculation unit 16c calculates the shortest vertical distance di between the movement extension line L from the current position calculated by the interference determination unit 16b and the origin of the robot coordinate system, and the calculated shortest vertical distance di is dmax. Normalize by dividing. Further, the priority calculation unit 16c calculates the movement speed Vi from the velocity vector (Vx, Vy) acquired by the movement information acquisition unit 16a using the three-square theorem, and divides the calculated movement speed Vi by Vmax. To normalize Vi.

  By substituting Udi and UVi obtained by normalizing the shortest vertical distance di and the movement speed Vi into the above equation (2), the priority calculation unit 16c is determined that the movement estimation locus interferes with the service area 40. The priority Pi of the i-th person is calculated. The priority Pi represents that the larger the numerical value, the stronger the willingness to receive the service. In this way, the priority calculation unit 16c calculates the priority Pi for all persons who are determined that the movement estimation trajectory interferes with the service area 40.

  Here, a description will be given of changes in the priority Pi in accordance with fluctuations in the weighting parameter α. FIG. 5A is a graph showing the relationship between the shortest vertical distance and the priority when α is 0 and the moving speed is fixed at 0.1 m / s. FIG. 5B is a graph showing the relationship between the shortest vertical distance and the priority when α is 0 and the moving speed is fixed at 4.0 m / s. The horizontal axis in FIGS. 5A and 5B indicates the shortest vertical distance. Moreover, the vertical axis | shaft of FIG. 5A and 5B points out a priority. In the example of FIGS. 5A and 5B, it is assumed that the priority Pi is calculated with dmax set to 1.5 m and Vmax set to 4 m / s.

  In the example of FIGS. 5A and 5B, both α are 0, so the weight of the moving speed is 0 and the weight of the shortest vertical distance is 1. For this reason, in the example of FIGS. 5A and 5B, the weight of the moving speed is not reflected in the priority. Accordingly, there is no difference in priority change between FIGS. 5A and 5B. In both the examples of FIGS. 5A and 5B, when the shortest vertical distance Di is near 0, the priority is close to 1, and the shortest vertical distance Di is 1. At the stage of approaching .5, the priority is nearly zero.

  FIG. 6A is a graph showing the relationship between the shortest vertical distance and the priority when α is 0.5 and the moving speed is fixed at 0.1 m / s. FIG. 6B is a graph showing the relationship between the shortest vertical distance and the priority when α is set to 0.5 and the moving speed is fixed to 4.0 m / s. The horizontal axis in FIGS. 6A and 6B indicates the shortest vertical distance. Moreover, the vertical axis | shaft of FIG. 6A and 6B points out a priority. In the examples of FIGS. 6A and 6B, it is assumed that the priority Pi is calculated with dmax set to 1.5 m and Vmax set to 4 m / s.

  In the examples of FIGS. 6A and 6B, both α are 0.5, so the weight of the moving speed and the weight of the shortest vertical distance are both 1. For this reason, unlike the case of FIG. 5A and FIG. 5B, a difference in the change in priority occurs between FIG. 6A and FIG. 6B. That is, in the example shown in FIG. 6A, the moving speed of the person is 0.1 m / s, which is smaller than the moving speed 4.0 m / s of the person used in the example of FIG. 6B. Therefore, in the example shown in FIG. 6A, the priority Pi approaches the maximum value 1 when the shortest vertical distance di is near 0, but in the example shown in FIG. 6B, the priority is even if the shortest vertical distance di is near 0. Pi is only about 0.5. In this way, when the weight of the moving speed is taken into account, the higher the moving speed, the lower the priority.

  Returning to the description of FIG. 2, the service target person selecting unit 16 d selects a person whose movement estimation trajectory is determined to interfere with the service area 40 by the interference determination unit 16 b as a service target person that the apparatus itself provides the service. Part.

  In this way, by selecting a person whose movement estimation trajectory interferes with the service area 40 as a service target person, it is possible to provide a service only to a person who intends to receive the service. Further, by excluding those whose movement estimation trajectory does not interfere with the service area 40 from the service target person, it is possible to prevent the service from being provided to those who do not intend to receive the service.

  In addition, when there are a plurality of persons whose movement estimation trajectory is determined to interfere with the service area 40 by the interference determination unit 16b, the service target person selection unit 16d has the priority calculated by the priority calculation unit 16c. The highest person is selected as the service target. As described above, by selecting a person whose service estimation trajectory interferes with the service area 40 having the highest priority and a stronger willingness to receive a service as a service target person, The probability of receiving services can be increased.

  The pre-processing start control unit 16e is a processing unit that starts pre-processing executed as a preparation stage of the service providing process before providing a service to the service target selected by the service target selecting unit 16d.

  As an example, the pre-processing start control unit 16e downloads content from the server device (not shown) to the storage unit 15 via the communication unit 12 until the service target person enters the service area 40. If the content has already been downloaded to the storage unit 15, the preprocessing start control unit 16e can pre-read the content 15 stored in the storage unit 15 in the work memory for content reproduction. If the service robot 10 is equipped with a voice recognition engine, the voice recognition engine can be started, or acquisition of a sound source can be started via a microphone.

As another example, the pre-processing start control unit 16e can capture the service target person by causing the drive unit 13 to rotate the main body of the service robot 10. FIG. 7 is a diagram for explaining a rotation procedure of the service robot when the service target person is captured. When the person H _B shown in FIG. 7 is the service target, the preprocessing start control unit 16e coordinates the coordinates (X2, X2) of the intersection C _B between the movement extension line L _B of the person H _B and the circle defining the service area 40. Y2) is calculated. Furthermore, pre-start control unit 16e is a human _H current coordinates P of location (X1, Y2) and the intersection point _{C B} of coordinates and the coordinates of the intersection point _{C B} by human _{H B} the distance J in terms of the calculation of the _B The required travel time T until is calculated. On top of that, prior to start control unit 16e is the intersection _{C B} of coordinates (X2, Y2) the rotation angle theta _B obtained from (= arctan (X2, Y2) ), to the coordinates of the intersection point _{C B} by human _{H B} The rotational speed ω (= θ _B / T) of the service robot 10 is calculated from the required movement time T. Thereafter, the preprocessing start control unit 16e instructs the drive unit 13 to rotate the service robot 10 at the calculated rotation speed ω. In the case where the intersection C _B and positive against finishing the rotation of the service robot 10, by instructing the driver 13 to drive the wheels of the service robot 10, thereby self to the coordinates of the intersection point C _B It is good.

  By performing these pre-processing, the blank time until the service subject enters the service area 40 can be effectively used as the preparation time for service provision.

  Returning to FIG. 2, the service providing unit 16f is a processing unit that provides a service to a service target person selected by the service target person selecting unit 16d. As an example, when the preprocessing by the preprocessing start control unit 16e is completed, the content 15a stored in the storage unit 15 is read and the read content is reproduced on the display unit 11. The service providing unit 16f switches the content to be reproduced from the content being reproduced to another content based on the detection result by the later-described withdrawal behavior detection unit 16g, or cancels the reproduction of the content.

  The withdrawal behavior detection unit 16g is an action that the service target person selected by the service target person selection unit 16d tries to leave the service area 40 based on the location position and speed vector of the person H acquired by the movement information acquisition unit 16a. It is a processing part which detects.

  For example, when the service target person exists in the service area 40, the leaving action detection unit 16g monitors an action that the service target person intends to leave the service area 40. As an example, a case where the withdrawal behavior is monitored using polar coordinates will be described.

FIG. 8 is a diagram for explaining a monitoring procedure for withdrawal behavior. When the location of the human _{H B} shown in FIG. 8 and (X3, Y3), ranges Ri of the center coordinates of the circle of the service area 40 to the location of the human _{H B} becomes ^X3 2 + Y3 ² square root. The leaving behavior detection unit 16g determines whether the differential value dRi of the range Ri is larger than a predetermined threshold when the range Ri is equal to or less than the radius Rs of the service area 40, that is, when the service target is located in the service area 40. To monitor. At this time, when it is detected that the differential value dRi of the range Ri is larger than a predetermined threshold, the leaving action detection unit 16g determines that the service provider is about to leave the service area 40. In such a case, it can be assumed that the interest of the service target person for the content has decreased, so from the viewpoint of encouraging interest, the withdrawal behavior detection unit 16g is playing back the content to be played back to the service providing unit 16f. Switch from content to other content.

  Further, the leaving action detection unit 16g monitors whether or not the service target person has left the service area 40 after detecting the leaving action. As an example, a case where separation is monitored using polar coordinates will be described.

  FIG. 9 is a diagram for explaining a determination procedure for determination of departure. As illustrated in FIG. 9, when detecting that the range Ri is larger than the radius Rs of the service area 40, the leaving action detection unit 16g measures the elapsed time from that time as the leaving time. Thereafter, the leaving action detection unit 16g monitors whether or not the range Ri has returned to the radius Rs or less of the service area 40, that is, whether or not the service subject has returned to the service area 40. Then, when the service subject does not return to the service area 40 and the departure time of the service subject has exceeded a predetermined period, for example, 2 seconds, the withdrawal behavior detection unit 16g causes the service subject to move to the service area 40. Is considered to have left. In such a case, from the viewpoint of preventing the content from being continuously played back in the absence of the service target person, the leaving behavior detection unit 16g causes the service providing unit 16f to stop playing the content.

  Note that, here, a case has been described in which the separation behavior is monitored and the decision to confirm the separation is performed using polar coordinates, but the disclosed apparatus is not limited to this, and can be similarly applied to the case where orthogonal coordinates are used. .

[Process flow]
Next, the process flow of the service robot according to the present embodiment will be described. Here, (1) the overall flow executed by the service robot 10 will be described, and then (2) service provision processing executed as a subroutine will be described.

(1) Overall Flow FIG. 10 is a flowchart illustrating a procedure of the overall flow of the service robot according to the second embodiment. This entire flow is recursively executed as long as the power supply of the service robot 10 is in an ON state, but it is not always necessary to continue the execution. During the charging period, the process is interrupted or a service from a server device (not shown) is provided. It is also possible to stop processing upon receiving a stop notification.

  As shown in FIG. 10, when a person is detected in the search range 30 by the movement information acquisition unit 16a (Yes in step S101), the movement information acquisition unit 16a acquires the coordinates and velocity vector of the location position of the person H ( Step S102).

  Then, the interference determination unit 16b determines whether or not there is a person having a moving speed equal to or lower than a predetermined threshold (step S103). At this time, if there is only a person having a moving speed larger than the predetermined threshold (No in step S103), only the person who is not willing to receive the service is located in the search range 30, so that the subsequent steps are not performed. Return to S101.

  On the other hand, when there is a person having a movement speed equal to or lower than the previous threshold value (Yes at Step S103), the interference determination unit 16b causes the movement estimation trajectory when the movement is continued from the position where the person H is located in the direction of the speed vector. Then, a movement extension line from the current position is calculated (step S104).

  Then, the interference determination unit 16b determines whether or not there is a person whose movement estimation trajectory of the human H interferes with the service area 40 (step S105). At this time, if there is no person whose human H's estimated movement trajectory interferes with the service area 40 (No in step S105), only those who are not willing to receive the service are located in the search range 30, and the subsequent processing is performed. Without returning to step S101.

  On the other hand, when there is a person whose human H's movement estimated trajectory interferes with the service area 40 (Yes at Step S105), the interference determination unit 16b has a plurality of persons whose human H's estimated movement trajectory interferes with the service area 40. It is further determined whether or not it is a person (step S106).

  Here, when there are a plurality of persons whose human H's estimated movement trajectory interferes with the service area 40 (Yes in step S106), the priority calculation unit 16c searches for the priority with which the own apparatus provides the service within the search range. It calculates for every person who exists in 30 (step S107). Then, the service target person selecting unit 16d selects a person with the highest priority calculated by the priority calculating unit 16c as a service target person (step S108).

  In addition, when the person H interferes with the service area 40 by the estimated movement trajectory of the person H (No at Step S106), the priority calculation unit 16c does not calculate the priority. In this case, the service target person selecting unit 16d selects, as the service target person, a person whose movement estimation trajectory is determined to interfere with the service area 40 by the interference determining unit 16b (step S108).

  Thereafter, the pre-processing start control unit 16e starts pre-processing executed as a preparation stage for providing the service before providing the service to the service target person selected by the service target person selecting unit 16d (step S109).

  After the preprocessing, the service providing unit 16f performs a “service providing process” for providing a service to the service target selected by the service target selecting unit 16d (step S110), and proceeds to step S101.

  In this way, the process from step S101 to step S110 is repeatedly executed in the overall flow.

(2) Service Providing Processing FIG. 11 is a flowchart illustrating a procedure of service providing processing according to the second embodiment. This service providing process is a process started when step S109 shown in FIG. 10 is completed.

  As illustrated in FIG. 11, the service providing unit 16f reads the content 15a stored in the storage unit 15, and causes the display unit 11 to reproduce the read content (step S201). Then, the leaving behavior detection unit 16g monitors the leaving behavior that the service target person intends to leave the service area 40 (step S202). As long as no withdrawal behavior is detected (No at Step S202), monitoring of the withdrawal behavior is continued.

  At this time, when the withdrawal behavior of the service target person is detected (Yes at Step S202), the service providing unit 16f switches the content to be played back from the content being played back to another content (Step S203).

  Thereafter, the leaving action detection unit 16g monitors whether or not the service target person has left the service area 40 (step S204). At this time, unless the departure from the service area 40 is detected (No at Step S204), the departure monitoring is continued along with the reproduction of other contents.

  When the departure from the service area 40 is detected (Yes at Step S204), the leaving action detection unit 16g measures the elapsed time from that time as the departure time (Step S205). Thereafter, when the service target person returns to the service area 40 (Yes at Step S206), the service providing unit 16f returns to Step S201 and continues to reproduce the content.

  On the other hand, if the service target person does not return to the service area 40 and the departure time of the service target person has passed a predetermined period (No at Step S206 and Yes at Step S207), the leaving action detection unit 16g Is deemed to have left the service area 40. In this case, the service providing unit 16f stops the content reproduction (step S208) and ends the process.

[Effect of Example 2]
As described above, the service robot 10 according to the present embodiment selects a person who is about to enter the service area 40 among the persons existing in the search range 30 as a service target person. That is, in the service robot 10 according to the present embodiment, a person who is located in the search range 30 but does not attempt to approach the service area 40 is excluded from the service target person, and a person who attempts to approach the service area 40 is a service target. You can choose as a person. For this reason, in the service robot 10 according to the present embodiment, even if a person who is present in the search range 30 does not intend to receive the service, a person who is willing to receive the service is included in the service target. You can choose as a person.

  Therefore, according to the service robot 10 according to the present embodiment, it is possible to appropriately select a service target person. Furthermore, according to the service robot 10 according to the present embodiment, there is no waste of providing a service to a person who does not intend to receive the service, and the efficiency related to the service provision can be improved.

  Further, the service robot 10 according to the present embodiment calculates the priority with which the own device provides the service when there are a plurality of persons whose movement estimation trajectory is determined to interfere with the service area 40. Then, the service robot 10 according to the present embodiment selects a person with the highest calculated priority as a service target person.

  For this reason, in the service robot 10 according to the present embodiment, the person who has the highest priority among the people whose movement estimation trajectory interferes with the service area 40 and the stronger intention to receive the service can be selected as the service target person. Therefore, according to the service robot 10 according to the present embodiment, it is possible to increase the probability that the person who is the service target actually receives the service.

  Furthermore, the service robot 10 according to the present embodiment starts a pre-process that is executed as a preparation stage of the service providing process before providing the service target person with the service. For this reason, according to the service robot 10 according to the present embodiment, the blank time until the service target person enters the service area 40 can be effectively used as the preparation time for providing the service.

  Further, the service robot 10 according to the present embodiment detects an action that the service target person intends to leave the service area 40 based on the moving direction and moving speed of the person. For this reason, according to the service robot 10 which concerns on a present Example, it can detect that the service subject's interest to the service fell.

  Further, when the service robot 10 according to the present embodiment detects the withdrawal behavior of the service target person, the service robot 10 switches the service so as to provide a service other than the service from the service provided to the service target person. Let Therefore, according to the service robot 10 according to the present embodiment, it is possible to attract the interest of the service to those who are less interested in the service.

  In addition, when the service robot 10 according to the present embodiment detects that the service target person has left the service area 40, the service robot 10 stops the service provided to the service target person. Therefore, according to the service robot 10 according to the present embodiment, it is possible to prevent the situation in which the service is continuously provided in the absence of the service target person.

  Although the embodiments related to the disclosed apparatus have been described above, the present invention may be implemented in various different forms other than the above-described embodiments. Therefore, another embodiment included in the present invention will be described below.

  For example, although the case where the guidance service is provided has been described in the second embodiment, the disclosed apparatus is not limited to this. For example, the disclosed apparatus can also be applied when providing other services such as a transport service, an advertisement service, and a security service.

  In the second embodiment, it is assumed that the system is operated by connecting to a server. However, when the stand-alone type that provides the service by the service robot 10 alone is adopted, the present invention can be suitably applied to both cases of network connection. .

  Further, in the above-described second embodiment, the case where the service robot capable of self-running is provided with a service is illustrated, but the disclosed apparatus is not limited thereto. For example, the present invention can be similarly applied to a server device or a terminal device fixedly installed at a predetermined place.

  In addition, each component of each illustrated apparatus does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to that shown in the figure, and all or a part thereof may be functionally or physically distributed or arbitrarily distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. For example, different devices each have a movement information acquisition unit 16a, an interference control unit 16b, a priority calculation unit 16c, a service target person selection unit 16d, a preprocessing start control unit 16e, a service provision unit 16f, or a withdrawal behavior detection unit 16g. Then, they are connected to the network and collaborate. Thereby, the function of the service robot may be realized.

[Service provision program]
The various processes described in the above embodiments can be realized by executing a prepared program on a computer such as a personal computer or a workstation. In the following, an example of a computer that executes a service providing program having the same function as that of the above embodiment will be described with reference to FIG. FIG. 12 is a schematic diagram illustrating an example of a computer that executes a service providing program according to the third embodiment.

  As illustrated in FIG. 12, the computer 100 according to the third embodiment includes an operation unit 110a, a microphone 110b, a speaker 110c, a display 120, and a communication unit 130. The computer 100 further includes a CPU 150, a ROM 160, an HDD (Hard Disk Drive) 170, and a RAM (Random Access Memory) 180. These units 110 to 180 are connected via a bus 140.

  The ROM 160 stores in advance a control program that exhibits the same functions as the movement information acquisition unit 16a, the interference determination unit 16b, the priority calculation unit 16c, and the service target selection unit 16d described in the second embodiment. Is done. Furthermore, the ROM 160 stores in advance a control program that exhibits the same functions as the preprocessing start control unit 16e, the service providing unit 16f, and the withdrawal behavior detection unit 16g. That is, as shown in FIG. 12, the ROM 160 stores a movement information acquisition program 160a, an interference determination program 160b, a priority calculation program 160c, and a service target person selection program 160d. Further, the ROM 160 stores a preprocessing start control program 160e, a service providing program 160f, and a withdrawal action detection program 160g. Note that these programs 160a to 160g may be appropriately integrated or separated as in the case of each component of the service robot shown in FIG.

  Then, the CPU 150 reads these programs 160a to 160g from the ROM 160 and executes them. As a result, as shown in FIG. 12, the CPU 150 functions as a movement information acquisition process 150a, an interference determination process 150b, a priority calculation process 150c, and a service target person selection process 150d for each of the programs 160a to 160g. . Further, the CPU 150 functions as a pre-processing start control process 150e, a service providing process 150f, and a leaving action detection process 150g. Each process 150a to 150g corresponds to each functional unit in the control unit 16 shown in FIG.

  Subsequently, the HDD 170 is provided with content data 170a. The content data 170a corresponds to the content 15a shown in FIG.

  Then, the CPU 150 reads the content data 170a and stores it in the RAM 180. Further, the CPU 150 executes a service providing program using the content data 180a stored in the RAM 180.

  Note that the above-described service providing program is not necessarily stored in the HDD 170 or the ROM 160 from the beginning. For example, each program is stored in a “portable physical medium” such as a flexible disk inserted into the computer 100, so-called FD, CD-ROM, DVD disk, magneto-optical disk, or IC card. Then, the computer 100 may acquire and execute each program from these portable physical media. In addition, each program is stored in another computer or server device connected to the computer 100 via a public line, the Internet, a LAN, a WAN, etc., and the computer 100 acquires and executes each program from these. It may be.

  The following supplementary notes are further disclosed with respect to the embodiments including the above examples.

(Supplementary Note 1) A movement information acquisition unit that acquires movement directions and movement speeds of a plurality of persons existing in a first area defined with reference to the own device;
A human movement estimation trajectory estimated from the movement directions and movement speeds of a plurality of persons acquired by the movement information acquisition unit is smaller than the first area and is defined based on the own apparatus. An interference determination unit for determining whether or not to interfere with the area of
A service target person selection unit that selects a person whose movement estimation trajectory is determined to interfere with the second area by the interference determination unit as a service target person who provides the device with the service; Service providing device.

(Supplementary Note 2) When there are a plurality of persons whose movement estimation trajectory is determined to interfere with the second region by the interference determination unit, by weighting the movement direction and / or movement speed of the person, A priority calculating unit that calculates a priority with which the device itself provides a service;
The service target person selecting unit
The service providing apparatus according to appendix 1, wherein a person with the highest priority calculated by the priority calculating unit is selected as the service target person.

(Additional remark 3) It has further a pre-processing start control part which starts the pre-process performed as a preparatory stage of this service provision process, before providing a service to the service object person selected by the said service object person selection part. The service providing apparatus according to the supplementary note 1 or 2, which is characterized.

(Additional remark 4) Based on the movement direction and movement speed of the person acquired by the said movement information acquisition part, the action which the service object person selected by the said service object person selection part tries to detach | leave from said 2nd area | region is detected. 4. The service providing apparatus according to appendix 1, 2, or 3, further comprising: a leaving action detecting unit that performs the action.

(Supplementary Note 5) When the withdrawal behavior detection unit detects the withdrawal behavior of the service target person, the service is switched so that a service different from the service is provided from the service provided to the service target person The service providing apparatus according to appendix 4, further comprising a service switching control unit.

(Supplementary Note 6) A service stop control unit for stopping the service provided to the service target person when the service target person detects that the service target person has left the second area by the leaving action detection unit. The service providing apparatus according to appendix 4, characterized by comprising:

(Appendix 7)
A movement information acquisition procedure for acquiring movement directions and movement speeds of a plurality of persons existing in a first region defined with reference to the own device;
A human movement estimation trajectory estimated from the movement directions and movement speeds of a plurality of persons acquired by the movement information acquisition procedure is smaller than the first area, and is defined based on the own apparatus. An interference determination procedure for determining whether to interfere with the area of
And a service target person selection procedure for selecting a person whose service estimation trajectory is determined to interfere with the second area by the interference determination procedure as a service target person to whom the device itself provides a service. Service providing program.

(Appendix 8) The computer
A movement information acquisition step of acquiring movement directions and movement speeds of a plurality of persons existing in a first region defined with reference to the own device;
A human movement estimation trajectory estimated from the movement directions and movement speeds of a plurality of persons acquired by the movement information acquisition step is smaller than the first area and is defined based on the own apparatus. An interference determination step for determining whether to interfere with the area of
A service target person selecting step of selecting, as a service target person to whom the device itself provides a service, a person whose movement estimation trajectory is determined to interfere with the second region by the interference determination step; Service providing method.

(Supplementary Note 9) A movement information acquisition unit that acquires movement directions and movement speeds of a plurality of persons existing in a first area defined with reference to the own device;
A human movement estimation trajectory estimated from the movement directions and movement speeds of a plurality of persons acquired by the movement information acquisition unit is smaller than the first area and is defined based on the own apparatus. An interference determination unit for determining whether or not to interfere with the area of
A service target person selection unit that selects a person whose movement estimation trajectory is determined to interfere with the second region by the interference determination unit as a service target person for which the device itself provides a service;
A service robot, comprising: a service provision processing unit that provides a service to a service target person selected by the service target person selection unit.

DESCRIPTION OF SYMBOLS 1 Service provision apparatus 2 Movement information acquisition part 3 Interference determination part 4 Service person selection part 10 Service robot 11 Display part 12 Communication part 13 Drive part 14 LRF
DESCRIPTION OF SYMBOLS 15 Memory | storage part 15a Content 16 Control part 16a Movement information acquisition part 16b Interference determination part 16c Priority calculation part 16d Service target person selection part 16e Pre-processing start control part 16f Service provision part 16g Leaving action detection part

Claims (6)

A movement information acquisition unit that acquires the positions and velocity vectors of a plurality of persons existing in a first region defined with reference to the own device;
Wherein the said person for each person position and velocity vector obtained by the movement information acquisition section moving line trajectory is estimated in moving in accordance with the velocity vector from the position is included in the first region An interference determination unit that determines whether or not to pass through the area of 2;
A service target person selecting unit that selects a person who is determined by the interference determination unit that the moving line passes through the second area as a service target person who provides the device with the service; Service providing device. When there are a plurality of persons whose movement line is determined to pass through the second region by the interference determination unit, the movement direction and / or movement speed of the person obtained from the position and velocity vectors are weighted. Thus, the device further includes a priority calculating unit that calculates the priority with which the device provides the service,
The service target person selecting unit
The service providing apparatus according to claim 1, wherein a person with the highest priority calculated by the priority calculation unit is selected as the service target person.   The system further comprises a pre-processing start control unit that starts a pre-processing executed as a preparation stage of the service providing process before providing a service to the service target selected by the service target selecting unit. Item 3. The service providing apparatus according to Item 1 or 2.   Based on the moving direction and moving speed obtained from the position and velocity vectors acquired by the moving information acquiring unit, the service target selected by the service target selecting unit is to take an action to leave the second area. The service providing apparatus according to claim 1, further comprising a separation behavior detecting unit for detecting. On the computer,
A movement information acquisition procedure for acquiring positions and velocity vectors of a plurality of persons existing in a first region defined with reference to the own device;
For each person whose position and velocity vectors have been acquired by the movement information acquisition procedure, a movement line whose trajectory is estimated when the person moves from the position according to the speed vector is included in the first region. An interference determination procedure for determining whether to pass through the region 2;
And a service target person selection procedure for selecting a person whose service line is determined to pass through the second area by the interference determination procedure as a service target person to which the own apparatus provides a service. Service providing program. A movement information acquisition unit that acquires the positions and velocity vectors of a plurality of persons existing in a first region defined with reference to the own device;
Wherein the said person for each person position and velocity vector obtained by the movement information acquisition section moving line trajectory is estimated in moving in accordance with the velocity vector from the position is included in the first region An interference determination unit that determines whether or not to pass through the area of 2;
A service target person selecting unit that selects a person who has been determined by the interference determination unit that the moving line passes through the second area as a service target person for which the device itself provides a service;
A service robot, comprising: a service provision processing unit that provides a service to a service target person selected by the service target person selection unit.

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