JP2021013159A - Information processing apparatus, telepresence robot, site control system, remote control system, information processing method, and program - Google Patents

Abstract

To provide an information processing apparatus that improves convenience of remote communication using a telepresence robot, a telepresence robot, a site control system, a remote control system, an information processing method, and a program.SOLUTION: An information processing apparatus (information processing server or control unit) receives, from a notification button (example of operation means) that is installed in a site and receives an operation from a user, notification information including position information on the notification button, outputs a request to start an operation for a specific destination to a robot 10A-1 (example of specific telepresence robot) that is determined based on the position information included in the received notification information and position information on a robot (example of telepresence robot), and transmits a communication request for the robot 10A-1 to a manager terminal 50 that performs remote communication with the robot. The information processing apparatus starts the movement of the robot 10A-1 to the specific destination and starts the remote communication between the manager terminal and the robot.SELECTED DRAWING: Figure 2

Description

The present invention relates to an information processing device, a telepresence robot, a base control system, a remote control system, an information processing method and a program.

A remote control system is known that remotely controls a telepresence robot located at a remote base using an administrator terminal located at another base via a communication network. This remote control system can confirm the information of the base where the telepresence robot is located from a remote place by displaying the image taken by the photographing device provided in the telepresence robot on the administrator terminal.

For example, Patent Document 1 describes a communication terminal used by a communication source user and a telepresence robot suitable for the communication destination user from among a plurality of telepresence robots arranged at a remote location away from the communication source user. A method of connecting with and communicably is disclosed.

However, in the conventional method, remote communication between bases is started in response to a request from the administrator who operates the telepresence robot, and management is performed from the user at the base where the telepresence robot is installed. Could not be called. Therefore, there is a problem that there is room for improvement in order to improve the convenience of remote communication using the telepresence robot.

In order to solve the above-mentioned problems, the invention according to claim 1 is an information processing device that controls the operation of a telepresence robot installed in a predetermined base, and is from a user installed in the base. Based on the notification information receiving means for receiving the notification information including the position information of the operating means from the operating means for accepting the operation, the position information included in the received notification information, and the position information of the telepresence robot. An output means for outputting an operation start request to a specific movement destination for a determined specific telepresence robot, and an administrator who remotely communicates a communication request for the specific telepresence robot with the telepresence robot. A communication request transmitting means for transmitting to a terminal is provided, the movement of the specific telepresence robot to the specific movement destination is started, and remote communication between the administrator terminal and the specific telepresence robot is started. It is an information processing device.

According to the present invention, there is an effect that the convenience of remote communication using a telepresence robot can be improved.

It is a figure which shows an example of the system configuration of the remote control system which concerns on embodiment. It is a figure for demonstrating an outline example of the remote control system which concerns on embodiment. It is a figure which shows an outline example of the structure of the robot which concerns on embodiment. It is a figure which shows an example of the hardware composition of the robot which concerns on embodiment. It is a figure which shows an example of the hardware composition of the administrator terminal which concerns on embodiment. It is a figure which shows an example of the hardware configuration of the information processing server which concerns on embodiment. It is a figure which shows an example of the functional structure of the remote control system which concerns on embodiment. (A) is a conceptual diagram showing an example of a user information management table according to an embodiment, and (B) is a conceptual diagram showing an example of a notification pattern management table according to an embodiment. It is a figure which shows an example of the functional structure of the remote control system which concerns on embodiment. (A) is a conceptual diagram showing an example of a base information management table according to an embodiment, (B) is a conceptual diagram showing an example of a location information management table according to an embodiment, and (C) is a condition information management table according to an embodiment. It is a conceptual diagram which shows an example. (A) is a conceptual diagram showing an example of a state information management table according to an embodiment, (B) is a conceptual diagram showing an example of an administrator information management table according to an embodiment, and (C) is a notification history management according to an embodiment. It is a conceptual diagram which shows an example of a table. (A) is a conceptual diagram showing an example of the authentication management table according to the embodiment, and (B) is a conceptual diagram showing an example of the terminal management table according to the embodiment. (A) is a conceptual diagram showing an example of a destination list management table according to an embodiment, and (B) is a conceptual diagram showing an example of a session management table according to an embodiment. It is a sequence diagram which shows an example of the call processing from a base system in the remote control system which concerns on embodiment. It is a flowchart which shows an example of the robot search processing in the information processing server which concerns on embodiment. It is a flowchart which shows an example of the operation start processing in the robot which concerns on embodiment. It is a sequence diagram which shows an example of the process of the preparatory stage which starts the transmission / reception of data between a robot which concerns on embodiment, and an administrator terminal. It is a figure which shows an example of the destination list screen displayed on the administrator terminal which concerns on embodiment. It is a sequence diagram which shows an example of the process from the selection of the destination candidate which concerns on embodiment to the start of transmission / reception of data. It is a flowchart which shows another example of the operation start processing in the robot which concerns on embodiment. It is a flowchart which shows an example of the notification processing of the communication state in the robot which concerns on embodiment. (A) and (B) are diagrams for explaining the outline of notification of the communication state of the robot according to the embodiment. It is a figure for demonstrating the outline of the notification of the communication state of the robot which concerns on embodiment. It is a flowchart which shows an example of the cancellation processing of the communication request in the information processing server which concerns on embodiment. It is a sequence diagram which shows an example of the cancellation processing of a communication request in the remote control system which concerns on embodiment. It is a sequence diagram which shows an example of the process at the time of terminating the remote communication between the robot and an administrator terminal which concerns on embodiment. It is a figure which shows an example of the notification history information which concerns on embodiment. It is a flowchart which shows an example of the processing at the end of the remote communication in the robot which concerns on embodiment. It is a figure which shows an example of the functional structure of the remote control system which concerns on the modification of embodiment. It is a sequence diagram which shows an example of the call processing from a base system in the remote control system which concerns on the modification of embodiment.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted.

● Outline ●
● System configuration FIG. 1 is a diagram showing an example of the system configuration of the remote control system according to the embodiment. The remote control system shown in FIG. 1 performs remote communication between the robot 10 located at each base and the administrator terminal used by the administrator at the remote location, thereby managing or maintaining the equipment in the base. Alternatively, it is a system that can confirm the position or flow line of a person located in the base.

The remote control system 1a is referred to as a telepresence robot 10 (10A, 10B, 10C, hereinafter referred to as a robot 10A, 10B, 10C) located at each of a plurality of bases (base A, base B, base C), and is also distinguished. When it is not necessary, it is referred to as a robot 10), an administrator terminal 50, an information processing server 70, and a communication management server 90. The robot 10, the administrator terminal 50, the information processing server 70, and the communication management server 90 are connected to each other so as to be able to communicate with each other via the communication network 9. The communication network 9 is constructed by, for example, a LAN (Local Area Network), a dedicated line, the Internet, a mobile communication network, or the like. The communication network 9 is not limited to wired, but 3G (3rd Generation), 4G (4th Generation), 5G (5th Generation), LTE (Long Term Evolution), Wi-Fi (Wireless Fidelity (registered trademark)), or There may be a place where wireless communication such as WiMAX (Worldwide Interoperability for Microwave Access) is performed. Further, the communication network 9 may include a network constructed by a blockchain.

The robot 10 is a mobile body that is installed at each base (base A, base B, base C) and autonomously travels within each base. The robot 10 uses the administrator terminal 50 by moving in the base while photographing the subject around the robot 10 by the photographing device 12 and transmitting the photographed image acquired by the photographing device 12 to the administrator terminal 50. Provide information (images) in the base to the administrator. Further, as shown in FIG. 2 to be described later, a plurality of robots 10 and a notification button 20 for a user located in the base to call an administrator located in a remote place are installed in each base. There is. The robot 10 and the notification button 20 installed at each base constitute a base system 2 (2A, 2B, 2C, hereinafter referred to as a base system 2 when it is not necessary to distinguish them). The robot 10 may be a moving body that can move within the base by using a technique such as autonomous traveling or line tracing.

The administrator terminal 50 is a terminal device such as a PC (Personal Computer) that remotely manages each base using a robot 10 installed at each base (base A, base B, base C). The administrator terminal 50 displays a captured image transmitted from the robot 10. The administrator can remotely communicate with the user in the base where the robot 10 is installed while looking at the image displayed on the administrator terminal 50. In addition, the administrator can remotely control the robot 10 while viewing the image displayed on the administrator terminal 50.

The administrator terminal 50 may be any one provided with a display means for displaying an image transmitted from the robot 10, and is, for example, a wearable terminal such as a tablet terminal, a mobile phone, a smartphone, or a head-mounted display (HMD). , A communication terminal provided with a wide-angle screen (cylindrical, spherical, hemispherical screen, etc.), PDA (Personal Digital Assistant), or the like.

The information processing server 70 is a server computer for controlling the operation of the robot 10 located at each base. The communication management server 90 is a server computer for managing communication between the robot 10 located at each base and the administrator terminal 50. The information processing server 70 and the communication management server 90 are connected to the robot 10 and the administrator terminal 50 via the communication network 9. The information processing server 70 may be constructed by a single computer, or may be constructed by a plurality of computers arbitrarily assigned by dividing each unit (function, means, or storage unit). The same applies to the communication management server 90. The information processing server 70 is an example of an information processing device.

Here, the information processing server 70 and the communication management server 90 form a server system 7. The server system 7 may be composed of a single computer including each part (function or means) of the information processing server 70 and the communication management server 90. Further, the base system 2 and the server system 7 constitute a base control system 3.

The bases where the robot 10 is installed are, for example, offices, schools, warehouses, factories, construction sites, and the like. The administrator who remotely manages the administrator terminal 50 at each base confirms the position and flow line of a person in the base by checking the image in the base transmitted from the robot 10, and is installed in the base. It is possible to manage and maintain the equipment. In addition, the robot 10 and the administrator terminal 50 can also perform two-way communication (remote conference) by transmitting and receiving images taken by both.

The administrator terminal 50 may be configured to communicate with each of the robots 10 arranged at a plurality of bases, or may be configured to communicate with only the robots 10 arranged at one base.

Here, the usage scene of the remote control system 1a according to the present embodiment will be schematically described with reference to FIG. FIG. 2 is a diagram for explaining a schematic example of the remote control system according to the embodiment. FIG. 2 shows an example of performing remote communication between a telepresence robot (robot 10A) installed in the base A and an administrator terminal 50 used by an administrator located at a remote location.

The base A shown in FIG. 2 is, for example, a factory or a warehouse where predetermined work is performed by a plurality of workers (workers A, B, C, D). As shown in FIG. 2, each worker A, B, C, D works on the workbench. Further, at the base A, a plurality of robots 10A (robots 10A-1, 10A-2) that autonomously travel in the base A are installed. In addition, the administrator at a remote location performs maintenance management of the base A by performing remote communication with the robot 10A installed at the base A using the administrator terminal 50.

In addition, a plurality of notification buttons 20A (20A-1 to 20A-5) are installed in the base A. Of these, the notification buttons 20A-1 to 20A-3 are installed on the workbench, and the notification buttons 20A-4 and 20A-5 are mounted on the robots 10A-1 and 10A-2, respectively. The notification button 20A is an operation means for calling an administrator at a remote location from a worker at the base A. The configuration of the operating means is not limited to the notification button 20, and any device having a function for calling the administrator may be used. For example, when an abnormality occurs during work and the operator wants to communicate with the administrator, the operator can call the administrator at a remote location by pressing the notification button 20A installed nearby. ..

In addition, the administrator at a remote location receives a notification indicating a call from the user, triggered by the selection of the notification button 20A. Then, the administrator can communicate with the worker by starting the remote communication between the administrator terminal 50 and the robot 10A installed in the base A.

Further, the robots 10A-1 and 10A-2 that perform remote communication with the administrator terminal 50 move to a destination set according to the installation position of the notification button 20A pressed by the operator, and the administrator terminal 50 Perform remote communication with. Therefore, the worker who presses the notification button 20A can use the robot 10A to perform remote communication at a place where he / she wants to communicate with the administrator.

When considering the use of a telepresence robot in the field such as the base A shown in FIG. 2, conventionally, the remote communication can be started unilaterally from the manager in the remote place, and the worker in the field manages it. There was no way to call the manager when he wanted to communicate with the person, and there was a problem that complaints and complaints were raised from the site. Therefore, the remote control system 1a can provide an operation means for calling the administrator on the base side where the robot 10 is installed, and can start remote communication between the bases by using a call from the site as a trigger. As a result, the remote control system 1a can improve the convenience of remote communication using the telepresence robot.

● Robot Configuration Next, a specific configuration of the robot 10 will be described with reference to FIG. FIG. 3 is a diagram showing an outline example of the configuration of the robot according to the embodiment. FIG. 3 shows a state in which the robot 10 is located at a charging station 150 for charging the battery of the robot 10. The charging station 150 is installed in each base and is for charging the battery of the robot 10 and measuring the operating state of the robot 10. The robot 10 stores the position of the charging station 150 installed in the base in advance, and by instructing the user in the base, remote control from the administrator, or determining the state of the remaining battery level by itself. , Move to charging station 150 on a regular basis. Then, the robot 10 charges the battery at the charging station 150 during the period when the remote communication with the administrator terminal 50 is not performed.

The robot 10 shown in FIG. 3 is a moving mechanism for moving the housing 11, the photographing device 12, the support member 13, the display 14, and the robot 10 having a control device 30 for controlling the processing or operation of the robot 10. 15 (15a, 15b), a movable arm 16 for causing the robot 10 to perform a predetermined work (operation), a lamp 17 and a notification panel 18 for notifying the communication status of the robot 10, and a notification button 20 are provided.

Of these, the notification button 20 is an operation means for a user located in the base to call an administrator in a remote location. When the user in the base presses the notification button 20 installed in the base, the notification button 20 transmits the notification information for calling the administrator to the information processing server 70. The position of the notification button 20 provided on the robot 10 is not limited to this, and it is preferable that the notification button 20 is mounted at a position where the user can easily press the notification button 20. Further, the notification button 20 may be detachably mounted on the robot 10. In this case, the worker can install the notification button 20 at an arbitrary place by carrying the notification button 20. A notification button 20 (for example, notification buttons 20A-1, 20A-2, 20A-3) that is not mounted on the robot 10 as shown in FIG. 2 has a similar configuration.

The housing 11 is located in the body portion of the robot 10, and includes a power supply unit that supplies necessary power to the entire robot 10 and a control device 30 that controls the processing or operation of the robot 10.

The photographing device 12 photographs a subject such as a person, an object, or a landscape located at a base where the robot 10 is installed, and acquires a photographed image. The photographing device 12 is a digital camera (general photographing device) capable of acquiring a flat image (detailed image) of a digital single-lens reflex camera, a compact digital camera, or the like. The captured image data related to the captured image acquired by the photographing device 12 is transmitted to the administrator terminal 50 via a communication session established by the communication management server 90 described later. The captured image acquired by the photographing device 12 may be a moving image or a still image, and may be both a moving image and a still image. Further, the captured image acquired by the photographing device 12 may include audio data together with the image data.

The display 14 is a display means for displaying various screens. The display 14 displays, for example, an image of an administrator's base in a remote location called by pressing the notification button 20.

The support member 13 is a member for installing (fixing) the photographing device 12 on the robot 10 (housing 11). The support member 13 may be a pole or the like fixed to the housing 11, or may be a pedestal fixed to the housing 11. Further, the support member 13 may be a movable member whose imaging direction (direction) and position (height) of the imaging device 12 can be adjusted.

The moving mechanism 15 is a unit for moving the robot 10, and is composed of wheels, a traveling motor, a traveling encoder, a steering motor, a steering encoder, and the like. Since the movement control of the robot 10 is an existing technology, detailed description thereof will be omitted, but the robot 10 is, for example, an operation start request from the information processing server 70 or an administrator (administrator terminal) who is an operator. Upon receiving the travel instruction from 50), the movement mechanism 15 moves the robot 10 based on the received operation start request or travel instruction. The moving mechanism 15 may be a bipedal foot type or a single wheel type. The shape of the robot 10 is not limited to the vehicle type as shown in FIG. 3, and may be, for example, a humanoid walking on two legs, a form that imitates a living thing, a form that imitates a specific character, or the like. Good.

The movable arm 16 has an operation means that enables additional operations other than the movement of the robot 10. As shown in FIG. 3, the movable arm 16 is provided with, for example, a hand for grasping an object such as a part at the tip of the movable arm 16 as an operating means. The robot 10 can perform a predetermined work (movement) by rotating or deforming the movable arm 16.

The lamp 17 and the notification panel 18 notify the user in the base of the communication status of the robot 10 by changing the lighting pattern of the lamp and the panel display according to the status of remote communication with the administrator. To do. The lamp 17 and the notification panel 18 are examples of communication status notification means.

The photographing device 12 may be a wide-angle photographing device capable of acquiring a panoramic image of a spherical (360 °). The wide-angle photographing device is, for example, a spherical photographing device for photographing a subject and obtaining two hemispherical images that are the basis of a panoramic image. Further, the wide-angle photographing apparatus may be, for example, a wide-angle camera or a stereo camera capable of acquiring a wide-angle image having an angle of view of a predetermined value or more. That is, the wide-angle photographing apparatus is a photographing means capable of acquiring an image (omnidirectional image, wide-angle image) photographed by using a lens having a focal length shorter than a predetermined value.

Further, the robot 10 may be configured to include a plurality of photographing devices 12. In this case, the robot 10 includes, as the photographing device 12, both a wide-angle photographing device and a general photographing device capable of photographing a part of a subject photographed by the wide-angle photographing device and acquiring a detailed image (plane image). It may be.

Further, in addition to the above configuration, the robot 10 may have various sensors capable of detecting information around the robot 10. The various sensors are, for example, sensor devices such as barometers, thermometers, photometers, motion sensors, and illuminance meters.

● Hardware configuration ●
Next, the hardware configuration of each device or terminal constituting the remote control system 1a will be described with reference to FIGS. 4 to 6. In the hardware configuration shown in FIGS. 4 to 6, components may be added or deleted as needed.

● Hardware configuration of the robot FIG. 4 is a diagram showing an example of the hardware configuration of the robot according to the embodiment. The robot 10 includes a control device 30 that controls the processing or operation of the robot 10. As described above, the control device 30 is provided inside the housing 11 of the robot 10. The control device 30 may be provided outside the housing 11 of the robot 10, or may be provided as a device separate from the robot 10.

The control device 30 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, an HDD (Hard Disk Drive) 304, a media interface (I / F) 305, and input / output I / O. It includes F306, sound input / output I / F307, network I / F308, short-range communication circuit 309, antenna 309a of short-range communication circuit 309, external device connection I / F311 and bus line 310.

The CPU 301 controls the entire robot 10. The CPU 301 is an arithmetic unit that realizes each function of the robot 10 by reading a program or data stored in a ROM 302, an HD (Hard Disk) 304a, or the like on the RAM 303 and executing processing.

The ROM 302 is a non-volatile memory capable of holding a program or data even when the power is turned off. The RAM 303 is a volatile memory used as a work area or the like of the CPU 301. The HDD 304 controls reading or writing of various data to the HD304a according to the control of the CPU 301. The HD304a stores various data such as programs. The media I / F 305 controls reading or writing (storage) of data to a recording medium 305a such as a USB (Universal Serial Bus) memory, a memory card, an optical disk, or a flash memory.

The input / output I / F 306 is an interface for inputting / outputting characters, numerical values, various instructions, etc. to / from various external devices. The input / output I / F 306 controls the display of various information such as a cursor, a menu, a window, characters, or an image on a display 14 such as an LCD (Liquid Crystal Display). The display 14 may be a touch panel display provided with input means. Further, the input / output I / F 306 may be connected to an input means such as a mouse or a keyboard in addition to the display 14. The sound input / output I / F 307 is a circuit that processes sound signal input / output between the microphone 307a and the speaker 307b under the control of the CPU 301. The microphone 307a is a kind of built-in sound collecting means for inputting a sound signal under the control of the CPU 301. The speaker 307b is a kind of reproduction means for outputting a sound signal under the control of the CPU 301.

The network I / F 308 is a communication interface that communicates (connects) with another device or device via the communication network 9. The network I / F 308 is a communication interface such as a wired or wireless LAN. The network I / F308 is 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), Wi-Fi, WiMAX (Worldwide Interoperability for Microwave Access), Zigbee (registered trademark). ), Or a communication interface such as millimeter-wave wireless communication may be provided. The short-range communication circuit 309 is a communication circuit such as NFC (Near Field communication) or Bluetooth (registered trademark). The external device connection I / F311 is an interface for connecting another device to the control device 30.

The bus line 310 is an address bus, a data bus, or the like for electrically connecting each of the above components, and transmits an address signal, a data signal, various control signals, and the like. The CPU 301, ROM 302, RAM 303, HDD 304, media I / F 305, input / output I / F 306, sound input / output I / F 307, network I / F 308, short-range communication circuit 309, and external device connection I / F 311 are via the bus line 310. Are interconnected.

Further, the control device 30 includes a drive motor 101, an actuator 102, an acceleration / orientation sensor 103, a GPS (Global Positioning System) receiver 104, a photographing device 12, a power supply unit 105, and the like via an external device connection I / F311. The notification button 20, the lamp 17, and the notification panel 18 are connected.

The drive motor 101 rotationally drives the moving mechanism 15 to move the robot 10 along the ground based on a command from the CPU 301. The actuator 102 deforms the movable arm 16 based on a command from the CPU 301. The acceleration / orientation sensor 103 is a sensor such as an electronic magnetic compass, a gyro compass, and an acceleration sensor that detects the geomagnetism. The GPS receiving unit 104 receives GPS signals from GPS satellites. The power supply unit 105 is a unit that supplies necessary power to the entire robot 10.

● Hardware configuration of the administrator terminal FIG. 5 is a diagram showing an example of the hardware configuration of the administrator terminal according to the embodiment. The administrator terminal 50 includes a CPU 501, a ROM 502, a RAM 503, an EEPROM (Electrically Erasable Programmable Read-Only Memory) 504, an image sensor I / F505, a CMOS (Complementary Metal Oxide Semiconductor) sensor 505a, and a media I / F506.

The CPU 501 controls the operation of the entire administrator terminal 50. The CPU 501 is an arithmetic unit that realizes each function of the administrator terminal 50 by reading a program or data stored in the ROM 502 or the like onto the RAM 503 and executing processing.

The ROM 502 stores a program used for driving the CPU 501 such as an IPL (Initial Program Loader). The RAM 503 is used as a work area of the CPU 501. The EEPROM 504 reads or writes various data such as a program for an administrator terminal under the control of the CPU 501.

The CMOS sensor 505a captures a subject (mainly a self-portrait) according to the control of the CPU 501 to obtain image data. The image sensor I / F 505 is a circuit that controls the drive of the CMOS sensor 505a. The media I / F 506 controls reading or writing (storage) of data to a recording medium 506a such as a flash memory.

Further, the administrator terminal 50 includes a network I / F 507, a sound input / output I / F 508, a microphone 508a, a speaker 508b, a display 511, a keyboard 512, a mouse 513, an external device connection I / F 514, a short-range communication circuit 515, and a near range. The antenna 515a of the distance communication circuit 515 is provided.

The network I / F 507 is a communication interface that communicates (connects) with another device or device via the communication network 9. The network I / F 507 is a communication interface such as a wired or wireless LAN. The network I / F507 may be provided with a communication interface such as 3G, LTE, 4G, 5G, Wi-Fi, WiMAX, Zigbee, or millimeter-wave wireless communication. The sound input / output I / F 508 is a circuit that processes sound signal input / output between the microphone 508a and the speaker 508b under the control of the CPU 501. The microphone 508a is a kind of built-in sound collecting means for inputting a sound signal under the control of the CPU 501. The speaker 508b is a kind of reproduction means for outputting a sound signal under the control of the CPU 501.

The display 511 is a kind of display means such as a liquid crystal or an organic EL for displaying an image of a subject, various icons, and the like. The display 511 may be a touch panel display provided with input means. The keyboard 512 is a kind of input means including a plurality of keys for inputting characters, numerical values, various instructions, and the like. The mouse 513 is a kind of input means for selecting and executing various instructions, selecting a processing target, moving a cursor, and the like. The external device connection I / F 514 is an interface for connecting various external devices. The short-range communication circuit 515 is a communication circuit such as NFC or Bluetooth.

Further, the administrator terminal 50 includes a bus line 509. The bus line 509 is an address bus, a data bus, or the like for electrically connecting each component such as the CPU 501 shown in FIG.

● Server Hardware Configuration FIG. 6 is a diagram showing an example of the hardware configuration of the information processing server according to the embodiment. The information processing server 70 is constructed by a general computer. The information processing server 70 includes CPU 701, ROM 702, RAM 703, HD 704, HDD 705, media I / F 707, network I / F 708, display 711, keyboard 712, mouse 713, DVD-RW (Digital Versatile Disk Rewritable) drive 715, timer 716 and It has a bus line 710.

The CPU 701 controls the operation of the entire information processing server 70. The ROM 702 stores a program used to drive the CPU 701. The RAM 703 is used as a work area for the CPU 701. The HDD 705 controls reading or writing of various data to the HD 704 according to the control of the CPU 701. The HD704 stores various data such as programs. The media I / F 707 controls reading or writing (storage) of data to a recording medium 706 such as a flash memory.

The network I / F708 is an interface for performing data communication using the communication network 9. The display 711 displays various information such as a cursor, a menu, a window, characters, or an image. The keyboard 712 is a kind of input means including a plurality of keys for inputting characters, numerical values, various instructions, and the like. The mouse 713 is a kind of input means for selecting and executing various instructions, selecting a processing target, moving a cursor, and the like. The DVD-RW drive 715 controls reading of various data to the DVD-RW 714 as an example of the removable recording medium. The DVD-RW714 may be a DVD-R or the like. Further, the DVD-RW drive 715 is for a Blu-ray drive that controls reading or writing (storage) of various data to a BD-RE (Blu-ray (registered trademark) Disc Rewritable), or a CD-RW (Compact Disc-ReWritable). It may be a CD-RW drive or the like that controls reading or writing of various data. The timer 716 is a measuring device having a time measuring function. The timer 716 may be a computer soft timer.

Further, the information processing server 70 includes a bus line 710. The bus line 710 is an address bus, a data bus, or the like for electrically connecting each component such as the CPU 701 shown in FIG.

Further, the communication management server 90 is constructed by a general computer, and as shown in FIG. 6, the CPU 901, ROM 902, RAM 903, HD 904, HDD 905, media I / F 907, network I / F 908, and display 911. , Keyboard 912, mouse 913, DVD-RW drive 915, and bus line 910. These have the same configurations as the CPU 701, ROM 702, RAM 703, HDD 705, media I / F 707, network I / F 708, display 711, keyboard 712, mouse 713, DVD-RW drive 715, and bus line 710 in the information processing server 70, respectively. Therefore, the description thereof will be omitted.

Each of the above programs may be a file in an installable format or an executable format, and may be recorded and distributed on a computer-readable recording medium. Examples of recording media include CD-R (Compact Disc Recordable), DVD, Blu-ray Disc, SD card and the like. In addition, the recording medium can be provided domestically or internationally as a program product. For example, the information processing server 70 realizes the information processing method according to the present invention by executing the program according to the present invention.

● Functional configuration ●
Subsequently, the functional configuration of the remote control system 1a according to the present embodiment will be described with reference to FIGS. 7 to 13. 7 and 9 are diagrams showing an example of the functional configuration of the remote control system according to the embodiment. Note that, in FIGS. 7 and 9, among the terminals, devices, and servers shown in FIG. 1, those related to the processing or operation described later are shown.

● Functional Configuration of Control Device First, the functional configuration of the control device 30 that controls the processing or operation of the robot 10 will be described with reference to FIG. 7. The control device 30 includes a transmission / reception unit 31, a reception unit 32, a display control unit 33, a judgment unit 34, a communication control unit 35, a state information acquisition unit 36, a position information acquisition unit 37, a shooting instruction unit 38, and a shooting image acquisition unit 41. It has a user identification unit 42, a movement destination setting unit 43, a movement control unit 44, an arm operation control unit 45, a communication status notification control unit 49, and a storage / reading unit 39. Each of these parts is a function realized or a means for functioning by operating any of the components shown in FIG. 4 by an instruction from the CPU 301 according to a program developed on the RAM 303. Further, the control device 30 has a storage unit 3000 constructed by the ROM 302, HD 304a or the recording medium 305a shown in FIG. The storage unit 3000 is an example of a storage means.

The transmission / reception unit 31 is realized by a command from the CPU 301 shown in FIG. 4 and a network I / F 308, and is a function of transmitting / receiving various data or information to / from another device via the communication network 9. is there. The transmission / reception unit 31 receives, for example, the operation start request information requesting the robot 10 to start the operation from the information processing server 70 via the communication network 9. Further, the transmission / reception unit 31 transmits the photographed image data acquired by the photographed image acquisition unit 41 to the administrator terminal 50. The transmission / reception unit 31 is an example of acquisition means.

The reception unit 32 is a function realized by the command from the CPU 301 shown in FIG. 4 and the input / output I / F 306, and receives an operation input to the input means such as the display 14. The display control unit 33 is a function realized by the command from the CPU 301 shown in FIG. 4 and the input / output I / F 306, and causes the display 14 to display various screens. The determination unit 34 is a function realized by an instruction from the CPU 301 shown in FIG. 4 and performing various determinations.

The communication control unit 35 is a function realized by an instruction from the CPU 301 shown in FIG. 4 and controls remote communication with the administrator terminal 50. The communication control unit 35 is an example of the communication control means. The state information acquisition unit 36 is a function realized by the instruction from the CPU 301 shown in FIG. 4 and the external device connection I / F311 and acquires the state information indicating the state of the robot 10. The state information acquisition unit 36 obtains, for example, the connection state of an external device to the robot 10, the remaining battery level of the robot 10 acquired from the power supply unit 105, the drive state of the movement mechanism 15 acquired from the movement control unit 44, and the like. , Generated and acquired as state information of the robot 10. The position information acquisition unit 37 is realized by the command from the CPU 301 shown in FIG. 4 and the external device connection I / F311 and is detected by the acceleration / orientation sensor 103 or the GPS reception unit 104. It is a function to acquire the detection result such as the direction of magnetic north). The detection result such as the direction of each direction is position information indicating the position and direction of the robot 10 at a predetermined time point.

The shooting instruction unit 38 is a function realized by the command from the CPU 301 shown in FIG. 4 and the external device connection I / F311 and instructing the shooting process to the shooting device 12. The shooting instruction unit 38 transmits, for example, instruction information for instructing shooting by the shooting device 12 to the shooting device 12.

The captured image acquisition unit 41 is a function of acquiring a captured image acquired by the photographing device 12 realized by a command from the CPU 301 shown in FIG. 4 and an external device connection I / F311. The captured image acquisition unit 41 acquires, for example, captured image data which is a captured image acquired by the photographing device 12 by photographing the subject from the photographing device 12.

The user identification unit 42 is a function realized by a command from the CPU 301 shown in FIG. 4 and for identifying a user who has pressed the notification button 20 installed in the base. The user identification unit 42 identifies the user who has pressed the notification button 20, for example, by recognizing the face image shown in the photographed image acquired by the photographed image acquisition unit 41.

The move destination setting unit 43 is realized by a command from the CPU 301 shown in FIG. 4, and is a function of setting the move destination of the robot 10. The move destination setting unit 43 sets the move destination of the robot 10 based on, for example, the operation start request information transmitted from the information processing server 70. The move destination setting unit 43 is an example of the setting means.

The movement control unit 44 is a function realized by a command from the CPU 301 shown in FIG. 4 and an external device connection I / F311 and controls the movement of the robot 10 by driving the movement mechanism 15. The movement control unit 44 moves the robot 10 by controlling the drive of the movement mechanism 15 according to, for example, the operation start request information transmitted from the information processing server 70. The movement control unit 44 is an example of the movement control means.

The arm operation control unit 45 is a function realized by a command from the CPU 301 shown in FIG. 4 and an external device connection I / F311 to control the operation of the movable arm 16. The arm operation control unit 45 changes the direction or position of the movable arm 16 by deforming the movable arm 16 based on, for example, an operation request transmitted from the administrator terminal 50. Change the orientation or position of the movable arm 16.

The communication status notification control unit 49 is a function realized by the command from the CPU 301 shown in FIG. 4 and the external device connection I / F311 and controls the notification of the communication status by the lamp 17 and the notification panel 18.

The storage / reading unit 39 is a function executed by a command from the CPU 301 shown in FIG. 4 to store various data in the storage unit 3000 or read various data from the storage unit 3000. The storage unit 3000 overwrites and stores the image data and sound data received when communicating with the administrator terminal 50 each time it is received. Of these, the image is displayed on the display 14 by the image data before being overwritten, and the sound is output from the speaker 307b by the sound data before being overwritten. In addition, the storage unit 3000 stores the photographed image data acquired by the photographed image acquisition unit 41. The captured image data stored in the storage unit 3000 may be deleted when a predetermined time has elapsed since it was acquired by the captured image acquisition unit 41, or may be transmitted to the administrator terminal 50. The data may be deleted.

○ User Information Management Table FIG. 8A is a conceptual diagram showing an example of the user information management table according to the embodiment. A user information management DB 3001 configured by a user information management table as shown in FIG. 8A is constructed in the storage unit 3000. In this user information management table, a user ID and a user name for identifying a user located at a base where the robot 10 is installed, and a feature amount are managed in association with each other. Of these, the feature amount is a feature amount for identifying a person's face included in the photographed image data acquired by the photographed image acquisition unit 41. The user information management table is used when a process of collating the face of a person included in the captured image data to be processed (face collation process) is executed as an image process in the user identification unit 42.

○ Notification pattern management table FIG. 8B is a conceptual diagram showing an example of the notification pattern management table according to the embodiment. A notification pattern management DB 3009 configured by a notification pattern management table as shown in FIG. 8B is constructed in the storage unit 3000. In this notification pattern management table, information indicating the communication status with the administrator terminal 50 and the notification pattern corresponding to the communication status are associated and managed. Of these, the communication status includes "communication in progress" indicating that communication with another user or administrator is being performed, and "reserved status for communication with another user or administrator". It includes states such as "waiting for communication" and "waiting" indicating that the process for starting communication with another user or administrator is not started and is in a free state. Further, the notification pattern indicates a notification method that allows the user to visually recognize the communication state of the robot 10. As the notification pattern, for example, different lighting methods of the lamp 17 according to the communication state are shown. The lamp 17 is lit so as to be distinguishable for each notification pattern, for example, depending on the color to be lit or the regularity of blinking.

● Functional configuration of the administrator terminal Next, the functional configuration of the administrator terminal 50 will be described with reference to FIG. 7. The administrator terminal 50 has a transmission / reception unit 51, a reception unit 52, a display control unit 53, a determination unit 54, and a storage / reading unit 59. Each of these parts is a function realized or a means for functioning by operating any of the components shown in FIG. 5 by an instruction from the CPU 501 according to a program developed on the RAM 503. In addition, the administrator terminal 50 has a storage unit 5000 constructed by the ROM 502 shown in FIG. 5 or the recording medium 506a. The storage unit 5000 is an example of a storage means. Further, the administrator terminal 50 has installed a dedicated application program for remotely controlling the robot 10. The administrator terminal 50 realizes each function by, for example, the CPU 501 executing the installed application program.

The transmission / reception unit 51 is realized by a command from the CPU 501 shown in FIG. 5 and a network I / F 507, and is a function of transmitting / receiving various data or information to / from another device via the communication network 9. is there. The transmission / reception unit 51 receives, for example, captured image data transmitted from the robot 10 (control device 30) via the communication network 9. Further, the transmission / reception unit 51 receives state information indicating the state of the robot 10 from the robot 10 (control device 30) via, for example, the communication network 9. The transmission / reception unit 51 is an example of a communication request receiving means. The transmission / reception unit 51 is an example of communication means.

The reception unit 52 is a function realized by an instruction from the CPU 501 shown in FIG. 5 and an input means such as a keyboard 512 or a mouse 513, and receives various selections or operation inputs to the administrator terminal 50. The display control unit 53 is realized by a command from the CPU 501 shown in FIG. 5, and is a function of displaying various screens on the display 511 of the administrator terminal 50. The determination unit 54 is a function realized by an instruction from the CPU 501 shown in FIG. 5 and performing various determinations.

The storage / reading unit 59 is a function executed by an instruction from the CPU 501 shown in FIG. 5 to store various data in the storage unit 5000 or read various data from the storage unit 5000. The storage unit 5000 overwrites and stores the image data and sound data received when communicating with the robot 10 (control device 30) each time it is received. Of these, the image is displayed on the display 511 by the image data before being overwritten, and the sound is output from the speaker 508b by the sound data before being overwritten.

● Functional configuration of the information processing server Next, the functional configuration of the information processing server 70 will be described with reference to FIG. The information processing server 70 includes a transmission / reception unit 71, a determination unit 72, a search unit 73, a generation unit 74, a measurement unit 75, and a storage / reading unit 79. Each of these parts is a function realized or a means for functioning by operating any of the components shown in FIG. 6 by an instruction from the CPU 701 according to a program developed on the RAM 703. Further, the information processing server 70 has a storage unit 7000 constructed by the ROM 702, HD704 or the recording medium 706 shown in FIG. The storage unit 7000 is an example of a storage means.

The transmission / reception unit 71 is realized by the instruction from the CPU 701 and the network I / F708 shown in FIG. 6, and is a function of transmitting / receiving various data or information to / from another device via the communication network 9. is there. The transmission / reception unit 71 receives, for example, notification information transmitted from the notification button 20 when the selection of the notification button 20 is accepted via the communication network 9. Further, the transmission / reception unit 71 transmits, for example, operation start request information for requesting the start of an operation for moving the robot 10 to a specific movement destination to the robot 10 via the communication network 9. Further, the transmission / reception unit 71 transmits a communication request for remote communication with the robot 10 to the administrator terminal 50. The transmission / reception unit 71 is an example of the notification information receiving means. The transmission / reception unit 71 is an example of an output means. Further, the transmission / reception unit 71 is an example of a communication request transmission means.

The determination unit 72 is a function realized by an instruction from the CPU 701 shown in FIG. 6 and performing various determinations. The search unit 73 is a function realized by a command from the CPU 701 shown in FIG. 6 and searches for a robot 10 requesting an operation based on the notification information transmitted from the notification button 20. The search unit 73 is an example of a determination means. The generation unit 74 is a function realized by an instruction from the CPU 701 shown in FIG. 6 and generates various data or information. The generation unit 74 generates, for example, communication history information indicating the communication history between the robot 10 and the administrator terminal 50. The measurement unit 75 is a function realized by the instruction from the CPU 701 and the timer 716 shown in FIG. 6 and measures the processing time until the communication session between the robot 10 and the administrator terminal 50 is established. is there.

The storage / reading unit 79 is a function executed by an instruction from the CPU 701 shown in FIG. 6 to store various data in the storage unit 7000 or read various data from the storage unit 7000.

○ Base information management table FIG. 10A is a conceptual diagram showing an example of a base information management table according to the embodiment. In the storage unit 7000, a base information management DB 7001 composed of a base information management table as shown in FIG. 10A is constructed. In this base information management table, the base ID and the base name for identifying the base where the robot 10 to be controlled by the information processing server 70 is installed, and the notification button 20 installed at the base are identified. Button IDs are associated and managed. When the notification button 20 is pressed by a user in the base, the information processing server 70 identifies the base where the robot 10 to be controlled is installed based on the button ID of the notification button 20 that has transmitted the notification information. ..

○ Location information management table FIG. 10B is a conceptual diagram showing an example of the location information management table according to the embodiment. In the storage unit 7000, a position information management DB 7002 configured by a position information management table as shown in FIG. 10B is constructed. In this position information management table, a terminal ID and a terminal name for identifying the robot 10 and a position information indicating the position of the robot 10 are associated and managed for each base ID. Of these, the position information includes latitude and longitude information, and is transmitted from the robot 10 to the information processing server 70 at any time. The format of the position information is not limited to the latitude and longitude information, and may be any information that can determine the position of the robot 10 in the base.

○ Condition information management table FIG. 10C is a conceptual diagram showing an example of the condition information management table according to the embodiment. In the storage unit 7000, a condition information management DB 7003 composed of a condition information management table as shown in FIG. 10C is constructed. In this condition information management table, a button ID for identifying the notification button 20 and condition information indicating a condition for transmitting a control request to the robot 10 are associated and managed for each base ID. Of these, the condition information includes conditions related to items such as the performance or operating state of the robot 10. The items included in the condition information are, for example, the remaining battery level of the robot 10, the performance of the photographing device 12 (camera), the performance of the movable arm 16, and the like. The items included in the condition information are not limited to this, and may include, for example, usage history items such as the number of times and frequency of operation start requests made from the information processing server 70 to the robot 10. .. Further, the items included in the condition information are the same as the items included in the state information stored in the state information management DB 7004 described later.

In the item of the remaining battery level in the condition information, the threshold value of the remaining battery level of the robot 10 for which the control request is requested is shown. For example, the condition of the remaining battery level in the case of a control request triggered by the selection of the notification button 20A identified by the button ID “btA01” is 90% or more (≧ 90%).

Further, in the item of the camera in the condition information, the threshold value of the performance of the photographing device 12 included in the robot 10 is shown. In the example shown in FIG. 11A, the shooting possible range based on the type of the photographing device 12 is a condition as the threshold value of the performance of the photographing device 12. In this case, the order of performance of the photographing device 12 is the wide-angle camera, the movable camera, and the normal camera. A movable camera is a camera that has a rotation mechanism and can shoot while changing the shooting direction (direction), and a normal camera is a general digital camera that can acquire a flat image (detailed image). For example, the condition of the camera in the case of the control request triggered by the selection of the notification button 20A identified by the button ID "btA02" is that the robot 10 has the performance higher than that of the normal camera. Further, for example, in the case of a control request triggered by the selection of the notification button 20A identified by the button ID "btA03", the condition of the camera is that the robot 10 has the performance higher than that of the movable camera. The performance threshold value of the photographing device 12 may be a condition in which the resolution and the photographing range are expressed numerically.

Further, in the item of the arm in the condition information, the threshold value of the performance of the movable arm 16 provided in the robot 10 is shown. For example, the condition of the arm in the case of a control request triggered by the selection of the notification button 20A identified by the button ID "btA01" is that the robot 10 includes a robot hand.

In this way, different condition information can be set in the condition information management table for each base and for each notification button 20, so that a control request is made to the robot 10 depending on the type of base or the installation position of the notification button 20. Conditions can be set. The information processing server 70 may have a configuration in which the contents of the condition information shown in the condition information management table can be added or modified as appropriate.

○ State information management table FIG. 11A is a conceptual diagram showing an example of the state information management table according to the embodiment. A state information management DB 7004 composed of a state information management table as shown in FIG. 11A is constructed in the storage unit 7000. In this state information management table, a terminal ID and a terminal name for identifying the robot 10 and a state information indicating the state of the robot 10 are associated and managed for each base ID. Of these, the state information includes data on items related to the performance of the robot 10 and the current operating state. The items included in the state information are the same as the items included in the condition information shown in the condition information management table of FIG. 10C. The state information of the robot 10 is transmitted from each of the robots 10 installed at each base to the information processing server 70 at any time or periodically. The information processing server 70 determines whether or not to make a control request to the robot 10 based on the state information shown in the state information management table and the condition information shown in the condition information management table.

-Administrator information management table FIG. 11B is a conceptual diagram showing an example of an administrator information management table according to the embodiment. In the storage unit 7000, an administrator information management DB 7005 composed of an administrator information management table as shown in FIG. 11B is constructed. In this administrator information management table, an administrator ID and an administrator name for identifying an administrator who manages a base located in a remote place, an administrator address information indicating an administrator's address, and a notification button 20 are identified. Button IDs for doing so are associated and managed. Of these, the administrator destination information is, for example, an e-mail address of an administrator, an application ID assigned to each administrator, or the like. For example, when the administrator uses the exclusive administrator terminal 50, the administrator destination information may be an IP address or the like indicating the destination of the administrator terminal 50. Further, in the administrator information management table, a notification button 20 to be managed is assigned to each administrator, and the information processing server 70 manages the allocation according to the notification button 20 selected by the user. Notify the person of the communication request with the robot 10 in the base.

○ Notification history management table FIG. 11C is a conceptual diagram showing an example of the notification history management table according to the embodiment. In the storage unit 7000, a notification history management DB 7006 configured by a notification history management table as shown in FIG. 11C is constructed. In this notification history management table, a base ID, a button ID for identifying the notification button 20 selected by the user, and an administrator who has performed remote communication with the robot 10 using the administrator terminal 50 are to be identified. The communication time indicating the time during which the remote communication between the administrator terminal 50 and the robot 10 was performed according to the selection of the administrator ID, the user ID for identifying the user who selected the notification button 20, and the notification button 20. , And the link of the storage destination of the notification history information indicating the history of the remote communication between the administrator terminal 50 and the robot 10 are associated and managed. When the remote communication between the administrator terminal 50 and the robot 10 is completed, the information processing server 70 generates the notification history information and stores the generated notification history information in the storage destination shown in the notification history management table. The base ID, button ID, administrator ID, user ID, and communication time are examples of the notification history data, and the notification history data may not include some items.

● Functional configuration of the communication management server Next, the functional configuration of the communication management server 90 will be described with reference to FIG. The communication management server 90 includes a transmission / reception unit 91, an authentication unit 92, a determination unit 93, a creation unit 94, and a storage / reading unit 99. Each of these parts is a function realized or a means for functioning by operating any of the components shown in FIG. 6 by an instruction from the CPU 901 according to a program developed on the RAM 903. Further, the communication management server 90 has a storage unit 9000 constructed by the ROM 902, HD904 or recording medium 906 shown in FIG.

The transmission / reception unit 91 is realized by the instruction from the CPU 901 and the network I / F908 shown in FIG. 6, and is a function of transmitting / receiving various data or information to / from another device via the communication network 9. is there.

The authentication unit 92 is a function realized by the instruction from the CPU 901 shown in FIG. 6 and authenticates the login request source based on the login request information received by the transmission / reception unit 91. For example, the authentication unit 92 searches the authentication management DB 9001 of the storage unit 9000 using the terminal ID and password included in the login request received by the transmission / reception unit 91 as search keys. Then, the authentication unit 92 performs terminal authentication by determining whether the same set of terminal IDs and passwords are managed in the authentication management DB 9001.

The determination unit 93 is realized by the instruction from the CPU 901 shown in FIG. 6, and is a function of determining whether the terminal ID of the administrator terminal 50 is managed in the session management table described later. The creation unit 94 is a function of creating a session ID that is realized by an instruction from the CPU 901 shown in FIG. 6 and is used for communication.

The storage / reading unit 99 is a function executed by an instruction from the CPU 901 shown in FIG. 6 to store various data in the storage unit 9000 or read various data from the storage unit 9000. Further, in the storage unit 9000, the destination list frame data (icon shown in FIG. 18, "rA01", "robot 10A-1", etc. on the destination list screen 900 (see FIG. 18) described later is stored. Is not included) is remembered.

-Authentication management table FIG. 12A is a conceptual diagram showing an example of the authentication management table according to the embodiment. In the storage unit 9000, an authentication management DB 9001 configured by an authentication management table as shown in FIG. 12A is constructed. In this authentication management table, each password is associated and managed for each terminal ID of all the administrator terminals 50 managed by the communication management server 90. For example, in the authentication management table shown in FIG. 12A, it is shown that the terminal ID of the administrator terminal 50A is "o01" and the password is "aaaa".

-Terminal management table FIG. 12B is a conceptual diagram showing an example of the terminal management table according to the embodiment. In the storage unit 9000, a terminal management DB 9002 configured by a terminal management table as shown in FIG. 12B is constructed. In this terminal management table, for each terminal ID of each terminal (robot 10 and administrator terminal 50), the terminal name of each terminal, the IP address of the terminal, the operating status information indicating the current operating status of each terminal, and the terminal When is the robot 10, the base name indicating the base where the robot 10 is located is associated and managed. For example, in the terminal management table shown in FIG. 12B, the administrator terminal 50 having the terminal ID "o01" has the terminal name "administrator terminal 50A" and the IP address of the administrator terminal 50. In "1.2.1.3", it is shown that the operating state is "online (call is possible)". Further, the robot 10 having the terminal ID "rA01" has the terminal name "robot 10A-1", the IP address of the robot 10 is "1.3.2.3", and the operating state is "online (call is possible)". ) ”Indicates that the base name is“ base A ”.

○ Destination list management table FIG. 13A is a conceptual diagram showing an example of a destination list management table according to the embodiment. In the storage unit 9000, a destination list management DB 9003 configured by a destination list management table as shown in FIG. 13A is constructed. In this destination list management table, for each terminal ID of the administrator terminal 50 as a start terminal that requests the start of communication with the robot 10, the destination candidate robot 10 registered as a candidate for the destination robot 10 The terminal ID is associated and managed. For example, in the destination list management table shown in FIG. 13 (A), the destination candidate that can request the start of communication from the start terminal (administrator terminal 50A) whose terminal ID is "o01a" is the terminal ID. Is shown to be the robot 10A-1 with "rA01", the robot 10A-2 with the terminal ID "rA02", the robot 10C-1 with the terminal ID "rC01", and the like. The terminal ID of the destination candidate robot 10 is updated by being added or deleted by a request from an arbitrary start terminal (administrator terminal 50) to the communication management server 90 for addition or deletion.

-Session management table FIG. 13B is a conceptual diagram showing an example of the session management table according to the embodiment. In the storage unit 9000, a session management DB 9004 configured by a session management table as shown in FIG. 13B is constructed. In this session management table, for each session ID for identifying the session used when communicating between the robot 10 and the administrator terminal 50, the robot 10 using the session specified by this session ID is used. And the terminal ID of the administrator terminal 50 are associated and managed. For example, in the session management table shown in FIG. 13 (B), the terminal using the session executed by using the session ID "se1" is the administrator terminal 50A with the terminal ID "o01" and the terminal ID. Is shown to be the robot 10A-2 with "rA02" and the robot 10C-1 with the terminal ID "rC01".

● Processing or operation of the embodiment ●
Subsequently, the process or operation of the remote control system 1a according to the embodiment will be described with reference to FIGS. 14 to 28. In the following description, the process executed by the control device 30 included in the robot 10 will be described as the process executed by the robot 10.

● Call processing from the base system First, using FIGS. 14 to 25, a process of calling a remote administrator from a user (worker) located in the base will be described. FIG. 14 is a sequence diagram showing an example of a call process from the base system in the remote control system according to the embodiment. Note that FIG. 14 describes the process when any of the notification buttons 20A installed in the base A is pressed by the user, but users of other bases (for example, base B and base C) The administrator call processing by is also the same configuration. Further, FIG. 14 describes an example in which remote communication is performed between the robot 10A-1 and the administrator terminal 50A as shown in FIG. 2, but another robot 10 and the administrator terminal 50 will be described. The same processing is performed when remote communication is performed with.

The robot 10A-1 installed at the base A is in a standby state until it receives a control request from the information processing server 70 (step S11). Specifically, the robot 10A-1 moves to the charging station 150 as shown in FIG. 3 and moves the power supply unit 105, for example, in the period until the control request from the information processing server 70 is received. Charge the battery through. Further, the robot 10A-1 autonomously travels in the base A or stops at a predetermined position stored in advance in the period until the control request from the information processing server 70 is received. That is, when the robot 10A-1 receives the control request, the robot 10A-1 stands by in a state where the requested operation can be started.

Next, when the user (worker) in the base A wants to call the administrator in a remote place due to the occurrence of some abnormality during the work, for example, he / she presses the notification button 20A installed in the base A. To do. In this case, when the user presses the notification button 20A, the reception unit 22 of the notification button 20A accepts the button selection (step S12). When the button selection is accepted in step S12, the position information acquisition unit 23 acquires the current position information of the notification button 20A (step S13). The acquisition of the position information by the position information acquisition unit 23 is not limited to the configuration performed at the timing when the button selection is accepted by the reception unit 22, and may be performed periodically at a predetermined timing. Then, the transmission / reception unit 21 transmits notification information for calling the administrator at a remote location to the information processing server 70 (step S14). Here, the notification information includes the button ID of the notification button 20A and the position information acquired in step S13. As a result, the transmission / reception unit 71 of the information processing server 70 receives the notification information transmitted from the notification button 20A.

Next, the information processing server 70 executes a search process for the robot 10 located at the base A to be controlled based on the notification information received in step S14 (step S15). Here, a detailed configuration of the search process of the robot 10 will be described with reference to FIG. FIG. 15 is a flowchart showing an example of a robot search process in the information processing server according to the embodiment.

First, the storage / reading unit 79 searches the base information management DB 7001 (see FIG. 10 (A)) using the location information included in the notification information received by the transmission / reception unit 71 as a search key to correspond to the corresponding base. Read the ID (step S151). In this case, the base ID read by the storage / reading unit 79 is the base ID of the base A, "locatin A". Further, the storage / reading unit 79 reads out the corresponding condition information by searching the condition information management DB 7003 (see FIG. 10C) using the base ID read in step S151 as a search key (step S152). ..

Next, the search unit 73 is selected by searching the location information management DB 7002 (see FIG. 10B) using the location information included in the notification information received by the transmission / reception unit 71 as a search key. The robot 10 whose position is closest to the notification button 20A is specified (step S153). Specifically, the search unit 73 is included in the notification information among the robots 10 managed in the location information management table corresponding to the base ID (in this case, the base ID “locatinA”) read out in step S151. The terminal ID associated with the position information indicating the position closest to the position information is extracted. Then, the search unit 73 identifies the robot 10 identified by the extracted terminal ID as the robot 10 whose position is closest to the selected notification button 20A. In the following description, the search unit 73 describes the robot 10A-1 identified by the terminal ID "rA01" as identifying the robot 10 closest to the selected notification button 20A. The search unit 73 will be described as specifying the robot 10 whose position is closest to the notification button 20A. However, the notification button 20A is described by using a photographed image transmitted from the robot 10 or information on a base stored in advance. The robot 10 may be specified in consideration of not only the distance from the robot 10 but also the ease of movement of obstacles in the base and a movement route (for example, a straight route is preferable).

Next, the storage / reading unit 79 searches the state information management DB 7004 (see FIG. 11A) using the terminal ID of the robot 10A-1 identified in step S153 as a search key, thereby causing the robot 10A-1 to search. Read the state information (step S154). Then, the determination unit 72 determines whether or not the state information of the robot 10A-1 read in step S154 satisfies the condition shown in the condition information read in step S152 (step S155). .. Here, as shown in FIG. 11A, the state information includes information indicating the performance of the robot 10, the current operating state, and the like. In the robot 10A-1, for example, the remaining battery level is 80%, the type of the photographing device 12 mounted is a movable camera, and the type of the mounted arm is a robot hand. Here, the state information is periodically transmitted from each robot 10 to the information processing server 70, and the state information management DB 7004 manages each state information of the robot 10. The state information may be transmitted from the robot 10 to the information processing server 70 in response to an acquisition request from the information processing server 70.

Here, when the state information of the robot 10A-1 satisfies the condition shown in the condition information read by step S152 (YES in step S155), the determination unit 72 shifts the process to step S156. On the other hand, when the state information of the robot 10A-1 does not satisfy the condition shown in the condition information read by step S152 (NO in step S155), the determination unit 72 repeats the process from step S153. .. In this case, in step S153, the search unit 73 searches the position information management DB 7002 (see FIG. 10 (B)) from the robots 10A other than the robot 10A-1, and finds the most selected notification button 20A. Identify robots 10 that are close to each other.

Next, the determination unit 72 determines whether or not the robot 10A-1 identified in step S153 exists within a predetermined range from the notification button 20A that has transmitted the notification information received by the transmission / reception unit 71 ( Step S156). Specifically, the determination unit 72 determines whether the position information included in the notification information received by the transmission / reception unit 71 and the position information of the robot 10A-1 identified in step S153 are within a predetermined range. To judge. Here, the predetermined range is a range in which the position information included in the notification information and the position information of the robot 10A-1 are considered to be substantially the same. That is, the predetermined range that serves as the determination standard here is for determining whether the notification button 20A is mounted on the robot 10A-1, and is determined according to the type and accuracy of the data indicating the position information. ..

When the determination unit 72 determines that the robot 10A-1 exists within a predetermined range from the notification button 20A (YES in step S156), the determination unit 72 shifts the process to step S157. Then, the generation unit 74 generates a button mounting flag indicating that the notification button 20A that has transmitted the notification information is mounted on the robot 10A-1 identified in step S153 (step S157). On the other hand, when the determination unit 72 determines that the robot 10A-1 does not exist within a predetermined range from the notification button 20A (NO in step S156), the determination unit 72 ends the process. The generation unit 74 may generate information indicating whether or not the notification button 20A is mounted as a button mounting flag. In this case, the determination unit 72 causes the robot 10A-1 to have a predetermined range from the notification button 20A. If it is determined that the notification button 20A does not exist, the generation unit 74 generates a button mounting flag indicating that the notification button 20A is not mounted.

As a result, the information processing server 70 is used by the administrator among the plurality of robots 10A installed in the base A based on the position of the notification button 20A selected by the user of the base A to call the administrator. The robot 10A-1 used for remote communication with the administrator terminal 50 can be specified.

Returning to FIG. 14, the description of the call process from the user of the base A to the administrator will be continued. The transmission / reception unit 71 of the information processing server 70 transmits operation start request information indicating a control request for requesting the operation start of the robot 10 to be controlled to the robot 10A-1 specified by the search unit 73 (step S16). Here, the operation start request information includes the button mounting flag generated by the generation unit 74 and the position information of the notification button 20A received in step S14. When the processing of step S157 is not performed by the information processing server 70, the operation start request information may be configured not to include the button mounting flag, or the notification button 20A may be the robot 10A- as the button mounting flag. It may include information indicating that it is not mounted in 1. As a result, the transmission / reception unit 31 of the robot 10A-1 receives the operation start request information transmitted from the information processing server 70.

Next, when the operation start request information is received in step S16, the communication control unit 35 of the robot 10A-1 puts the robot 10A-1 in the communication standby state (step S17). Here, the communication standby state is, for example, a reservation state for remote communication with the administrator corresponding to the operation start request information received in step S16 without accepting the control request from another user or the administrator. Means that. Then, the robot 10A-1 executes the operation start process of the robot 10A-1 based on the operation start request information received in step S16 (step S18).

Here, the contents of the operation start processing of the robot 10A-1 will be described with reference to FIG. FIG. 16 is a flowchart showing an example of operation start processing in the robot according to the embodiment. First, the determination unit 34 determines whether or not the button mounting flag has been received by the transmission / reception unit 31 (step S181). When the determination unit 34 determines that the button mounting flag is received, that is, the operation start request information includes the button mounting flag (YES in step S181), the determination unit 34 shifts the process to step S182. In this case, the notification button 20A selected by the user in step S12 is the notification button 20A mounted on the robot 10A-1 (for example, the notification button 20-4 shown in FIG. 2).

Next, the captured image acquisition unit 41 acquires a captured image in which a subject around the robot 10A-1 is captured (step S182). Specifically, the shooting instruction unit 38 transmits a shooting instruction to the shooting device 12 to the shooting device 12. Then, the photographed image acquisition unit 41 acquires a photographed image in which the subject is photographed by using the photographing device 12 based on the photographing instruction from the photographing instruction unit 38.

Next, the user identification unit 42 identifies the user included in the photographed image acquired by the photographed image acquisition unit 41 (step S183). Specifically, the user identification unit 42 uses the feature amount of each user stored in the user information management DB 3001 (see FIG. 8) for the image of the face of the person included in the captured image. Performs face matching processing (face recognition processing). Then, the user identification unit 42 identifies a user having the feature amount collated by the face matching process as a user included in the captured image. Since the face matching process by the user identification unit 42 uses a general-purpose technique, detailed description thereof will be omitted.

Next, the movement destination setting unit 43 sets the position of the user specified by the user identification unit 42 as the movement destination of the robot 10A-1 (step S184). Then, the movement control unit 44 starts the movement to the specific movement destination set by the movement destination setting unit 43 by using the movement mechanism 15 (step S185). In this case, the robot 10A-1 moves following the user specified by the user identification unit 42. The user specified by the user identification unit 42 is a user who presses the notification button 20A (notification button 20A-4 shown in FIG. 2) mounted on the robot 10A-1.

The robot 10A-1 starts moving while photographing the user by the photographing device 12, and recognizes the photographed user in the same manner as the above-mentioned face matching process, so that the position of the user to be moved while moving is reached. To identify. Therefore, even if the user moves to a place where he / she wants to perform remote communication with the administrator, the robot 10A-1 moves following the user with the position of the user who pressed the notification button 20A as the destination. Can be done. Further, the user who presses the notification button 20A can guide the robot 10A-1 to a place where he / she wants to perform remote communication with the administrator.

On the other hand, in step S181, when the determination unit 34 determines that the button mounting flag has not been received, that is, the operation start request information does not include the button mounting flag (NO in step S181), the process is performed in step S186. Move to. In this case, the notification button 20A selected by the user in step S12 is not mounted on the robot 10A-1, but is installed at a position distant from the robot 10A-1 (for example, in FIG. 2). The notification buttons 20A-1, 20A-2, 20A-3) are shown.

The shooting instruction unit 38 sets the shooting direction (direction) of the shooting device 12 to the direction indicated by the position information of the notification button 20A included in the operation start request information received by the transmission / reception unit 31 (step S186). For example, when the photographing device 12 is a movable camera, the photographing instruction unit 38 rotates the movable camera so that the direction indicated by the position information of the notification button 20A is the photographing direction of the movable camera. When the support member 13 as shown in FIG. 3 is movable, the shooting instruction unit 38 supports the shooting instruction unit 38 so that the direction indicated by the position information of the notification button 20A is the shooting direction of the shooting device 12. The member 13 is rotated (rotated). The following processing is the same as in steps S182 and subsequent steps.

In this case as well, the robot 10A-1 will move following the user specified by the user identification unit 42. The user specified by the user identification unit 42 is a user who presses the notification button 20A (notification button 20A-4 shown in FIG. 2) installed at a position away from the robot 10A-1. .. The robot 10A-1 identifies the user who has pressed the notification button 20A by the user identification unit 42 by photographing the position (direction) of the selected notification button 20A. Therefore, the robot 10A-1 can move to the position of the user near the notification button 20A installed at a position away from the robot 10A-1. Further, the user who is at a position away from the robot 10A-1 can guide the robot 10A-1 to the place where he / she is located.

As a result, the robot 10A-1 can start moving with the position of the user who pressed the notification button 20A as the movement destination. Further, the robot 10A-1 can specify the position of the user who has pressed the notification button 20A, which is set as the movement destination of the robot 10A-1, regardless of the installation position of the selected notification button 20A. ..

The position of the user set by the movement destination setting unit 43 is not the position of the user itself, but is used so that the robot 10A-1 does not collide with an obstacle such as a person or an object at the base A when moving. It is a position that is a predetermined distance away from obstacles such as people and objects including people. Further, even if the robot 10A-1 sends a notification to the information processing server 70 indicating that the operation (movement) cannot be started when the captured image acquired in step S182 contains an obstacle or the like. Good. In this case, the information processing server 70 re-executes the robot search process as shown in FIG. 15 from among the robots 10 other than the robot 10A-1.

Returning to FIG. 14, the description of the call process from the user of the base A to the administrator will be continued. The storage / reading unit 79 of the information processing server 70 searches the administrator information management DB 7005 (see FIG. 11B) using the button ID included in the notification information received in step S14 as a search key. Read the corresponding administrator information (step S19). Here, the administrator information includes an administrator ID, an administrator name, and administrator destination information. Next, the transmission / reception unit 71 of the information processing server 70 transmits communication request information indicating a communication request to the robot 10A-1 determined in step S15 to the administrator destination information read in step S19 ( Step S20). Here, the communication request information includes the terminal ID of the robot 10A-1 determined in step S15 and the button ID of the notification button 20A received in step S14. As a result, the transmission / reception unit 51 of the administrator terminal 50A used by the administrator of the destination indicated in the administrator destination information read in step S19 receives the communication request information transmitted from the information processing server 70. Further, the transmission / reception unit 71 of the information processing server 70 transmits the administrator information read in step S19 to the robot 10A-1 (step S21). This administrator information includes at least information on the administrator name. As a result, the transmission / reception unit 31 of the robot 10A-1 receives the administrator information transmitted from the information processing server 70.

The order of the processes of steps S16 to S18 and the processes of steps S19 to S21 may be different or may be performed in parallel.

Then, the robot 10A and the administrator terminal 50A are triggered by the administrator who has acquired the communication request information transmitted in step S20, and execute the communication session establishment process (step S22).

Here, the process of establishing a communication session between the robot 10A-1 and the administrator terminal 50A will be described with reference to FIGS. 17 to 19. FIG. 17 is a sequence diagram showing an example of processing in the preparatory stage for starting transmission / reception of data between the robot and the administrator terminal according to the embodiment. Here, the transmission / reception processing of each management information in the preparatory stage before starting the transmission / reception of data between the administrator terminal 50A as the start terminal and the robot 10A-1 as the destination terminal will be described.

First, the transmission / reception unit 51 of the administrator terminal 50A transmits login request information to the communication management server 90 via the communication network 9 (step S101). Specifically, when the user of the administrator terminal 50A turns on the power switch in the administrator terminal 50A, the power is turned on. Then, the transmission / reception unit 51 of the administrator terminal 50A transmits login request information from the transmission / reception unit 51 to the communication management server 90 via the communication network 9 when the power is turned on. As a result, the transmission / reception unit 91 of the communication management server 90 receives the login request information transmitted from the administrator terminal 50A.

The login request information includes a terminal ID for identifying the starting terminal as the administrator terminal 50A, and a password. These terminal IDs and passwords are data read from the storage unit 5000 by the storage / reading unit 59 and sent to the transmission / reception unit 51. The terminal ID and password are not limited to this, and the terminal ID and password entered by the user by an input means such as a keyboard 511 may be transmitted. Further, the terminal ID and password read from a recording medium such as a SIM (Subscriber Identity Module Card) card or SD card connected to the administrator terminal 50A may be transmitted.

Further, when the login request information is transmitted from the administrator terminal 50A to the communication management server 90, the communication management server 90 on the receiving side can acquire the IP address of the administrator terminal 50A on the transmitting side. The start of the login request does not necessarily have to be triggered by turning on the power switch, and may be transmitted in response to an input by the user to an input means such as a display 511.

Next, the authentication unit 92 of the communication management server 90 uses the terminal ID and password included in the login request information received by the transmission / reception unit 91 as search keys, and the authentication management table of the storage unit 9000 (FIG. 12 (A)). (See) is searched, and authentication is performed by determining whether the same terminal ID and the same password are managed in the authentication management DB 9001 (step S102). Hereinafter, a case where the administrator terminal 50A is determined by the authentication unit 92 to have a legitimate usage authority will be described.

Next, when the storage / reading unit 99 determines that the login request is from a starting terminal having a legitimate usage authority because the same terminal ID and the same password are managed by the authentication unit 92, The destination list frame data is read from the storage unit 9000 (step S103).

The transmission / reception unit 91 transmits the authentication result information indicating the authentication result obtained by the authentication unit 92 to the administrator terminal 50A that has requested the login via the communication network 9 (step S104). The authentication result information includes the destination list frame data read by step S103. As a result, the transmission / reception unit 51 of the administrator terminal 50A receives the authentication result information. Then, the storage / reading unit 59 of the administrator terminal 50A stores the destination list frame data received in step S104 in the storage unit 5000 (step S105).

Next, when the transmission / reception unit 51 receives the authentication result information indicating the authentication result determined to be a terminal having the proper usage authority, the transmission / reception unit 51 sends the destination list to the communication management server 90 via the communication network 9. Destination list requesting content Sends content request information (step S106). The destination list content request information includes the terminal ID of the administrator terminal 50A. As a result, the transmission / reception unit 91 of the communication management server 90 receives the destination list content request information.

Next, the storage / reading unit 99 of the communication management server 90 searches the destination list management DB 9003 (FIG. 13 (A)) using the terminal ID “o01” of the administrator terminal 50 received in step S106 as a search key. To read out the terminal IDs of all the corresponding destination candidates (step S107). Further, the storage / reading unit 99 searches the terminal management DB 9002 (see FIG. 12B) using each terminal ID read in step S107 as a search key, so that the corresponding destination candidate terminal name and operating state The information and the base name are read out (step S108).

Next, the transmission / reception unit 91 transmits the destination list content information to the administrator terminal 50A via the communication network 9 (step S109). The destination list content information includes the terminal ID of the destination candidate, the terminal name of the destination candidate, the operating state information, and the base name read out in steps S107 and S108. As a result, the transmission / reception unit 51 of the administrator terminal 50A receives the destination list content information.

Next, the display control unit 53 of the administrator terminal 50A uses the destination list frame data stored in the storage unit 5000 in step S105 and the destination list content information received in step S109 to create a destination list screen 900. Is displayed on the display 511 (step S110). FIG. 18 is a diagram showing an example of a destination list screen displayed on the administrator terminal according to the embodiment. On the destination list screen 900 shown in FIG. 18, for each destination candidate, an icon showing the operating state of the destination candidate terminal (robot 10), the terminal ID of the destination candidate terminal, the destination name of the destination candidate, and the destination name of the destination candidate are displayed. The name of the base where the destination candidate terminal is located is displayed. The "terminal name" received in step S109 is displayed as the "destination name" on the destination list screen 900 shown in FIG.

Subsequently, with reference to FIG. 19, the process from the selection of the destination candidate in the administrator terminal 50 to the start of transmission / reception of image data will be described. FIG. 19 is a sequence diagram showing an example of processing from the selection of the destination candidate according to the embodiment to the start of transmission / reception of image data.

First, the reception unit 52 of the administrator terminal 50A accepts the selection of the destination candidate (here, the robot 10A-1) on the destination list screen 900 shown in FIG. 18 from the user (step S111). Then, the transmission / reception unit 51 transmits to the communication management server 90 start request information indicating that the transmission / reception of image data or the like is desired to be started (step S112). The start request information includes the terminal ID of the administrator terminal 50A and the terminal ID of the destination candidate terminal. As a result, the transmission / reception unit 91 of the communication management server 90 receives the start request information.

Next, the determination unit 93 of the communication management server 90 determines whether or not the terminal ID of the administrator terminal 50A received in step S112 is managed by the session management table (see FIG. 13B). Here, the case where the terminal ID of the destination candidate terminal (robot 10A-1) is not managed will be described below.

When the terminal ID of the destination candidate terminal is not managed, the creation unit 94 newly creates a session ID (step S114). Then, the storage / reading unit 99 displays the session ID created in step S114, the terminal ID of the administrator terminal 50A received in step S112, and the destination candidate terminal in the session management table (see FIG. 13B). A new record associated with the terminal ID of is additionally stored (step S115). Here, as shown in FIG. 13B, the session ID “se3” and the terminal IDs “o01” and “rA01” are managed in association with each other by adding a new record.

Next, the transmission / reception unit 91 transmits the session start request information requesting the start of the session to the administrator terminal 50A (step S116). The session start request information includes the session ID created by step S114. As a result, the transmission / reception unit 51 of the administrator terminal 50A receives the session start request information.

Further, the storage / reading unit 99 of the communication management server 90 searches the terminal management DB 9002 (see FIG. 12B) using the terminal ID of the destination candidate terminal (robot 10A-1) received in step S112 as a search key. By doing so, the corresponding IP address is read out (step S117). Then, the transmission / reception unit 91 transmits the session start request information requesting the start of the session to the destination candidate terminal (robot 10A-1) indicated by the IP address read in step S117 (step S118). The session start request information includes the session ID created by step S114. As a result, the transmission / reception unit 31 of the destination terminal (robot 10A-1) receives the session start instruction.

As described above, the start terminal (administrator terminal 50A) and the destination terminal (robot 10A-1) establish a communication session with the communication management server 90, respectively (steps S119-1 and S119-2).

Then, as shown in FIG. 14, the transmission / reception unit 91 of the communication management server 90 indicates to the information processing server 70 that a communication session between the robot 10A-1 and the administrator terminal 50A has been established. The indicated session establishment notification is transmitted (step S23). As a result, the transmission / reception unit 71 of the information processing server 70 receives the session establishment notification transmitted from the communication management server 90. The robot 10A-1 and the administrator terminal 50A perform remote communication via the communication management server 90 using the communication session established by the processes shown in FIGS. 17 to 19 (steps S24-1 and S24). -2). As a result, the remote control system 1a can start remote communication between the robot 10A-1 installed at the base A and the administrator terminal 50 located at a remote location. Then, the user who presses the notification button 20A of the base A can use the robot 10A-1 to communicate with the administrator at a remote location who is called by pressing the notification button 20A as a trigger.

Here, the robot 10A-1 may perform the processes of steps S17 and S18 and the processes of steps S22 and S24-1 in parallel. After shifting to the communication standby state in step S17, the robot 10A-1 is in a state in which remote communication can be started at any time when a session start request (step S118 in FIG. 19) transmitted from the communication management server 90 is received. That is, the robot 10A-1 can start remote communication with the administrator terminal 50A, for example, while moving to the movement destination set by the movement destination setting unit 43. In this case, the user who presses the notification button 20A can communicate with the administrator while moving to a place desired to be shown to the remote administrator.

○ Another Example of Robot Operation Start Processing Here, another example of the operation start process of the robot 10A-1 shown in FIG. 16 will be described. FIG. 20 is a flowchart showing another example of the operation start process in the robot according to the embodiment. The process shown in FIG. 20 is different from the process shown in FIG. 16 after the determination unit 34 determines that the button mounting flag has not been received (NO in step S181). That is, FIG. 20 shows a process in the case where the notification button 20A pressed by the user is not mounted on the robot 10A-1 and is installed at a position away from the robot 10A-1. It is different from the processing that is being performed. Hereinafter, only the points different from the processing shown in FIG. 16 will be described. In step S181, when the determination unit 34 determines that the button installation flag has not been received by the transmission / reception unit 31, that is, the operation start request information does not include the button installation flag (NO in step S181), the process is stepped. Transition to S186a.

The movement destination setting unit 43 of the robot 10A-1 sets the position indicated in the position information included in the operation start request information received by the transmission / reception unit 31 as the movement destination of the robot 10A-1 (step S186a). .. Then, the movement control unit 44 of the robot 10A-1 starts moving to a specific movement destination set by the movement destination setting unit 43 by using the movement mechanism 15 (step S185). In this case, the robot 10A-1 will move to the position of the selected notification button 20A. Therefore, the robot 10A-1 can move to the position of the selected notification button 20A when the selected notification button 20A is installed at a position away from the robot 10A-1. Further, the user who is at a position away from the robot 10A-1 can guide the robot 10A-1 to the position of the notification button 20A pressed by himself / herself.

The position set by the movement destination setting unit 43 is not the position of the notification button 20A itself, but a person or an object so that the robot 10A-1 does not collide with an obstacle such as a person or an object at the base A when moving. It is a position away from obstacles such as.

As a result, the robot 10A-1 sets the destination of the robot 10A-1 not only to the position of the user who pressed the notification button 20A but also to the selected notification button according to the installation position of the selected notification button 20A. It can be set at the position of 20A. A method set of the destination if the notification button 20A shown in FIG. 16 or 20 is not mounted on the robot 10A-1 is a configuration in which whether to perform a pre Both methods are set Alternatively, for example, if the user cannot be identified by the process shown in FIG. 16, the process shown in FIG. 20 may be executed.

○ Notification of communication status Next, a process of notifying the user in the base of the communication status of the robot 10 will be described with reference to FIGS. 21 to 23. FIG. 21 is a flowchart showing an example of communication state notification processing in the robot according to the embodiment. The process of FIG. 21 is started from a state in which the robot 10 as shown in FIG. 22 (A) is waiting. As shown in FIG. 22 (A), the lamp 17 of the robot 10 in the standby state is not lit, and the notification panel 18 displays "waiting". The notification by the lamp 17 and the notification panel 18 corresponds to the "notification pattern C" stored in the notification pattern management DB 3009 (see FIG. 8B).

When the robot 10A-1 shifts to the communication standby state in step S17 (YES in step S201), the robot 10A-1 shifts the process to step S202. On the other hand, the robot 10A-1 repeats the process of step S201 until the state shifts to the communication standby state in step S17 (NO in step S201).

Next, the storage / reading unit 39 reads out the notification pattern (in this case, notification pattern B) whose communication status corresponds to "communication waiting" by searching the notification pattern management DB 3009 (see FIG. 8B). (Step S202). Then, the communication status notification control unit 49 switches the notification of the communication status according to the notification pattern read in step S202 (step S203). Specifically, as shown in FIG. 22B, the communication status notification control unit 49 is based on a notification pattern (notification pattern B) different from the standby notification pattern (notification pattern C). The lamp 17 is turned on. Further, the communication status notification control unit 49 causes the notification panel 18 to display the information of "waiting for communication". The communication status notification control unit 49 enables the user to visually grasp the communication status by the regularity of the lighting color or blinking of the lamp 17 according to the notification pattern, the information displayed on the notification panel 18, and the like. Control.

Next, when the manager information is received in step S21 (YES in step S204), the robot 10A-1 shifts the process to step S205. On the other hand, the robot 10A-1 repeats the process of step S204 until the administrator information is received in step S21 (NO in step S204). Then, as shown in FIG. 22B, the communication status notification control unit 49 causes the notification panel 18 to display the administrator name included in the administrator information received in step S21. (Step S205).

Next, when the communication session with the administrator terminal 50A is established in step S23 (YES in step S206), the robot 10A-1 shifts the process to step S207. On the other hand, the robot 10A-1 repeats the process of step S206 until a communication session with the administrator terminal 50A is established in step S23 (NO in step S206). Then, the communication status notification control unit 49 reads the notification pattern management DB 3009 (see FIG. 8B), and the notification pattern corresponding to the communication status "communication in progress" (in this case, the notification pattern). The communication status notification is switched according to A) (step S207). Specifically, as shown in FIG. 23, the communication status notification control unit 49 switches the lighting of the lamp 17 on the lamp 17 based on the notification pattern corresponding to the communication status "communication in progress". Further, the communication status notification control unit 49 switches the display of the notification panel 18 from "waiting for communication" to "during communication".

In this way, the robot 10A-1 can change the color or blinking regularity (timing) of the lamp 17 or the information displayed on the notification panel 18 according to the communication state to the users in the base. The communication status of the robot 10A-1 or the information of the communication partner can be grasped. For example, the user in the base can grasp whether the robot 10A-1 is waiting or waiting for communication based on the notified information, so that remote communication not intended by the user himself suddenly occurs. It is possible to reduce the discomfort or inconvenience caused by starting.

The notification by the lamp 17 and the notification panel 18 as the communication information control means may be configured to be notified by at least one of them. Further, the information displayed on the notification panel 18 may be divided into a plurality of notification panels and displayed, or a part or all of the information may be displayed on the display 14. Further, the communication status notification means is not limited to the lamp 17 and the notification panel 18, and may be configured to notify the communication status of the robot 10 by a sound or the like emitted from a speaker.

-Cancellation of Communication Request Next, a process of canceling the communication request for starting the remote communication between the robot 10 and the administrator terminal 50 will be described. First, with reference to FIG. 24, a process of canceling a communication request when remote communication is not started even after a predetermined time has elapsed while waiting for communication will be described. FIG. 24 is a flowchart showing an example of a communication request cancellation process in the information processing server according to the embodiment.

When the measurement unit 75 of the information processing server 70 transmits the communication request information to the administrator terminal 50A in step S20, the measurement unit 75 starts measuring the processing time using the timer 716 (step S401). In this case, the timing for starting the measurement of the processing time may be when the operation start request information in step S16 is transmitted or when the session establishment processing in step S22 is started.

Next, when a predetermined predetermined time has elapsed from the start of measurement in step S401 (YES in step S402), the measurement unit 75 shifts the process to step S403. Then, the transmission / reception unit 71 transmits the cancellation information indicating that the communication request is canceled to the robot 10A-1 and the administrator terminal 50A (step S403).

On the other hand, when the predetermined predetermined time has not elapsed from the start of measurement in step S401 (NO in step S402), the measurement unit 75 shifts the process to step S404. When the session establishment notification is received in step S23 (YES in step S404), the information processing server 70 ends the process because the communication session is established within the predetermined time, and the robot 10A-1 and the administrator terminal 50A Remote communication is started. On the other hand, when the session establishment notification is not received in step S23 (NO in step S404), the information processing server 70 repeats the process from step S402.

Further, with reference to FIG. 25, a process of canceling a communication request in response to a request from a user in the base will be described. FIG. 25 is a sequence diagram showing an example of a communication request cancellation process in the remote control system according to the embodiment. In the process of FIG. 25, the robot 10A-1 will be described as being in the communication standby state shifted in step S17.

First, when the user in the base A presses the notification button 20A installed in the base A, the reception unit 22 of the notification button 20A accepts the button selection (step S451). The notification button 20A in this case may be the same as the button selected in step S12, or may be a dedicated button for canceling the communication request. When the button selection is accepted in step S451, the position information acquisition unit 23 acquires the current position information of the notification button 20A (step S452). The acquisition of the position information by the position information acquisition unit 23 is not limited to the configuration performed at the timing when the button selection is accepted by the reception unit 22, and may be performed periodically at a predetermined timing. Then, the transmission / reception unit 21 transmits the cancellation request information indicating that the remote communication is requested to be canceled to the information processing server 70 (step S453). Here, the cancellation request information includes the button ID of the notification button 20A and the position information acquired in step S452. As a result, the transmission / reception unit 71 of the information processing server 70 receives the cancellation request information transmitted from the notification button 20A.

Next, the storage / reading unit 79 of the information processing server 70 searches the administrator information management DB 7005 (see FIG. 11B) using the button ID included in the cancellation request information received in step S453 as a search key. By doing so, the corresponding administrator information is read out (step S454). Here, the administrator information includes an administrator ID, an administrator name, and administrator destination information. Next, the transmission / reception unit 71 of the information processing server 70 transmits cancellation information indicating that the communication request to the robot 10A-1 determined in step S15 is canceled with respect to the administrator destination information read in step S454. (Step S455). This cancellation information includes the terminal ID of the robot 10A-1 determined in step S15 and the button ID of the notification button 20A received in step S454. As a result, the transmission / reception unit 51 of the administrator terminal 50A used by the administrator of the destination indicated in the administrator destination information read in step S454 receives the cancellation information transmitted from the information processing server 70, and the robot 10A The process of starting remote communication with -1 is stopped.

In this way, the remote control system 1a is started once when the remote communication between the robot 10A-1 and the administrator terminal 50A is not started even after a lapse of a predetermined time or in response to a request from a user in the base. You can cancel the process of starting remote communication. This makes it convenient for users in the base when there is no response from the administrator even though the administrator has been called, or when the call is no longer necessary after calling the administrator. Since the process can be canceled by the method, convenience can be improved.

● Termination process of remote communication Next, the process of terminating the remote communication between the administrator terminal 50 and the robot 10 will be described with reference to FIGS. 26 and 27. FIG. 26 is a sequence diagram showing an example of processing when terminating the remote communication between the robot and the administrator terminal according to the embodiment. The process shown in FIG. 26 is a case where the administrator terminal 50A and the robot 10A-1 are performing remote communication using the communication session established by the processes shown in FIGS. 17 to 19. It is a process of.

First, the transmission / reception unit 31 of the robot 10A-1 transmits communication end information indicating that the remote communication with the administrator terminal 50A has been completed to the information processing server 70 (step S31). Here, in the communication end information transmitted from the robot 10A-1, the photographed image data related to the photographed image acquired by the photographed image acquisition unit 41 and the user who selected the notification button 20 in step S12 are identified. User ID is included.

Further, the transmission / reception unit 51 of the administrator terminal 50A transmits communication end information indicating that the remote communication with the robot 10A-1 has been completed to the information processing server 70 (step S32). Here, the communication end information transmitted from the administrator terminal 50A includes an administrator ID for identifying an administrator who has performed remote communication using the administrator terminal 50A. As a result, the transmission / reception unit 71 of the information processing server 70 receives the communication end information transmitted from the administrator terminal 50A. The order of processing in steps S31 and S32 may be changed or may be performed in parallel.

Then, the generation unit 74 of the information processing server 70 uses the communication end information received in steps S31 and S32 to generate notification history information indicating the notification history from the user of the base A to the administrator at the remote location. (Step S33). Then, the storage / reading unit 79 stores the notification history information generated in step S33 in the notification history management DB 7006 (see FIG. 11C) (step S34). Specifically, the storage / reading unit 79 stores the notification history information generated by the generation unit 74 in the storage destination link shown in the notification history management table.

Here, an example of the notification history information stored and managed in the notification history management DB 7006 will be described. FIG. 27 is a diagram showing an example of notification history information according to the embodiment. FIG. 27 shows an example of the notification history display screen 600 in which the notification history information stored in the notification history management DB 7006 is displayed on the display 14 of the robot 10 or the display 511 of the administrator terminal 50. On the notification history display screen 600 shown in FIG. 27, the notification history data display area 611 for displaying the notification history data, the base image 613 in which the inside of the base A is photographed by the photographing device 12 of the robot 10A-1 are displayed. It includes a text display area 615 showing information about remote communication between the robot 10A-1 and the administrator terminal 50A.

Of these, the notification history data display area 611 includes a worker name (user name), a base name, and a button name (name of the selected notification button 20A) specified by the notification history data stored in the notification history management DB 7006. ), Administrator name, and communication time information are shown. Further, in the text display area 615, the contents of the dialogue in the remote communication, the memo input by using the input means provided in the administrator terminal 50 or the robot 10A-1, and the like are shown in the text format. The notification history display screen 600 may include a photographed image taken by the administrator by the CMOS sensor 505a of the administrator terminal 50.

As a result, the remote control system 1a manages the notification history information in the information processing server 70, and stores the executed remote communication as a call from whom to whom and what kind of content it was. Can be kept. Therefore, the user or the manager of the base can use the content shown in the notification history information as an improvement material for the event that occurred or may occur in the base after that. Although the example in which the notification history information is stored and managed in the information processing server 70 has been described, the notification history information may be stored in the robot 10 or the administrator terminal 50.

○ Processing at the end of remote communication Next, the movement processing of the robot 10 at the end of remote communication will be described with reference to FIG. 28. FIG. 28 is a flowchart showing an example of processing at the end of remote communication in the robot according to the embodiment.

First, when the remote communication with the administrator terminal 50A described above is completed (YES in step S301), the robot 10A-1 shifts the process to step S302. On the other hand, when the robot 10A-1 is in remote communication with the administrator terminal 50A (NO in step S301), the robot 10A-1 repeats the process of step S301 and continues the remote communication with the administrator terminal 50A.

Next, the movement destination setting unit 43 sets a preset reference position as the movement destination of the robot 10A-1 (step S302). Here, the reference position is the installation position of the power receiving station as shown in FIG. 3, the position of the robot 10A-1 before the start of movement in step S185, or the like. Then, the movement control unit 44 starts the movement to the movement destination set by the movement destination setting unit 43 by using the movement mechanism 15 (step S303).

In this way, when the remote communication ends, the robot 10 starts moving to a preset reference position and automatically moves away from the user, so that the robot 10 can move even after the remote communication ends. It is possible to reduce the discomfort of the user due to being nearby.

As described above, the remote control system 1a according to the embodiment calls the administrator in a remote location from the user in the base and remotely communicates with the user in the base pressing the notification button 20 as a trigger. It can be performed. In addition, the remote control system 1a moves the robot 10A-1 installed in the base to a specific destination set based on the position information of the selected notification button 20A, so that the user in the base can use it. Can communicate with the administrator at the location where he wants to perform remote communication.

● Modification example of the embodiment ●
Next, the remote control system according to the modified example of the embodiment will be described with reference to FIGS. 29 and 30. The same configurations and the same functions as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted. The remote control system 1b according to the modified example of the embodiment is a robot 10 having the function of the information processing server 70 as shown in the above embodiment among a plurality of robots installed in the base (hereinafter, server function). It is a system equipped with (referred to as a robot having). In the following description, the robot 10 having a server function will be referred to as a robot 10a (control device 30a), and the other robot 10 having no server function will be referred to as a robot 10b (control device 30b). The robot 10b (control device 30b) has the same configuration as the robot 10 (control device 30) described in the above embodiment. The control device 30a is an example of an information processing device.

● Functional configuration FIG. 29 is a diagram showing an example of the functional configuration of the remote control system according to the modified example of the embodiment. Since the functions of the devices or terminals other than the robot 10a (control device 30a) having the server function are the same as those shown in FIG. 7, the description thereof will be omitted.

The control device 30a that controls the processing or operation of the robot 10a includes a transmission / reception unit 31a, a reception unit 32a, a display control unit 33a, a determination unit 34a, a communication control unit 35a, a state information acquisition unit 36a, a position information acquisition unit 37a, and a shooting instruction. It has a unit 38a, a captured image acquisition unit 41a, a user identification unit 42a, a movement destination setting unit 43a, a movement control unit 44a, an arm operation control unit 45a, a communication status notification control unit 49a, and a storage / reading unit 39. These are the transmission / reception unit 31, the reception unit 32, the display control unit 33, the judgment unit 34, the communication control unit 35, the state information acquisition unit 36, the position information acquisition unit 37, and the shooting instruction unit 38 in the robot 10 (robot 10b), respectively. It has the same configuration as the captured image acquisition unit 41, the user identification unit 42, the movement destination setting unit 43, the movement control unit 44, the arm operation control unit 45, the communication status notification control unit 49, and the storage / reading unit 39. Further, in addition to the above configuration, the control device 30a has a search unit 46a, a generation unit 47a, and a measurement unit 48a. The search unit 46a, the generation unit 47a, and the measurement unit 48a are searched by the information processing server 70, respectively. It has the same configuration as the unit 73, the generation unit 74, and the measurement unit 75. Here, the transmission / reception unit 31a is an example of the notification information receiving means. The transmission / reception unit 31a is an example of an output means. Further, the transmission / reception unit 31a is an example of a communication request transmission means. Further, the search unit 46a is an example of the determination means.

Further, in the storage unit 3000a, in addition to the configuration of the storage unit 3000 of the robot 10 (robot 10b), the base information management DB 3002, the position information management DB 3003, the condition information management DB 3004, the state information management DB 3005, the administrator information management DB 3006 and The notification history management DB 3007 is constructed. These have the same configurations as the base information management DB 7001, the location information management DB 3003, the condition information management DB 7003, the state information management DB 7004, the administrator information management DB 7005, and the notification history management DB 7006 in the information processing server 70, respectively. The storage unit 3000a is an example of a storage means.

● Processing or operation of a modified example of the embodiment Next, the operation or processing of the remote control system 1b according to the modified example of the embodiment will be described with reference to FIG. FIG. 30 is a sequence diagram showing an example of a call process from the base system in the remote control system according to the modified example of the embodiment. In FIG. 30, the process executed by the control device 30aA-5 included in the robot 10aA-5 will be described as the process executed by the robot 10aA-5. Further, the process executed by the control device 30bA-1 included in the robot 10bA-1 will be described as the process executed by the robot 10bA-1.

The robot 10bA-1 and the robot 10aA-5 installed at the base A are in a standby state until they receive a control request from the information processing server 70 (steps S51-1 and S51-2). This process is the same as the process of step S11 shown in FIG.

Next, when a user (worker) located in the base A wants to call an administrator at a remote location due to, for example, an abnormality occurring during work, the notification button 20A installed in the base A Press. In this case, when the user presses the notification button 20A, the reception unit 22 of the notification button 20A accepts the button selection (step S52). When the button selection is accepted in step S52, the position information acquisition unit 23 acquires the current position information of the notification button 20A (step S53). Then, the transmission / reception unit 21 transmits notification information for calling an administrator at a remote location to the robot 10aA-5 having a server function (step S54). Here, the notification information includes the button ID of the notification button 20A and the position information acquired in step S53. As a result, the transmission / reception unit 31a of the robot 10aA-5 receives the notification information transmitted from the notification button 20A.

Next, the robot 10aA-5 executes a search process for the robot 10 located at the base A to be controlled based on the notification information received in step S54 (step S55). Since the search process of the robot 10 in the robot 10aA-5 is the same as the process in the information processing server 70 as shown in FIG. 15, the description thereof will be omitted. In this case, the robot 10aA-5 will be described as specifying the robot 10bA-1 as a control target.

Next, the transmission / reception unit 31a of the robot 10aA-5 transmits the operation start request information indicating the control request for requesting the operation start of the robot 10 to be controlled to the robot 10bA-1 specified by the search unit 46 (step). S56). Here, the operation start request information includes the button mounting flag generated by the generation unit 47 and the position information of the notification button 20A received by step S54. When the process of step S157 is not performed by the robot 10aA-5, the operation start request information does not include the button mounting flag. As a result, the transmission / reception unit 31 of the robot 10bA-1 receives the operation start request information transmitted from the robot 10aA-5.

Next, when the operation start request information is received in step S56, the communication control unit 35 of the robot 10bA-1 puts the robot 10bA-1 in the communication standby state (step S57). Here, the communication standby state is, for example, a reservation state for remote communication with the administrator corresponding to the operation start request information received in step S56 without accepting the control request from another user or the administrator. Means that. Then, the robot 10bA-1 executes the operation start process of the robot 10bA-1 based on the operation start request information received in step S56 (step S58). Since the operation start processing in the robot 10bA-1 is the same as the processing as shown in FIG. 16 or FIG. 20, the description thereof will be omitted. The robot 10bA-1 starts moving to the moving destination specified by the moving destination setting unit 43a by executing the process as shown in FIG. 16 or FIG.

Further, the storage / reading unit 39a of the robot 10aA-5 searches the administrator information management DB 3006 using the button ID included in the notification information received in step S54 as a search key to obtain the corresponding administrator information. Read (step S59). Here, the administrator information includes an administrator ID, an administrator name, and administrator destination information. Next, the transmission / reception unit 31a of the robot 10aA-5 transmits communication request information indicating a communication request to the robot 10bA-1 determined in step S55 to the administrator destination information read in step S59 ( Step S60). Here, the communication request information includes the terminal ID of the robot 10bA-1 determined in step S55 and the button ID of the notification button 20A received in step S54. As a result, the transmission / reception unit 51 of the administrator terminal 50A used by the administrator of the destination indicated in the administrator destination information read in step S59 receives the communication request information transmitted from the robot 10aA-5. Further, the transmission / reception unit 31a of the robot 10aA-5 transmits the administrator information read in step S59 to the robot 10bA-1 (step S61). This administrator information includes at least information on the administrator name. As a result, the transmission / reception unit 31 of the robot 10bA-1 receives the administrator information transmitted from the robot 10aA-5. The order of the processes of steps S56 to S58 and the processes of steps S59 to S61 may be different or may be performed in parallel.

Then, the robot 10bA-1 and the administrator terminal 50A are triggered by the administrator who has acquired the communication request information transmitted in step S60, and execute the communication session establishment process as shown in FIGS. 17 to 19. (Step S62). The transmission / reception unit 91 of the communication management server 90 transmits a session establishment notification indicating that a communication session between the robot 10bA-1 and the administrator terminal 50A has been established to the robot 10aA-5 (step S63). As a result, the transmission / reception unit 31a of the robot 10aA-5 receives the session establishment notification transmitted from the communication management server 90. Then, the robot 10bA-1 and the administrator terminal 50A perform remote communication via the communication management server 90 by using the communication session established by the process of step S62 (steps S64-1 and S64-2). As a result, the remote control system 1b communicates remotely between the robot 10bA-1 installed at the base A and the administrator terminal 50A located at a remote location, as in the case of the remote control system 1a described in the above embodiment. Can be started.

As described above, even in the case where the remote control system 1b according to the modified example of the embodiment is configured to include the robot 10a having the server function in the base system 2, the user in the base presses the notification button 20. Can be used as a trigger to call an administrator in a remote location from a user in the base to perform remote communication. The other processes of the information processing server 70 described in the above-described embodiment are executed by the robot 10a performing the same processes. That is, even in the remote control system 1b according to the modified example of the embodiment, the processes shown in FIGS. 21 to 28 can be performed.

● Summary ●
As described above, the information processing device according to the embodiment of the present invention is information processing that controls the operation of a telepresence robot (for example, robot 10A) installed in a predetermined base (for example, in base A). A device (for example, an information processing server 70 or a control device 30a). The information processing device receives notification information including the position information of the notification button 20 from the notification button 20 (an example of the operation means) that receives the operation from the user installed in the base, and includes it in the received notification information. To a specific telepresence robot (for example, robot 10A-1) determined based on the position information to be processed and the position information of the telepresence robot, an operation start request to a specific movement destination is output to a specific telepresence robot. A communication request for the telepresence robot is transmitted to the administrator terminal 50 (for example, the administrator terminal 50A) that performs remote communication with the telepresence robot. Then, the information processing device starts the movement of the specific telepresence robot to the specific movement destination, and also starts the remote communication between the administrator terminal 50 and the specific telepresence robot. As a result, the information processing apparatus can start remote communication between the specific telepresence robot determined according to the position of the notification button 20A and the administrator terminal 50. In addition, the information processing device can move the telepresence robot to a place where the user wants to perform remote communication by starting the movement of the specific telepresence robot to a specific movement destination. Therefore, the information processing device can improve the convenience of remote communication using the telepresence robot.

Further, the information processing device (for example, the information processing server 70 or the control device 30a) according to the embodiment of the present invention includes position information included in the received notification information and a plurality of telepresence robots (for example, robot 10A). Based on the position information of, the specific telepresence robot (for example, robot 10A-1) closest to the notification button 20A (an example of the operation means) is determined, and the remaining battery level of the determined specific telepresence robot is determined. If it is equal to or more than a predetermined value, an operation start request to a specific movement destination is output to the specific telepresence robot. As a result, the information processing device requests the appropriate telepresence robot to start operation according to the position of the selected notification button 20A and the state of the telepresence robot among the telepresence robots installed in the base. can do.

Further, the telepresence robot according to the embodiment of the present invention is a telepresence robot (for example, robots 10, 10b) that starts operation in response to a request from an information processing device (for example, an information processing server 70 or a control device 30a). ). The telepresence robot acquires an operation start request to a specific movement destination from the information processing device, starts moving to the specific movement destination indicated in the acquired operation start request, and when the movement is started, In response to a request from the administrator terminal 50, remote communication with the administrator terminal 50 is started. As a result, the telepresence robot can start moving and start remote communication with the administrator terminal 50 based on the operation start request transmitted by the call from the user at the base as a trigger. Therefore, the telepresence robot can improve the convenience of remote communication with an administrator at a remote location.

Further, the telepresence robot (for example, robots 10, 10b) according to the embodiment of the present invention operates the notification button 20 (an example of the operation means) when an operation start request to a specific movement destination is acquired. When the user who has taken a picture is photographed and the notification button 20 is mounted on the telepresence robot, the position of the photographed user is set as a specific movement destination. Then, the telepresence robot starts moving to the set specific destination. As a result, even if the user moves to a place where he / she wants to perform remote communication with the administrator, the telepresence robot moves following the user with the position of the user who pressed the notification button 20 as the destination. Can be done. Further, the user who presses the notification button 20 can guide the telepresence robot to a place where he / she wants to perform remote communication with the administrator.

Further, in the telepresence robot (for example, robots 10, 10b) according to the embodiment of the present invention, an operation start request to a specific movement destination is acquired, and the notification button 20 (an example of an operation means) becomes a telepresence robot. If it is not installed, the position of the notification button 20 is set as a specific movement destination. Then, the telepresence robot starts moving to the set specific destination. As a result, the telepresence robot can move to the position of the notification button 20 when the notification button 20 is installed at a distant position. Further, the user who is at a position away from the telepresence robot can guide the telepresence robot to the position of the notification button 20 pressed by himself / herself.

Further, in the telepresence robot (for example, robots 10, 10b) according to the embodiment of the present invention, the acquired operation start request is whether or not the notification button 20 (an example of the operation means) is mounted on the telepresence robot. Includes a button mounting flag (an example of mounting availability information) indicating whether or not. Then, when the acquired button mounting flag indicates that the notification button 20 is mounted on the telepresence robot, the telepresence robot sets the position of the photographed user as a specific movement destination and is acquired. When the button mounting flag indicates that the notification button 20 is not mounted on the telepresence robot, the position of the notification button 20 is set as a specific movement destination. As a result, the telepresence robot can set the movement destination according to the button mounting flag output from the information processing device (for example, the information processing server 70 or the control device 30a), so that the selected notification button 20 can be set. It is possible to start moving to a different destination depending on the installation position.

Further, the remote control system according to the embodiment of the present invention includes an information processing device (for example, an information processing server 70 or a control device 30a) and a telepresence robot (for example, a telepresence robot) that starts operation in response to a request from the information processing device. , Robots 10, 10b), and remote control systems 1a, 1b including an administrator terminal 50. The administrator terminal 50 receives a communication request from the information processing device, and starts remote communication with a specific telepresence robot (for example, robot 10A-1) in response to the received communication request. As a result, the remote control systems 1a and 1b can start remote communication between the telepresence robot and the administrator terminal 50 located at a remote location, triggered by the selection of the notification button 20A installed in the base.

Further, the remote control systems 1a and 1b according to the embodiment of the present invention include information on the user who has operated the notification button 20 (an example of the operating means) and the administrator who uses the administrator terminal 50. The telepresence robot (for example, the robot 10A-1) and the administrator terminal 50 (for example, the administrator terminal 50A) are provided with a storage means (for example, a storage unit 7000) for storing communication history information indicating the communication history. As a result, the remote control systems 1a and 1b can memorize what kind of content the executed remote communication was a call from whom to whom. Therefore, the user or the manager of the base can use the content shown in the notification history information as an improvement material for the event that occurred or may occur in the base after that.

● Supplement ●
Although the information processing apparatus, telepresence robot, base control system, remote control system, information processing method and program according to the embodiment of the present invention have been described so far, the present invention is not limited to the above-described embodiment. However, the scope of the present invention can be changed within the range that can be conceived by those skilled in the art, such as addition, modification or deletion of other embodiments, and the scope of the present invention is as long as the actions and effects of the present invention are exhibited in any of the embodiments. It is included in.

Further, each function of the embodiment described above can be realized by one or a plurality of processing circuits. Here, the "processing circuit" in the present specification is a processor programmed to execute each function by software such as a processor implemented by an electronic circuit, or a processor designed to execute each function described above. It shall include devices such as ASIC (Application Specific Integrated Circuit), DSP (digital signal processor), FPGA (field programmable gate array), SOC (System on a chip), GPU (Graphics Processing Unit) and conventional circuit modules.

Further, the various tables of the embodiments described above may be generated by the learning effect of machine learning, and by classifying the data of each related item by machine learning, the table is not used. You may. Here, machine learning is a technology for making a computer acquire learning ability like a human being, and the computer autonomously generates an algorithm necessary for judgment such as data identification from learning data taken in advance. However, it refers to a technology that applies this to new data to make predictions. The learning method for machine learning may be any of supervised learning, unsupervised learning, semi-supervised learning, enhanced learning, and deep learning, and may be a learning method that combines these learning methods. Machine learning It doesn't matter how you learn for.

1a, 1b Remote control system 3 Base control system 10,10a, 10b Robot (an example of telepresence robot)
12 Imaging device (example of imaging means)
17 Lamp (an example of communication status notification means)
18 Notification panel (an example of communication status notification means)
20 Notification button (example of operation means)
30,30b Control device 30a Control device (example of information processing device)
31,31b Transmitter / receiver (example of acquisition means)
31a Transmission / reception unit (example of notification information receiving means, example of output means, example of communication request transmitting means)
35,35b Communication control unit (an example of communication control means)
43,43b Move destination setting unit (example of setting means)
44,44b Movement control unit (an example of movement control means)
46a Search unit (example of determination means)
50 Administrator terminal 51 Transmission / reception unit (example of communication request receiving means, example of communication means)
70 Information processing server (an example of information processing device)
71 Transmitter / receiver (example of notification information receiving means, example of output means, example of communication request transmitting means)
73 Search unit (an example of determination means)
3000, 3000a, 3000b Storage unit (example of storage means)
5000 storage unit (an example of storage means)
7000 storage unit (an example of storage means)
90 Communication management server

Japanese Unexamined Patent Publication No. 2018-121322

Claims (22)

An information processing device that controls the operation of a telepresence robot installed in a predetermined base.
A notification information receiving means for receiving notification information including the position information of the operating means from an operating means for receiving an operation from a user installed in the base.
An output means for outputting an operation start request to a specific movement destination to a specific telepresence robot determined based on the position information included in the received notification information and the position information of the telepresence robot. When,
A communication request transmitting means for transmitting a communication request to the specific telepresence robot to an administrator terminal that performs remote communication with the telepresence robot is provided.
An information processing device that starts the movement of the specific telepresence robot to the specific movement destination and also starts remote communication between the administrator terminal and the specific telepresence robot. The information processing device according to claim 1, further
A determination means for determining the specific telepresence robot closest to the operation means is provided based on the position information included in the received notification information and the position information of the plurality of telepresence robots.
The output means is an information processing device that outputs the operation start request to the specific telepresence robot when the determined specific telepresence robot satisfies a predetermined condition regarding the state of the telepresence robot. .. The predetermined condition is a condition relating to the remaining battery level of the telepresence robot.
The information processing device according to claim 2, wherein the output means outputs the operation start request to the specific telepresence robot when the remaining battery level of the specific telepresence robot is equal to or more than a predetermined value. The specific destination is the position of the user who has performed an operation on the operating means.
The information processing device according to any one of claims 1 to 3, wherein the specific telepresence robot is started to move to the position of the user. The specific destination is a position indicated in the received position information of the operating means.
The information processing device according to any one of claims 1 to 3, wherein the specific telepresence robot is started to move to the position of the operating means. If the remote communication is not started until a predetermined time elapses after the communication request is transmitted, the communication request transmitting means transmits the cancellation information for canceling the communication request to the administrator terminal. The information processing apparatus according to any one of 5. The notification information receiving means receives the remote communication cancellation request from the operating means, and receives the notification information receiving means.
The information processing device according to any one of claims 1 to 5, wherein the communication request transmitting means transmits cancellation information for canceling the communication request to the administrator terminal.
A telepresence robot that starts operation in response to a request from the information processing apparatus according to any one of claims 1 to 7.
An acquisition means for acquiring the operation start request from the information processing device, and
The movement control means for starting the movement to the specific movement destination indicated in the acquired operation start request, and
When the movement is started, a communication control means for starting remote communication with the administrator terminal in response to a request from the administrator terminal, and
Telepresence robot with. The telepresence robot according to claim 8, further
When the operation start request is acquired, a photographing means for photographing a user who has performed an operation on the operating means, and a photographing means.
It is provided with a setting means for setting the photographed position of the user as the specific movement destination.
The movement control means is a telepresence robot that starts moving to the set specific movement destination. The telepresence robot according to claim 9, wherein the setting means sets the photographed position of the user as the specific movement destination when the operating means is mounted on the telepresence robot. The telepresence robot according to claim 8, further
When the operation start request is acquired, the setting means for setting the position of the operation means as the specific movement destination is provided.
The movement control means is a telepresence robot that starts moving to the specific movement destination set. The telepresence robot according to claim 11, wherein the setting means sets the position of the operating means as the specific moving destination when the operating means is not mounted on the telepresence robot. The telepresence robot according to claim 10 or 12.
The operation start request includes mounting availability information indicating whether or not the operating means is mounted on the telepresence robot, and further.
The setting means is
When the acquired mounting availability information indicates that the operating means is mounted on the telepresence robot, the position of the photographed user is set as a specific movement destination.
When the acquired mounting availability information indicates that the operating means is not mounted on the telepresence robot, the telepresence robot sets the position of the operating means as the specific moving destination. The telepresence robot according to any one of claims 8 to 13, wherein the movement control means starts moving to a preset reference position when the remote communication is completed. The telepresence robot according to any one of claims 8 to 14, further
A telepresence robot provided with a communication status notification means for notifying the communication status of the remote communication. The telepresence robot according to claim 15, wherein the communication status notification means turns on a lamp so that the communication status can be distinguished. The telepresence robot according to claim 15 or 16, wherein the communication status notification means displays information on an administrator who uses the administrator terminal. A base control system including the information processing device according to any one of claims 1 to 7 and the telepresence robot that starts operation in response to a request from the information processing device. A remote control system including the base control system according to claim 18 and the administrator terminal.
The administrator terminal is
A communication request receiving means for receiving the communication request from the information processing device, and
A communication means for initiating remote communication with the specific telepresence robot in response to a received communication request,
Remote control system with. The remote control system according to claim 19.
A remote control system including a storage means for storing communication history information indicating a communication history between the specific telepresence robot and the administrator terminal, including information on the user and an administrator who uses the administrator terminal. It is an information processing method executed by an information processing device that controls the operation of a telepresence robot installed in a predetermined base.
A notification information receiving step for receiving notification information including the position information of the operating means from the operating means for receiving the operation from the user installed in the base.
An output step that outputs an operation start request to a specific movement destination for a specific telepresence robot determined based on the position information included in the received notification information and the position information of the telepresence robot. When,
A communication request transmission step of transmitting a communication request to the specific telepresence robot to an administrator terminal that performs remote communication with the telepresence robot is executed.
An information processing method for starting the movement of the specific telepresence robot to the specific movement destination and for starting remote communication between the administrator terminal and the specific telepresence robot. A program that causes a computer to perform the method of claim 21.