JP4355158B2 - Reception information system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a reception guidance system for guiding visitors using a robot that moves autonomously.
[0002]
[Prior art]
In order to improve business efficiency and reduce labor costs in companies and the like, a reception guidance system that guides visitors using a robot has been disclosed (see, for example, Patent Document 1 and Patent Document 2).
[0003]
The customer service robot described in Patent Document 1 is a device that receives a user's operation, performs a series of registered operations, and guides a visitor.
[0004]
However, this customer service robot has the following problems.
(1) An operation by the operator is required to start the operation of the customer service robot. That is, it is necessary for the operator to check the presence or absence of a visitor and operate, and it cannot be said that the guidance is automated by a robot.
(2) The customer service robot cannot identify a visitor and performs the same operation for any visitor. That is, different guidance operations cannot be performed for each visitor.
(3) I cannot tell visitors that a visitor has come.
[0005]
The reception / guidance robot system described in Patent Document 2 mainly includes a robot body and a visitor detection unit.
[0006]
However, this reception guidance robot system has the following problems.
(1) After the visitor detection unit detects a visitor, it moves to a predetermined position while notifying the visitor of the presence of the robot by blinking an LED or the like. It may be necessary to be in the area, and may not be able to respond to the unexpected behavior of visitors.
(2) The visitor detection unit is a device for detecting the presence or absence of a visitor, and does not detect visitor location information, ID information, or the like. For this reason, when another visitor comes while the robot is guiding a visitor, or when there are a plurality of unguided visitors, there is a possibility that the robot cannot respond well.
(3) Since the robot moves while detecting the magnetic tape on the running line, it is necessary to install the magnetic tape in the environment guided by the robot, and the degree of freedom of movement is limited by the magnetic tape. You may not be able to.
[0007]
[Patent Document 1]
JP-A-2-240684 (2-3 pages, Fig. 5)
[Patent Document 2]
JP-A-7-295537 ([0011] to [0013], FIG. 3, FIG. 4, FIG. 5)
[0008]
[Problems to be solved by the invention]
Therefore, an object of the present invention is to provide a reception guidance system that can be prepared for the next visitor even when the robot is guiding the visitor, and can efficiently deal with a plurality of visitors.
[0009]
[Means for Solving the Problems]
  In order to solve the above-described problem, the reception guidance system according to claim 1 is a reception guidance system including a robot that moves autonomously and a guidance operation control unit that controls a guidance operation of the robot. The operation control means includes a map information database that holds map information of an environment in which the robot moves, a robot position acquisition means for acquiring robot position information for specifying the position of the robot, and a visitor specifying the position of the visitor. Visitor detection means for acquiring visitor position information, guide information management means for creating and managing the visitor guide information based on the map information, the robot position information, and the visitor position information, and the guide information Guide operation instruction means for instructing the robot to perform a guide operation based onThe visitor detection means is provided separately from the robot at an entrance / exit where the visitor enters / exits, and an entrance / exit camera for imaging the entrance / exit and the visitor entering from the entrance / exit It is provided separately from the robot, and an in-field camera that images the inside of the field and a moving body imaged by the entrance / exit camera is determined as a visitor, and the visitor is based on image information captured by the in-field camera. And an image recognizing unit for acquiring the visitor position information by specifying the position.
[0010]
  According to the reception guidance system of the first aspect, since the autonomously movable robot is used, it is not necessary to install a magnetic tape in an environment in which the robot moves. Visitor detection meansEntrance and exit cameras, Is provided separately from the robot,The image recognition unit of the visitor detection means is based on the imaging results of these cameras,Visitor location information can be detected. Therefore, even when another visitor visits while the robot is guiding a visitor or when there are multiple unvisited visitors, the location information of the visitor can be detected, and the robot A good guidance operation can be instructed.
[0011]
  The reception guidance system according to claim 2 is the reception guidance system according to claim 1, wherein the robot transmits guidance history information, which is a history of guidance operation, to the guidance information management means. Based on the guidance history informationThe created guidance history information includes guidance completion information that is transmitted when the guidance operation is completed and that indicates that the guidance operation is completed.
[0012]
  As guidance history information here,In addition to guidance completion information,Guidance start information that informs the robot when it recognizes the visitor and starts the guidance operationEtc.It can be used suitably. According to the reception guidance system according to claim 2, the guidance information isIncludes guidance completion informationSince it is created based on the guidance history information,Whether or notCan be identified. This prevents the robot from guiding the already-visited visitors again.If the guidance history information includes guidance start information,When a plurality of robots are used, it is possible to prevent another robot from trying to guide a visitor being guided by a certain robot.
[0013]
The reception guidance system according to claim 3 is the reception guidance system according to claim 1 or 2, wherein the guidance operation instruction means is a time at which the visitor detection means acquires the visitor position information. The order of visitor guidance is determined based on this.
[0014]
When many visitors visit, there may be a situation where there are a plurality of unguided visitors. According to the reception guidance system of the third aspect, the visitor's guidance order is determined based on the order of the visit time, so that it is possible to cope with a case where there are a plurality of unguided visitors.
[0015]
A reception guidance system according to claim 4 is the reception guidance system according to any one of claims 1 to 3, wherein at least a face image of a visitor and visitor ID information are stored in association with each other. A visitor ID information database, and a schedule information database that stores the visitor ID information and the visitor schedule information in association with each other, and the visitor detection means acquires the face image of the visitor. The face image is sent to the guidance information management means, and the guidance information management means obtains visitor ID information by referring to the visitor ID information database based on the face image, and the visitor ID. Based on the information, the schedule information database is referred to, the visitor schedule information is obtained, and the visitor ID information and the schedule are acquired. And configured to determine the guidance order of visitors based on Lumpur information.
[0016]
According to the reception guidance system of the fourth aspect, the visitor can be specified from the face image acquired by the visitor detection means and the face image stored in the visitor ID information database. That is, it is possible to know who the visitor is before the robot starts the guidance operation. Therefore, the identification of the visitor by the robot can be simplified, and smoother guidance is possible. In addition, when there are a plurality of unguided visitors, the visitor is identified and the order of visitor guidance is determined based on the visitor ID information, schedule information, etc., so that more efficient guidance is possible.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings as appropriate. Hereinafter, a case will be described as an example in which a humanoid robot capable of autonomous movement by biped walking is used to guide a visitor who has visited a lobby provided in an office building.
[0018]
FIG. 1 is a schematic diagram showing a reception guidance system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a robot of the reception guidance system. FIG. 3 is a block diagram showing the guidance operation control means of the reception guidance system.
As shown in FIG. 1, the reception guidance system 1 includes a robot 2 and guidance operation control means B. The guidance operation control means B includes a robot support server 3, a transmission / reception unit 36, an entrance / exit camera 4, an on-site camera 5, and an employee entrance / exit camera 6. The robot support server 3 and the transmission / reception unit 36 are LAN-connected to each PC via relays D and D ′. In FIG. 1, the robot support server 3 is configured in the lobby, but may be configured in a separate room.
[0019]
First, the robot 2 will be described. As shown in FIG. 2, the robot 2 can autonomously move by biped walking, and includes a camera 21 a, 21 a, a microphone 22 a, a speaker 23 a, a control unit 2 </ b> A, an autonomous moving unit 27, and a transmission / reception unit 28. . The control unit 2A includes an image recognition unit 21b, a voice recognition unit 22b, an utterance generation unit 23b, a human response unit 24, a self-position estimation unit 25, a movement control unit 26, a scenario DB 29a, and a map information DB 29b.
[0020]
  The camera 21a captures image information such as the situation around the robot 2 and the face of the visitor, and the image recognition unit21bIs a device to send to. Here, the camera 21a may be a monochrome or color camera, and can be configured as a single eye or a compound eye (compound eyes in FIG. 2). Further, it is configured to be driven in a pan (left and right direction) and tilt (up and down direction) by a motor (not shown) so as to be directed in a desired direction.
[0021]
  The image recognition unit 21b digitizes and captures image information captured by the camera 21a. In addition, it has an automatic extraction / tracking function for moving objects such as a dynamic contour model (also referred to as Snakes), and can detect the location information of visitors. In addition, the image recognition unit 21b converts the digitized image information into the human response unit 24 andSelf-position estimation meansTo 25.
[0022]
The microphone 22a collects sound information such as ambient sounds and visitor utterances, and sends the collected sound information to the voice recognition unit 22b.
[0023]
The voice recognition unit 22b localizes the sound source based on the sound information collected by the microphone 22a. In addition, referring to the vocabulary registered in advance, the utterance content of the visitor is recognized.
[0024]
The speaker 23a is a device for outputting the voice generated by the utterance generation unit 23b and communicating with the visitor.
[0025]
The utterance generation unit 23b synthesizes the content to be transmitted to the visitor based on the communication scenario stored in the scenario DB 29a from the human response unit 24 and the guidance operation instruction from the guidance operation instruction means 33, and generates a speaker. To 23a.
[0026]
  The human response unit 24 includes information sent from the robot support server 3, image information sent from the image recognition unit 21b, microphone22aBased on the utterances of visitors from, etc., it generates conversations and controls robot movement (raising arms, etc.). Also, when recognizing the visitor and starting the guidance operation, the guidance start information is displayed.Transmitter / receiver28 to the transmission / reception unit 36 on the robot support server side. Furthermore, when the guidance operation for the visitor is completed, guidance completion information is transmitted from the transmission / reception unit 28 to the transmission / reception unit 36 on the robot support server 3 side.
[0027]
The self-position estimating means 25 estimates the current position of the robot 2 based on the image information sent from the image recognition unit 21b and the map information stored in the map information DB 29b.
[0028]
The movement control unit 26 controls the operation of the autonomous moving means 27 based on the current position of the robot, the map information stored in the map information DB 29b, and the guidance operation sent from the robot support server 3.
[0029]
The autonomous moving means 27 is a device for the robot 2 to move autonomously, and is a portion corresponding to the leg of the robot 2 in this embodiment.
[0030]
The transmission / reception unit 28 is a device for performing wireless transmission / reception with the robot support server 3.
[0031]
The scenario DB 29a is a database that supports communication with visitors. Examples of text used in conversations with visitors such as “Who are you?” And “Are you here?” Are stored.
[0032]
The map information DB 29b is a database that stores map information of areas where the robot 2 can move. This map information is the same as the map information stored in the map information DB 35a (see FIG. 3) of the robot support server 3, and the information can be updated by transmission / reception with the robot support server 3.
[0033]
Next, the guidance operation control means B will be described with reference to FIG. The guidance operation control means B includes a robot support server 3, a transmission / reception unit 36, an entrance / exit camera 4, an on-site camera 5, and an employee entrance / exit camera 6. The robot support server 3 includes an image recognition unit 31, guidance information management unit 32, guidance operation instruction unit 33, robot position acquisition unit 34, map information DB 35a, visitor ID information DB 35b, and schedule information DB 35c. The robot 2 can transmit and receive.
[0034]
The image recognition unit 31 digitizes and captures image information captured by the entrance / exit camera 4, the on-site camera 5, and the employee entrance / exit camera 6. Moreover, it has a moving body automatic extraction / tracking function such as an active contour model, and is configured to be able to detect the location information of visitors.
[0035]
Here, each camera 4-6 is demonstrated. The entrance / exit camera 4 is a camera that captures image information near the entrance and sends it to the image recognition unit 31. The on-site camera 5 is a camera that captures image information of the entire lobby and sends it to the image recognition unit 31. The employee entrance camera 6 is a camera that captures image information in the vicinity of the employee entrance and sends it to the image recognition unit 31.
[0036]
Incidentally, the entrance / exit camera 4, the on-site camera 5, and the image recognition unit 31 correspond to the visitor detection means in claim 1.
[0037]
Image information captured by the entrance camera 4, the on-site camera 5, and the employee entrance camera 6 is sent to the image recognition unit 31. Among these cameras, the moving body captured by the entrance / exit camera 4 and recognized by the image recognition unit 31 from the image information is recognized as a visitor. Then, the time when the visitor is first recognized is sent to the guidance information management means 32 as the visit time.
On the other hand, a moving body detected based on an image captured by the employee entrance camera 6 is recognized as an employee.
By doing in this way, it becomes possible to judge whether the mobile body existing in the lobby is a visitor or an employee.
Then, based on the image information captured by the on-site camera 5, the image recognition unit 31 calculates the position of the visitor and the employee and acquires the position information.
[0038]
The map information DB 35a stores map information of an area where the robot 2 can move. For example, a conference room location, a staircase location, a foliage plant in a lobby, an obstacle such as a sofa, and the like are stored as map information. This map information can be updated by input from a PC. Therefore, it is possible to deal with a change in the name of the conference room and a change in the layout of the table, sofa, etc.
[0039]
The visitor ID information DB 35b stores visitor ID information and a face image in association with each other. The visitor ID information includes the visitor's ID number, company name, title, name, and the like. Among these visitor ID information, at least one piece of information is a key when searching for schedule information. For example, the ID number described above can be used as a key.
The face image is mainly captured by the robot 2 and registered with the consent of the visitor.
[0040]
The schedule information DB 35c stores schedule information related to a scheduled visitor and visitor ID information (for example, an ID number) in association with each other. The schedule information is, for example, the date and time of the visit, the company name / title / name of the visitor, the scheduled visitor, the destination, etc. These information are input from a personal computer or mobile terminal connected to the server, It can be updated.
[0041]
The guide information management means 32 creates and manages visitor guide information based on the information stored in the map information DB 35a, the visitor ID information DB 35b and the schedule information DB 35c, and the image information sent from the image recognition unit 31. To do.
[0042]
An example of creating guidance information will be described. The image recognition unit 31 sends the visit time, face image, and position information of the visitor to the guidance information management means. Then, the guidance information management means 32 refers to the visitor ID information DB 35b using this face image as a key, and acquires visitor ID information. Then, using one of the visitor ID information, for example, an ID number as a key, the schedule information DB 35c is referred to acquire the schedule information. Furthermore, guidance information is created by combining visitor ID information, schedule information, and visitor position information acquired from the image recognition unit 31. This guidance information is sent to the guidance operation instruction means 33.
[0043]
The guidance operation instruction unit 33 creates a guidance operation based on the guidance information managed by the guidance information management unit 32. Here, when there are a plurality of unguided visitors, a guidance order is created based on the guidance information of each visitor, and guidance is based on this guidance order. The created guidance operation is transmitted from the transmission / reception unit 36 to the robot 2.
[0044]
Hereinafter, a method for creating a guidance order will be described.
(1) The order of guidance is determined in the order of arrival time of visitors.
(2) The order of guidance is determined by the visitor's schedule information (visit time, importance of visit, etc.).
(3) The guidance order is determined based on the visitor ID information (title, etc.).
(4) The guidance order is determined by combining these methods.
[0045]
In order to suitably perform such guidance, it is desirable to store visitor ID information of as many visitors as possible. For this reason, when making a meeting with a visitor who does not store a face image or the like, it is advisable to send a photograph of the visitor's face by e-mail and store it in advance.
[0046]
The robot position acquisition unit 34 specifies the current position of the robot based on the image information obtained by digitization by the image recognition unit 21b (see FIG. 2) of the robot 2 and the map information stored in the map information DB 35a. .
[0047]
The transmission / reception unit 36 performs wireless transmission / reception with the transmission / reception unit 28 (see FIG. 2) of the robot 2. As a specific example of transmission / reception, the guidance operation created by the guidance operation instruction means 33 is transmitted to the robot 2 side. Further, the image recognition unit 21b of the robot 2 receives image information obtained by digitization. Also, guidance start information and guidance completion information from the robot 2 side are received, and this signal is sent to the robot support server 3. These guidance start information and guidance completion information are sent to the guidance information management means 32 and added to the guidance information. That is, by combining these with the visitor location information, it is possible to identify whether the visitors in the lobby are unguided, being guided, or already guided. Also, by combining these with schedule information, it is possible to confirm whether the scheduled visitor is unguided or already guided.
[0048]
The robot support server 3 is connected to a plurality of PCs. Each piece of information can be input, displayed, updated, etc. from these PCs. In addition, it is possible to notify the visitor by notifying the PC of the guidance status of the visitors from the server.
[0049]
The operator PC is a device for inputting, displaying, and updating information in each DB, guidance status, and the like. The operator can check the guidance status from the screen of the operator PC.
[0050]
In addition to these PCs, a mobile terminal can be used for transmission / reception with the robot support server 3.
[0051]
Next, a visitor guidance operation using the reception guidance system according to the present embodiment will be described with reference to the flowchart shown in FIG.
[0052]
(S1) Visitor presence / absence determination step
Based on the image information captured by the entrance camera 4, the robot support server 3 confirms whether or not there is a visitor.
[0053]
(S2) Visitor location information detection step
When the entrance of the visitor is detected in S1, the robot support server 3 detects the visitor's face information and position information based on the image information captured by the on-site camera 5.
[0054]
(S3) Approaching operation instruction step
Based on the visitor position information detected in S2, the robot support server 3 instructs the robot 2 to approach the visitor.
[0055]
(S4) Robot movement step
The robot 2 receives the instruction of S3 and approaches the visitor. Then, the distance between the robot 2 and the visitor moves to a place suitable for communication with the visitor.
[0056]
(S5) Visitor recognition step
The robot 2 images the visitor and acquires the visitor's position information and face image.
[0057]
(S6) Face image registration step
The robot 2 confirms with the visitor whether or not to register the face image. If consent is obtained, other visitor ID information such as company name, name, etc. is heard and registered.
[0058]
(S7) Visitor information transmission step
The robot 2 transmits the visitor's position information, face information, and guidance start information to the robot support server 3. Further, when the consent to register the face image is obtained, the visitor ID information including the face image is stored in the visitor ID information DB 35b.
[0059]
(S8) Visitor confirmation step
  The robot support server 3 indicates that the face image and position information transmitted from the robot 25Confirms that it matches the captured face image and position information. That is, it is confirmed whether or not the visitor instructed to approach the robot support server 3 and the visitor who has actually approached the robot 2 are the same. Further, it is confirmed whether any of the face images stored in the visitor ID information DB 35 b matches the face image sent from the robot 2.
[0060]
(S9) Guidance operation instruction step
In response to the result of S8, the robot support server 3 creates a guidance operation and transmits the created guidance operation to the robot 2.
[0061]
(S10) Visitor guide step
The robot 2 guides the visitor according to the received guidance operation. For example, communicate, guide visitors, and accompany you to the meeting place. In addition, when the visitor's schedule is unknown, the visitor is guided to a predetermined place (such as a sofa in the lobby), and the fact is displayed on the operator's PC to support the operator. But you can.
[0062]
(S11) Guidance completion step
When the guidance operation of the visitor is completed, guidance completion information is transmitted to the robot support server 3. Then, a history of guidance operations performed by the robot 2 is stored in the schedule information DB 35c. In addition, the completion is displayed on the screen of the visitor's PC.
[0063]
(S12) Unguided visitor judgment step
Determine if there are unvisited visitors. The unguided visitor here is generated when a new visitor visits while executing S1 to S11. If there is an unguided visitor, the process returns to S3 and the guidance operation is repeated. Here, when there are a plurality of unguided visitors, guidance is performed according to the guidance order assigned to each visitor. If not, the guidance operation by the robot 2 is terminated.
[0064]
The end of the guidance operation here means that the robot 2 returns to the home position (for example, near the reception counter in the lobby). To return to the home position, if you wait for the next visitor at the place where the guidance operation has ended, it will take time to move to the next visitor's guidance operation, This is because the robot 2 gets in the way for employees. Then, after a predetermined time elapses, the mode is switched to the power saving mode and waits for the next visitor to be detected. In addition, the situation where the battery of the robot 2 runs out during the guidance operation can be prevented by adopting a configuration in which charging of the robot 2 is started by returning to the home position.
[0065]
With this configuration and operation, even when the robot 2 is guiding a visitor, the entrance camera 4 and the on-site camera 5 detect the presence / absence of the visitor, position information, and a face image. Therefore, it is possible to smoothly shift to the next visitor guidance.
[0066]
Next, face image registration will be described in detail. When the robot 2 communicates with the visitor by voice and obtains the consent of the visitor, the robot 2 acquires a face image of the visitor and stores it in the visitor ID information DB 35b of the robot support server 3. Further, the other ID information (company name, title, name, date of birth, etc.) of the visitor is questioned and the answer obtained is registered together with the face image. At the next visit, it is possible to specify who the visitor is by referring to the visitor ID information.
[0067]
Several methods for registering face images are shown below.
(1) Every time the guidance operation is performed.
(2) A configuration in which an operator or a visitor can set execution / non-execution of face image registration using a PC or the like.
(3) A configuration is adopted in which re-registration is performed when face image information is not registered or when the registered information has passed a certain period.
(4) The above-described methods can be appropriately set.
Further, it is possible to appropriately set at which stage of the guidance operation the face image registration is performed. For example, it may be performed when the visitor is approached and the name of the visitor is confirmed, or after the visitor is guided to the meeting place.
[0068]
It is important to register a face image only when the visitor's consent is obtained. This is a consideration for the portrait rights of visitors.
[0069]
The above-described embodiment can be appropriately changed in design without departing from the gist of the present invention. For example, the configuration may be such that the visitor is notified at the stage where the visitor is specified by the image information captured by the on-site camera 5. With this configuration, it is possible to reduce the time lag of guidance by the robot 2 and the start of the visitor's action.
[0070]
In addition, when the schedule information of the visitor is not stored, etc., the visitor is guided to a predetermined place and then the operator is supported. However, the present invention is not limited to this. For example, the robot 2 may perform voice communication with the visitor, hear the visitor, the place of visit, etc. from the visitor, and perform guidance based on the information.
[0071]
Moreover, although it was set as the structure which performs guidance operation | movement using the one robot 2, the structure which has a some robot may be sufficient. In this case, a different role can be given to each robot. For example, it may be configured to include a robot that guides visitors who have already registered face images and the like and a robot that guides unregistered visitors and registers face images.
[0072]
Further, the design of the robot 2 can be changed as appropriate. As an autonomous movement means, the structure which has a some wheel may be sufficient. Further, it may be configured to have an image display unit and be able to communicate with a visitor using character information or image information. Further, it may have a touch panel so that a visitor can input the purpose of the visit.
[0073]
Moreover, although it was set as the structure provided with the entrance camera 4 and the camera 5 in the hall as a visitor detection means, it is not limited to this. The number of cameras, the functions of each camera, the installation location of the cameras, etc. can be changed as appropriate.
[0074]
In order to distinguish between a visitor and an employee, the mobile body first detected by the entrance / exit camera 4 is recognized as a visitor, and the mobile body first detected by the employee entrance camera 6 is recognized as an employee. Although it was set as the structure, it is not limited to this. For example, each employee may be configured to wear uniforms or shoes that can be recognized as an employee, or to put an employee ID card in a predetermined position. With this configuration, it is possible to recognize whether or not the moving body reflected on the in-place camera 5 is an employee.
[0075]
【The invention's effect】
According to the first aspect of the present invention, it is possible to provide a reception guidance system that can acquire position information of the next visitor even when the robot is guiding the visitor.
[0076]
  Further, according to the invention described in claim 2, a visitor canGuidedIt is possible to provide a reception guidance system that can identify whether or not.
[0077]
According to the third aspect of the present invention, when there are a plurality of unguided visitors, it is possible to provide a reception guidance system that can guide these visitors in order of visit time.
[0078]
According to the reception guidance system described in claim 4, when there are a plurality of unguided visitors, the guidance order of the visitors is determined based on the face images of the visitors and schedule information, and the guidance is provided. A reception guidance system capable of performing a guidance operation based on the order can be provided.
[Brief description of the drawings]
FIG. 1 is a schematic view showing a lobby in which a reception guidance system according to an embodiment of the present invention is arranged.
FIG. 2 is a block diagram showing a robot of the reception guidance system according to the embodiment of the present invention.
FIG. 3 is a block diagram showing guidance operation control means of the reception guidance system according to the embodiment of the present invention.
FIG. 4 is a flowchart showing guidance using the reception guidance system according to the embodiment of the present invention.
[Explanation of symbols]
  1 Reception guidance system
  2 Robot
  21a camera
  21b Image recognition unit
  22a microphone
  22b Voice recognition unit
  23a Speaker
  23b Utterance generator
  24 person response part
  25 Self-position estimation means
  26 Movement control unit
  27 Autonomous moving means
  28 Transceiver
  29aScenario DB
  29bMap information DB
  B Guide operation control means
  3 Robot support server
  31 Image recognition unit
  32 Guidance information management means
  33 Guiding operation instruction means
  34 Robot position acquisition means
  35a Map information DB
  35b Visitor ID information DB
  35c Schedule information DB
  36 Transceiver
  4 gateway camera
  5 Cameras in the hall
  6 Employee entrance camera

Claims (4)

A reception guidance system comprising a robot that moves autonomously and guidance operation control means for controlling the guidance operation of the robot,
The guide operation control means includes
A map information database that holds map information of an environment in which the robot moves; robot position acquisition means for acquiring robot position information for specifying the position of the robot;
A visitor detection means for identifying a visitor's location and obtaining visitor location information;
Guide information management means for creating and managing the visitor guide information based on the map information, the robot position information, and the visitor position information;
Guidance operation instruction means for instructing the robot to perform a guidance operation based on the guidance information ;
With
The visitor detection means includes:
An entrance / exit camera that images the entrance / exit provided separately from the robot at the entrance / exit where the visitor enters / exits,
An in-field camera that is provided separately from the robot in a place where the visitor who has entered from the entrance / exit exists,
An image recognition unit that determines that the moving body imaged by the entrance / exit camera is a visitor, identifies the position of the visitor based on the image information captured by the in-field camera, and acquires the visitor position information; ,
Accept guidance system, characterized in that with. The robot transmits guidance history information that is a history of guidance operations to the guidance information management means, and the guidance information is created based on the guidance history information ,
The reception guidance system according to claim 1, wherein the guidance history information includes guidance completion information that is transmitted when the guidance operation is completed and reports that the guidance operation is completed .   The reception guidance system according to claim 1 or 2, wherein the guidance operation instruction means determines a guidance order of visitors based on a time when the visitor detection means acquires the visitor position information. . A visitor ID information database storing at least the face image of the visitor and the visitor ID information, and a schedule information database storing the visitor ID information and the visitor schedule information in association with each other;
The visitor detection means acquires the face image of the visitor and sends the face image to the guidance information management means.
The guidance information management means obtains visitor ID information by referring to the visitor ID information database based on the face image, and refers to the schedule information database based on the visitor ID information to visit the visitor ID information. The reception guide system according to any one of claims 1 to 3, wherein the schedule information of the visitor is acquired, and the guide order of the visitor is determined based on the visitor ID information and the schedule information. .

Images