Device for controlling guidance robot, guidance system in which same is used, and method for controlling guidance robot

A guide robot control method for controlling a robot configured to move with a user and guide the user to a destination, the method comprising:

• a step in which a route determination unit determines a route from a current location of the user to the destination;
• a step in which a user dynamic data recognition unit recognizes, during guidance, user dynamic data which is information on the user, the information changing over time;
• a step in which a guidance request estimation unit estimates a guidance request of the user, based on the user dynamic data;
• a step in which a notification instruction unit issues to the robot an instruction for notification of inquiry information to the user for inquiring about necessity of change of the route, based on the determined route;
• a step in which a reaction recognition unit recognizes a reaction of the user to the notification based on the instruction;
• a step in which the route determination unit determines a content of the change of the route, based on the estimated guidance request;
• and
• a step in which the route determination unit determines whether or not to perform the change of the route, based on the reaction.