Autonomous robots are expected to replace dangerous, dirty, and demanding (3D) jobs. At a theme park, surveillance, cleaning, and guiding tasks can be regarded as 3D jobs. The present paper attempts to develop an autonomous tour guide robot system and co-experience system at a large theme park. For realizing such autonomous service robots used in our daily environment, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a global navigation satellite system (GNSS) is most commonly used in outdoor environments, its accuracy is approximately 10 m, which is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the quasi-zenith satellite system (QZSS), which became available in and around Japan in November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using quasi-zenith satellites (QZSs) and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and the real-time kinematic GPS and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park. On the other hand, based on the tour guide system, we also develop a co-experience robot system in a theme park, which realizes the sharing of experiences using an immersive VR display and the 5th-generation mobile communication system (5G). The robot is equipped with a 360-degree video camera and real-time 4K video is transmitted to a remote operator using the large communication capacity of the 5G network. The experimental results at a theme park showed that the guided tour experiment was successful and that the co-experience system allowed sharing of the experience with high immersion by a remote operator.

中文翻译：

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在主题公园使用准天顶卫星系统和第五代移动通信系统开发导游和共同体验机器人系统

自主机器人有望取代危险，肮脏和苛刻的（3D）作业。在主题公园，监视，清洁和引导任务可以视为3D工作。本文尝试在大型主题公园开发自主导游机器人系统和共同体验系统。为了实现在我们的日常环境中使用的这种自动服务机器人，本地化是最重要和最基本的功能之一。已经提出了许多定位技术，包括同时定位和映射。尽管全球导航卫星系统（GNSS）最常用于室外环境，但其精度约为10 m，这不足以实现自主服务机器人的导航。因此，GNSS通常与其他定位技术一起使用，例如地图匹配或基于相机的本地化。在本研究中，我们采用准天顶卫星系统（QZSS），该系统于2018年11月在日本及周边地区可用，用于自动服务机器人的本地化。QZSS使用准天顶卫星（QZS）提供高精度的位置信息，并且定位误差小于10厘米。在本文中，我们比较了QZSS和实时运动GPS的定位性能，并验证了QZSS在室外环境中的稳定性和准确性。此外，我们介绍了使用QZSS的导游机器人系统，并介绍了主题公园导游实验的结果。另一方面，基于导游系统，我们还开发了主题公园中的共同体验机器人系统，使用沉浸式VR显示器和第五代移动通信系统（5G）实现了经验共享。该机器人配备了360度摄像机，并利用5G网络的强大通信能力将实时4K视频传输到远程操作员。在主题公园进行的实验结果表明，导游实验是成功的，并且共同体验系统允许远程操作员高度沉浸地分享经验。