JP6877199B2 - Guidance method by robot using aerial video - Google Patents

Description

The present invention relates to a method of guiding by a robot using an aerial image, and more particularly to a method of guiding a customer using an aerial image by a service robot.

In recent years, service robots that provide services to customers using gestures, gestures, voice, etc. have been placed at reception counters in hospitals, hotels, banks, restaurants, etc., and perform operations such as reception and guidance on behalf of people. Is becoming.
Further, in recent years, aerial image technology for making an image appear in space has been developed. In this technique, an image is made to appear in space by using a device including a means for displaying an image such as a display and an imaging means for forming an image of the image displayed by the display in space. Aerial video technology is expected to be used in a wide range of fields such as product promotion, security, and medical care.

The technology of aerial video is expected to be used for reception guidance of hotels and restaurants, guidance at tourist information centers, etc., but if customers are not accustomed to guidance using aerial video, how to guide Sometimes I don't know if I should receive it. Therefore, it is conceivable to place personnel near the device that generates aerial images to provide guidance to customers. However, it is costly to allocate personnel, and depending on the individual ability of the person who provides the guidance, the customer may not be able to receive sufficient guidance.

In this respect, if a service robot is arranged instead of allocating personnel, it is possible to provide accurate guidance at low cost. However, there has been no technology for providing guidance by service robots using aerial images.
Patent Document 1 describes a display for displaying an image having light emission, an imaging means for inputting an image and outputting it to one space to form an image, and optics arranged in one space for displaying the image. An aerial touch panel with a formal position input means is disclosed.
Patent Document 2 discloses a robot that is placed at an event venue or the like and provides a guidance service that guides a human to a destination.

Japanese Unexamined Patent Publication No. 2014-67071 Japanese Unexamined Patent Publication No. 2011-656

Patent Document 1 discloses an aerial touch panel, which is a kind of aerial image technology, but does not mention guidance using the aerial touch panel. Further, although the robot 10 of Patent Document 2 guides a human to a destination, it does not provide guidance using an aerial image.
The present invention has been made in view of the above points, and provides a robot-based guidance method using an aerial image that can accurately perform guidance using an aerial image at no cost. The purpose.

The guidance method by the robot using the aerial image of the present invention is at least a head that performs a nodding motion in the vertical direction and a rotating motion in the horizontal direction, a shoulder portion that swings laterally, and an elbow that performs a bending / stretching motion. A service robot having a shape imitating a human body, which is provided with a part, an arm part that swings back and forth and left and right, and a waist part that bends back and forth as a movable part, and further has a drive part that drives the movable part. This is a method of guiding a customer by using an optical imaging device that displays a guidance image as an aerial image on a screen, with the service robot as a guidance counter and the optical imaging device in the vicinity of the guidance counter. Each of them is arranged, and the movable portion is controlled so that the service robot performs an operation of urging the customer to perform a predetermined confirmation or selection operation according to the guidance image displayed on the screen.

Further, the guidance video may be configured to include at least one of a reservation content confirmation screen, a menu selection screen, a restaurant position screen, and an authentication screen.
Further, prior to the prompting motion, the body is rotated so as to face the customer, and the movable portion is controlled so that the head and the waist portion bend forward to perform a "bowing" motion. It may be configured to do so.
Further, it may be configured to make a predetermined utterance when performing the prompting operation.

The service robot urges the customer to perform a predetermined confirmation or selection operation according to the guidance image displayed on the screen as the aerial image, so that the customer can take an appropriate action in front of the aerial image. As a result, guidance using aerial images can be performed accurately, and costs such as labor costs can be reduced because no people are assigned.

The skeleton structure diagram of the service robot used in the guidance method by a robot using the aerial image which is 1st Example of this invention. The block diagram which shows an example of the control system of the service robot shown in FIG. A front view (FIG. 3 (a)), a side view (FIG. 3 (b)), and a perspective view (FIG. 3 (b)) of an optical imaging device used in a guidance method by a robot using an aerial image according to a first embodiment of the present invention. FIG. 3 (c). The figure explaining the internal structure of the optical imaging apparatus of FIG. FIG. 5 is a flow chart showing an operation procedure of the service robot of FIG. 1 before the start of guidance control. The figure which shows the arrangement of the service robot of FIG. 1 and the optical imaging apparatus of FIG. 3 before the start of guidance control. The flow chart which shows the operation procedure of the service robot and the optical imaging apparatus in the guidance method by a robot using the aerial image which is 1st Example of this invention. The figure which shows the state that the service robot of FIG. 1 stands up during guidance control. The figure which shows how the service robot of FIG. 1 bows during guidance control. The figure which shows how the service robot of FIG. 1 points to a QR code (registered trademark) reader during guidance control. The figure which shows a mode that the service robot of FIG. 1 points to an aerial image during guidance control. A reservation content confirmation screen displayed as an aerial image in a guidance method by a robot using an aerial image according to the first embodiment of the present invention. An option screen displayed as an aerial image in a guidance method by a robot using an aerial image according to the first embodiment of the present invention. The figure which shows a mode that the service robot of FIG. 1 points to a ticket issuing machine during guidance control. A restaurant position screen displayed as an aerial image in a guidance method by a robot using an aerial image according to the first embodiment of the present invention. The flow chart which shows the operation procedure of the service robot and the optical imaging apparatus in the guidance method by a robot using the aerial image which is 2nd Example of this invention. A face recognition screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a second embodiment of the present invention. A reservation content confirmation screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a second embodiment of the present invention. A menu screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a second embodiment of the present invention. An order confirmation screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a second embodiment of the present invention. The flow chart which shows the operation procedure of the service robot and the optical imaging apparatus in the guidance method by a robot using the aerial image which is 3rd Example of this invention. An I-mark screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a third embodiment of the present invention. A menu screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a third embodiment of the present invention. A map screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a third embodiment of the present invention. A "data transfer" / "printout" selection screen displayed as an aerial image in a guidance method by a robot using an aerial image according to a third embodiment of the present invention.

[First Example]
In the guidance method by the robot using the aerial image according to the first embodiment of the present invention, the service robot 100 is arranged in the vicinity of the service robot 100 and the service robot 100 that interacts with the customer and urges the customer to perform a predetermined action or the like. An optical imaging device 300 for projecting the image is used.

FIG. 1 is a skeleton structure diagram of the service robot 100 used in the first embodiment of the present invention.
The service robot 100 that is actually arranged is configured to imitate a human-like appearance by attaching skin to the skeleton structure with a silicon resin or the like, applying makeup or putting on a costume. In this embodiment, the service robot 100 is used at the front desk of the hotel, and therefore wears the uniform of the hotel.

The service robot 100 has a head 102, an upper torso 106 connected via a neck joint 104, a lower torso 108 connected to the upper torso 106 via a connecting portion 130, and arms on both shoulders of the upper torso 106. It is composed of a right arm 110R and a left arm 110L connected via joints 112R, 114R, 112L, 114L, and a right leg 120R and a left leg 120L connected to the lower torso 106 via leg joints 122R, 124R, 122L, 124L. Has been done.

Eye cameras 40R and 40L are attached to the head 102 at positions corresponding to the eyes, and speakers 20 are attached at positions corresponding to the mouth. The mounting positions of the eye cameras 40R and 40L and the speaker 20 are not limited to this. Further, a proximity sensor 30 described later is attached to the position of the neck joint 104, and a microphone 10 corresponding to an ear is attached to the upper body 106. The mounting positions of the proximity sensor 30 and the microphone 10 are not necessarily limited to this.

At the tips of the right arm 110R and the left arm 110L, a right hand 116R and a left hand 116L in the shape of a human hand are provided. Further, foot members 126R and 126L corresponding to the feet are provided at the tips of the right leg 120R and the left leg 120L. The foot members 126R and 126L do not necessarily have to have the shape of a human foot, but may have a shape imitating the shape of a human foot when the functions of fingers and palms are required.
The neck joint 104 has three degrees of freedom, and the head 102 can be rotated with respect to the upper torso 106 by a head motor described later. Further, the right arm 110R and the left arm 110L can be rotated by an arm motor described later via the arm joints 112R, 114R, 112L and 114L, respectively, and the right leg 120R and the left leg 120L are leg joints 122R and 124R, respectively. , 122L, 124L, and can be rotated by a leg motor described later.

Further, the connecting portion 130 can be rotated by a waist motor described later. The eye cameras 40R and 40L photograph the face of the customer facing the robot 100 and capture the image data. The distance sensor 30 emits ultrasonic waves, measures the timing at which the ultrasonic waves are reflected from the customer and is incident on the distance sensor 30, and obtains distance information with the customer. The microphone 10 takes in the voice emitted by the customer and sends it to the voice recognition unit via the voice input / output unit.

FIG. 2 is a block diagram showing an example of a control system that controls the operation of the service robot 100 shown in FIG.
The control system 200 includes a memory 210, a CPU 220, a motor control unit 230, a sensor input / output unit 240, a voice input / output unit 250, a voice recognition unit 260, an image recognition unit 265, and a communication LAN unit 270, which are via the bus 290. It is configured to send and receive signals.

The communication LAN unit 270 is connected to an external device via the wireless communication device 280, and can exchange signals with and from the external device.
The CPU 220 controls the service robot 100 as a whole. The memory 210 stores a control program for controlling the service robot 100.
The motor control unit 230 controls the drive of each axis motor provided on the arms, head, neck, hips, legs, etc. of the service robot 100 based on the control data from the CPU 220. That is, the movements of the right arm 110R and the left arm 110L are controlled by controlling the shaft motors provided on the arm joints 112R, 124R, 122L, and 124L via the arm motor 231.

Further, the movements of the right leg 120R and the left leg 120L are controlled by controlling the shaft motors provided in the leg joints 122R, 124R, 122L, and 124L via the leg motor 235. Further, the operation of the head 102 is controlled by controlling the shaft motor provided on the neck joint 104 via the neck motor 233.
The waist motor 234 controls the operation of the connecting portion 130, and the head motor 232 controls the rotation angle of the head 102.

The sensor input / output unit 240 transmits signals from the distance sensor 30 and the eye camera 40 to the CPU 220. The reflection time from the distance sensor 30, that is, the distance information and the image data from the eye camera 40 are transmitted to the CPU 220 after being subjected to predetermined signal processing by the sensor input / output unit 240 as needed.
The voice input / output unit 250 outputs the voice according to the voice synthesis data from the CPU 220 from the speaker 20. Further, the voice from the microphone 10 is transmitted to the CPU 220 as voice input data.

The voice recognition unit 260, in cooperation with the voice input / output unit 250 and the CPU 220, analyzes the voice from the microphone 10 and synthesizes the voice output from the speaker 20.
The image recognition unit 265, in cooperation with the sensor input / output unit 240 and the CPU 220, analyzes the image data from the eye camera 40 and determines whether or not the customer wants a dialogue.
The CPU 220 is connected to the communication LAN unit 270 and the wireless communication device 280 via the bus 290. As a result, the control system 200 can communicate with an external computer or the like.

The operations performed by the service robot 100 include a head 102, shoulders, elbows, arms 110R, 110L, and a lumbar region. The head 102 is controlled by the head motor 232 and the neck motor 233 to perform a nodding motion in the vertical direction and a rotating motion in the horizontal direction. Further, the shoulder portions (arm joints 112R, 112L) are controlled by the arm motor 231 to swing laterally. Further, the elbows (arm joints 114R and 114L) are controlled by the arm motor 231 to perform bending and stretching movements of the arms 110R and 110L (from the upper arm to the forearm). Further, the arm portions 110R and 110L are controlled by the arm motor 231 to swing back and forth and left and right. Further, the lumbar portion (connecting portion 130) bends back and forth under the control of the lumbar motor 234.

FIG. 3A is a front view of the optical imaging apparatus 300 used together with the service robot 100 in the first embodiment, and FIG. 3B is a side view of the optical imaging apparatus 300, FIG. (C) is a perspective view of the optical imaging apparatus 300. FIG. 4 is a diagram illustrating the internal structure of the optical imaging apparatus 300.
The optical imaging device 300 has a base 301 and a main body 310 provided on the base 301. The main body 310 uses a display 311 for displaying the image I1, an imaging means 312 for forming the image I1 displayed by the display 311 as an aerial image (image I2) in space, and a QR code presented by the customer. QR code reader 313 to read, ticket issuing machine 314 to issue card keys and breakfast tickets, LED panel 315 to display symbols such as character strings and arrows, and patterns, and effects according to the operation of aerial images by customers. It has a speaker 316 that outputs sound.

The imaging means 312 has a two-layer mirror structure. That is, each layer consists of a plurality of mirrors arranged parallel to each other and a plurality of glasses arranged between them. The first-layer mirror and the second-layer mirror are arranged so as to be orthogonal to each other to form a two-sided orthogonal reflector. As a result, when the light output from the display 311 is incident on the imaging means 312, the light is reflected by the two orthogonal mirrors. As a result, an image I2 (aerial image), which is a real image, is formed in space with the imaging means 312 as the target axis.

Further, the control system of the optical imaging apparatus 300 includes a memory (not shown), a CPU, and a communication LAN unit, which are configured to send and receive signals via a bus.
The CPU controls the entire optical imaging device 300.
Further, the memory stores a control program for controlling the optical imaging device 300. By reading out this control program, it becomes possible to display the necessary image I1 on the display 311 and to form an image I2 (aerial image) in space via the imaging means 312. In this embodiment, the control program includes a control program for displaying the reservation content confirmation screen 410 (FIG. 12), the option screen 420 (FIG. 13), and the restaurant position screen 430 (FIG. 15).

The communication LAN unit is connected to an external device such as a service robot 100 via a wireless communication device (not shown), and is configured to exchange signals with and from the external device. By exchanging and receiving signals with and from the service robot 100 by this communication LAN unit, a necessary control program is read from the memory at an appropriate timing in conjunction with the control of the service robot 100, and an aerial image is displayed. , The QR code can be read, and the card key and breakfast ticket can be issued by the ticket issuing machine 314.

FIG. 5 is a flow chart showing an operation procedure of the service robot 100 before the start of guidance control.
As shown in FIG. 6, the service robot 100 is seated and stands by until a customer appears.
First, it is necessary to determine whether the customer on the floor in the hotel is a customer who needs check-in, that is, a customer who wants to interact with the service robot 100. In the present invention, this determination is made based on the behavior of the customer. In this embodiment, from the image data of the customer on the floor of the hotel, the customer is located in a predetermined area close to the service robot 100, and the line of sight of the service robot 100 matches the line of sight of the customer. Determines that the customer wants a dialogue. The customer image data can be acquired from a plurality of cameras (not shown) and the eye camera 40 of the service robot 100 provided in the hotel (step S1).

The determination of the coincidence between the line of sight of the service robot 100 and the line of sight of the customer can be performed by transmitting the image data from the plurality of cameras and the image data from the eye camera 40 to the image recognition unit 265 and analyzing the image data. It should be noted that whether or not the customer is located in a predetermined area close to the service robot can be similarly performed (steps S2 and S3).
When it is determined in this way that the customer requires check-in, guidance control is started (step S4).

FIG. 7 is a flow chart showing an operation procedure of the service robot 100 and the optical imaging device 300. In this embodiment, guidance at the reception desk of the hotel is assumed.
First, the service robot 100 stands up from the seated state (FIG. 8). Then, the head motor 232 controls the head 102, and the lumbar motor 234 controls the connecting portion 130 so as to bend forward, and bows to the customer (step S11, FIG. 9). Next, the service robot 100 utters "Are you a reservation customer?" And confirms whether the customer is a reservation customer (step S12).

If the customer is not a reserved customer, he apologizes (step S14) and ends the guidance control as it is (step S29). On the other hand, when the customer is a reserved customer, the service robot 100 points to the QR code reader 313 provided on the side surface of the main body 310 of the optical imaging device 300, and "Please hold the QR code over the reader." (Step S13, FIG. 10).

When the customer holds the QR code over the reader 313 and the QR code is read (step S15), the optical imaging device 300 displays the reservation content confirmation screen 410 as an aerial image (image I2) (step S16). Here, the service robot 100 points to the aerial image and utters "If there is no mistake in the reservation contents, press the confirmation button" (step S17, FIG. 11, FIG. 12). Here, the customer looks at the screen and confirms that there is no error in the reservation contents (step S18).

If there is an error in the reservation details, the service robot 100 apologizes to the customer (step S20), sends a signal from the wireless communication device 280, calls an employee (step S21), and ends the guidance control. (Step S29). On the other hand, when there is no error in the reservation contents and the customer presses the confirmation button 411, the optical imaging apparatus 300 displays the option screen 420 as an aerial image (image I2) (step S19). Here, the service robot 100 utters, "Are there any other items you need? Please select from the option screen" (step S22).

The option screen 420 (FIG. 13) has, for example, a drink button 421, a cake button 422, a fluffer button 423, a rental equipment button 424, and another button 425. If one of these buttons is pressed, a more detailed menu is displayed. Is displayed. Further, the option screen 420 can be closed by pressing the unnecessary button 426.

The customer looks at the option screen 420 and selects or asks for an option (step S23). Here, when the customer operates the option screen 420 and asks for an option (for example, one champagne bottle, two cakes, one humidifier), the service robot 100 responds to the option order by saying "Thank you. One champagne bottle, two cakes, and one humidifier. I will bring it to the room later. "(Step S24).
When the customer asks for an option or the unnecessary button 426 is pressed and the option screen 420 ends, the service robot 100 utters "Then, a card key and a breakfast ticket will be issued" and points to the ticket issuing machine 314 ( Step S25, FIG. 14).

A card key and a breakfast ticket are issued from the ticket issuing machine 314 (step S26), and when the customer picks them up, the restaurant position screen 430 (FIG. 15) is displayed as an aerial image (image I2) by the optical imaging device 300. (Step S27). The service robot 100 points to the aerial image and says, "Breakfast is served in a buffet style from 6:30 am to 9:30 am at the restaurant 〇〇 on the left side of the lounge. Please relax "(step S28), and the guidance control ends (step S29).

As described above, in this embodiment, the service robot 100 urges the customer to perform a predetermined confirmation or selection operation according to the guidance image (aerial image). This allows the customer to take appropriate action in front of the aerial image. As a result, it is possible to accurately perform guidance using aerial images, and it is possible to reduce costs such as labor costs because no people are assigned.

[Second Example]
Next, a second embodiment of the present invention will be described.
In this embodiment, since the service robot 100 is used at the reception desk of the restaurant, the service robot 100 wears a dress suitable for the atmosphere of the restaurant. Further, in this embodiment, unlike the first embodiment, the optical imaging apparatus 300 is not provided with the QR code reader 313 or the ticket issuing machine 314.
Further, in this embodiment, unlike the first embodiment, the control program stored in the memory of the optical imaging apparatus 300 includes a face authentication screen 510 (FIG. 17), a reservation content confirmation screen 520 (FIG. 18), and a menu screen. A control program for displaying 530 (FIG. 19) and an order confirmation screen 540 (FIG. 20) is included. Further, in this embodiment, the communication LAN of the optical imaging device 300 exchanges signals not only with the service robot 100 but also with an external device installed in the restaurant.

FIG. 16 is a flow chart showing an operation procedure of the service robot 100 and the optical imaging device 300 in the guidance method by the robot using the aerial image according to the second embodiment of the present invention. In the second embodiment, it is assumed that guidance is provided at the reception desk of the restaurant.
The process is the same as in the first embodiment until the service robot 100 recognizes the customer and shifts to the guidance control from the seated state. In this embodiment, when the guidance control is started, the service robot 100 stands up from the seated state and bows to the customer (step S111). Next, it is confirmed whether or not the customer is a reserved customer (step S112).

If the customer is not a reserved customer, he apologizes (step S114) and ends the guidance control as it is (step S130). On the other hand, when the customer is a reserved customer, the optical imaging device 300 displays the face recognition screen 510 as an aerial image (image I2) (step S113). Here, the service robot 100 points to the aerial image and says, "Sorry for your inconvenience, please authenticate your face on this screen. Please project your face in the frame of the screen." (Step S115, FIG. 17).

The customer brings his face close to the face recognition frame 511 of the face recognition screen 510, and face recognition is performed. When the face recognition is completed (step S116), the optical imaging device 300 displays the reservation content confirmation screen 520 as an aerial image (image I2) (step S117). Here, the service robot 100 points to the aerial image and utters "Please confirm the reservation details" (step S118, FIG. 18).

The customer confirms that the reservation contents are correct (step S119). If there is an error in the reservation contents, the service robot 100 apologizes to the customer (step S121), sends a signal from the wireless communication device 280, calls an employee (step S122), and ends the guidance control. (Step S130). On the other hand, when there is no error in the reservation contents and the customer presses the confirmation button 521, the optical imaging device 300 displays the menu screen 530 as an aerial image (image I2) (step S120). Here, the service robot 100 utters, "Please select a meal or drink from this menu and press the finish button at the end." (Step S123, FIG. 19).

The menu screen 530 has, for example, a meat cooking button 531, a fish cooking button 532, a rice cooking button 534, a salad button 534, a liquor 535, and a soft drink button 236. A detailed menu is displayed. Further, the menu screen 530 can be closed by pressing the completion button 537.

When the customer selects a menu and presses the completion button 537, the optical imaging device 300 displays the order confirmation screen 540 as an aerial image (image I2) (step S124, FIG. 20). Here, the service robot 100 points to the aerial image and utters "Please confirm the order details" (step S125).
When the customer presses the confirmation button 541 on the order confirmation screen 540, the service robot 100 instructs the waiting seat and says, "I will call you when the seat is ready. Please wait there for a while." (Step S126).

When the restaurant is ready, an external device sends a restaurant preparation completion report signal to the service robot 100. When the service robot 100 receives the restaurant preparation completion report signal (step S127), it utters "I'm sorry to have kept you waiting. The person in charge will guide you to your seat." (Step S128). Then, he points to the entrance of the store and utters "Please have a good time" (step S129) and ends the guidance control (step S130).
As described above, in this embodiment, the service robot 100 exchanges signals with the external device, so that the customer can be called at an appropriate timing when the restaurant is ready, and the customer is kept standing and waiting. Guidance can be provided without burdening the customer.

[Third Example]
Next, a third embodiment of the present invention will be described.
In this embodiment, since the service robot 100 is used at a tourist information center, it wears clothes such as uniforms and suits. Further, in this embodiment, unlike the first embodiment, the optical imaging apparatus 300 is not provided with the QR code reader 313 or the ticket issuing machine 314, but instead prints out data (not shown). A printer is provided.

Further, in this embodiment, unlike the first embodiment and the second embodiment, the control program stored in the memory of the optical imaging apparatus 300 has an I mark screen 610 (FIG. 22) and a menu screen 620 (FIG. 23). , Detailed information screen according to customer's selection (for example, map screen 630 (Fig. 24)), "Data transfer" / "Printout" selection screen (for example, "Data transfer" / "Printout" selection screen 640 (Fig. 24)) 25)) is included in the control program to display. Further, in this embodiment, the communication LAN of the optical imaging device 300 transmits / receives signals not only to the service robot 100 but also to an external device such as a customer's mobile terminal.

FIG. 21 is a flow chart showing an operation procedure of a service robot and an optical imaging device in a guidance method by a robot using an aerial image according to a third embodiment of the present invention. The third embodiment assumes a case where guidance is provided at a tourist information center.
The process is the same as in the first embodiment until the service robot 100 recognizes the customer and shifts to the guidance control from the seated state. In this embodiment, when the guidance control is started, the service robot 100 stands up from the seated state and bows to the customer (step S211).

The service robot 100 utters "Welcome to XX. This is the tourist information desk." And calls out to the customer (step S212). Next, the optical imaging apparatus 300 displays the I mark screen 610 on which the “I” mark is rotated as an aerial image (image I2) (step S213, FIG. 22). Here, the service robot 100 points to the aerial image and says, "If you want to know information on sightseeing spots, accommodations, and transportation, please touch this rotating" I "mark. "(Step S214).
When the customer touches the frame 611 on which the "I" mark is displayed, the optical imaging device 300 displays the menu screen 620 as an aerial image (image I2) instead of the I mark screen 610 (step S215, FIG. 23). The service robot 100 points to this aerial image and utters "Please touch the information you want to know" (step S216).

The menu screen 620 is provided with, for example, a tourist spot button 621, an accommodation facility button 622, and a transportation button 623. When it is detected that one of these buttons has been pressed (step S217), the optical imaging apparatus 300 displays a detailed information screen according to the customer's selection as an aerial image (step S219). For example, when the customer presses the tourist spot 621 button and selects the display of the map to the destination, the map screen 630 (FIG. 24) (detailed information screen) is displayed as an aerial image (image I2). Further, when it is detected that the guidance end button 624 is pressed (step S218), the guidance control is terminated (step S227).

When the detailed information screen according to the customer's selection is displayed, it is determined whether or not there is information that can be transferred or printed out (step S220). When there is such information, the optical imaging apparatus 300 displays the “data transfer” / “printout” selection screen as an aerial image (step S221). For example, since the map information can be transferred or printed out, the "data transfer" / "printout" selection screen 640 is displayed as an aerial image (image I2) (FIG. 25). Here, the service robot 100 points to the aerial image and says, "The information you are viewing can be transferred to a mobile terminal or printed out. Please select one if you need it."

The "data transfer" / "printout" selection screen is provided with an unnecessary button, a data transfer button, and a printout button (the "data transfer" / "printout" selection screen 640 has an unnecessary button 641 and a data transfer button. 642, printout button 643 is provided). When it is detected that the data transfer button or the printout button is pressed (step S222), the service robot 100 "transfers the data of the information you are viewing" or "the simplified version of the information you are viewing over there." I will print it on the printer. " Then, data transfer or printout to the customer's mobile terminal is executed (step S224). After that, the optical imaging apparatus 300 displays the detailed information screen (for example, the map screen 630) again (step S225). On the other hand, when the unnecessary button is pressed, data transfer or the like is not performed, and the detailed information screen (for example, map screen 630) is displayed again (step S225).

The detailed information screen is provided with a button to return to the menu (for example, a button 631 to return to the menu of the map screen 630), and when the customer presses this button, the optical imaging device 300 again displays the menu screen 620 as an aerial image (for example, an aerial image (for example, a button 631 for returning to the menu of the map screen 630). It is displayed as image I2).
After the menu screen 620 is pointed to by the service robot 100 (step S215), when the customer presses the guidance end button 624 (step S218), the service robot 100 utters "Information will be terminated." , Guidance control ends (step S227).

In this way, in this embodiment, when there is information that can be transferred or printed out, the information is printed out or transmitted to the customer's mobile terminal or the like to show the customer necessary information (just show it on the screen). It can be provided to the customer (rather than) to provide high-quality guidance.
In the first to third embodiments, the control program for displaying each screen is stored in the memory of the optical imaging apparatus 300, but this is stored in the memory 210 of the service robot 100 and is required. It may be transmitted to the optical imaging apparatus 300 accordingly. Further, only the control program for displaying each screen is stored in the memory of the optical imaging device 300, and the other control programs are stored in the memory of the service robot 100 and transmitted to the optical imaging device 300 as needed. You can do it.

Although the guidance method by the robot using the aerial images according to the first to third embodiments of the present invention has been described above, the present invention is not limited to the above examples, and the present invention is not limited to the above examples. It can be transformed and implemented in various ways without departing from the technical idea.

100 Service robot 200 Control system 300 Optical imaging device 301 Base unit 310 Main unit 311 Display 312 Imaging means 313 QR code reader 314 Ticketing machine I1 image I2 image

Claims (4)

At least, the head that nods up and down and rotates in the left and right direction, the shoulder that swings sideways, the elbow that bends and stretches, the arm that swings back and forth and left and right, and the front and back. A service robot having a shape imitating a human body, which is provided with a waist portion that bends down as a movable portion and further has a drive portion that drives the movable portion.
It is a method of guiding a customer by using an optical imaging device that displays a guidance image on a screen as an aerial image.
The service robot is placed in the guide counter, and the optical imaging device is placed in the vicinity of the guide counter.
Guidance by a robot using an aerial image characterized by controlling the movable portion so that the service robot performs an operation prompting the customer to perform a predetermined confirmation or selection operation according to the guidance image displayed on the screen. Method. The method according to claim 1, wherein the guidance video includes at least one of a reservation content confirmation screen, a menu selection screen, a restaurant position screen, and an authentication screen. Prior to the prompting action,
The first aspect of the present invention is characterized in that the body is rotated so as to face the customer, and the movable portion is controlled so that the head and the lumbar portion bend forward to perform a "bowing" motion. The method described. The method according to claim 1, wherein when performing the prompting operation, a predetermined utterance is performed.

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