ADMINISTRATIVE SYSTEM AND ADMINISTRATIVE PROCEDURES

Abstract

A management system according to one embodiment is a management system that includes a server configured to manage a plurality of autonomously moving objects traveling within a building. The management system is configured to: divide a map of the building into a plurality of areas based on map information specifying the map; designate at least one of the areas as a restricted area and at least one of the areas as an unrestricted area; and, within the restricted area, permit the passage of an autonomously moving object that is granted a right of way permitting passage through the restricted area, and restrict the passage of an autonomously moving object that is not granted a right of way.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention The present disclosure concerns administrative systems and administrative procedures. 2. Description of the state of the art JP 2024-17484A discloses a management system that controls the passage of autonomously moving objects. This system manages the resources necessary for the passage of these objects. The system allocates resources in response to requests from the moving objects. Furthermore, a building is divided into a multitude of sub-areas, and resources are allocated to each sub-area. SUMMARY OF THE INVENTION For such a management system for moving objects, there is a need to manage multiple moving objects in a simple way, so that the moving objects can move efficiently. A management system according to one embodiment is a management system that includes a server configured to manage a plurality of autonomously moving objects traveling within a building. The management system is configured to: divide a map of the building into a plurality of areas based on map information specifying the map; define at least one restricted area and at least one unrestricted area on the map based on the areas; and, within the restricted area, permit the passage of an autonomously moving object that is granted a right of way permitting passage through the restricted area, and restrict the passage of an autonomously moving object that is not granted a right of way. An administrative procedure according to one embodiment is a method for managing a plurality of autonomously moving objects traveling within a building using a computer. The procedure involves causing the computer to: divide a map of the building into a plurality of areas based on map information specifying the map; define at least one restricted area and at least one unrestricted area on the map based on the areas; and, within the restricted area, permit the passage of an autonomously moving object to which a right of way permitting passage through the restricted area is granted, and restrict the passage of an autonomously moving object to which the right of way is not granted. The present disclosure can provide a management system and a management procedure that can manage moving objects so that the moving objects can move efficiently. BRIEF DESCRIPTION OF THE DRAWINGS Features, advantages, and technical and industrial significance of exemplary embodiments of the invention are described below with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein: Fig. 1 is a schematic diagram illustrating the overall configuration of a management system according to one embodiment; Fig. 2 is a block diagram illustrating a control system of the management device; Fig. 3 is a diagram illustrating restricted areas and waypoints set in map information of a building; Fig. 4 is a diagram illustrating restricted areas and waypoints set in map information of the building; Fig. 5 is a diagram illustrating restricted and unrestricted areas set in map information of a building; and Fig.6 is a flowchart that illustrates an administrative procedure. DETAILED DESCRIPTION OF THE EXECUTION FORMS The present invention will now be described by means of one embodiment. However, the invention according to the claims is not limited to the embodiment described below. Furthermore, not all configurations described in the embodiment are necessarily essential as a means of solving the problems. Overall configuration The management system according to the present embodiment is a system for managing autonomously moving objects. Fig. 1 is a schematic diagram illustrating the configuration of a management system 1. The management system 1 is a system for managing a plurality of robots 200. The management system 1 comprises a management device 100, the robots 200, a camera 500, a network 600, user terminals 400, and an auxiliary unit 700. The management device 100 manages the movement and tasks of the robots 200. The Robots 200 are autonomously moving objects that perform a task such as transport. The Robots 200 move autonomously in medical and social facilities such as hospitals, rehabilitation centers, nursing homes, and assisted living facilities. The Robots 200 are used to transport pharmaceuticals, medical equipment, meals, dishes, medical records, supplies, samples, laundry, people, etc. The object being transported can be a person, such as a patient. The system according to the present embodiment is also applicable to commercial facilities such as shopping malls. Each Robot 200 is equipped with wheels, a chassis, a motor, sensors, a battery, and a controller. At least one of the Robots 200 is of a different type. All Robots 200 can be of the same type. Each Robot 200 is assigned a unique identification number (ID). Although in Fig.As illustrated by 1 three robots 200, the number of robots is not particularly limited as long as two or more robots are present. At least one of the Robot 200 can perform a task other than transportation. Examples of other tasks include cleaning, security, and guidance. The Robot 200 can perform multiple tasks, such as cleaning, security, and guidance, using the Auxiliary Unit 700, or it can perform tasks independently. For example, the Robot 200 can perform various tasks when the Auxiliary Unit 700 is used in combination with the Robot 200. The Robot 200 can be equipped with different accessory units depending on the task. By replacing the Auxiliary Unit 700, the Robot 200 becomes a multitasking robot capable of performing multiple tasks. In the case of a transport task, the Auxiliary Unit 700 is a wheeled cart or trolley that carries an object to be transported (hereinafter also referred to as the "transport object"). In the case of a cleaning task, the Auxiliary Unit 700 is equipped with a vacuum cleaner that sucks up dust, etc. In the case of a security task, the Auxiliary Unit 700 is equipped with sensors such as Light Detection and Ranging (LiDAR) and cameras. The following description states that the Robot 200 primarily performs a transport task. A user U1 or a user U2 can use the user terminal 400 to make a task request, such as a request to transport an object. For example, the user terminal 400 can be a tablet computer or a smartphone. The user terminal 400 can be any information processing device as long as it can communicate wirelessly or via a wired connection. In the present embodiment, the robots 200 and the user terminals 400 are connected to the management device 100 via the network 600. The network 600 is a wired or wireless local area network (LAN) or wide area network (WAN). The management device 100 is connected to the network 600 via a wired or wireless connection. For example, communication between the devices can use a universal communication standard such as Wi-Fi (registered trademark). Various signals transmitted by user terminals 400 of users U1 and U2 are first sent via network 600 to management device 100 and then forwarded by management device 100 to the target robot 200. Similarly, various signals transmitted by robot 200 are first sent via network 600 to management device 100 and then forwarded by management device 100 to the target user terminal 400. Management device 100 is a server connected to each device and collects data from them. Management device 100 is not limited to a single physical device and can include multiple devices performing distributed processing. Alternatively, management device 100 can be distributed across edge devices such as robots 200.For example, part or all of the management system 1 can be installed under the robots 200. Each of the Robot 200 is equipped with a drive motor, wheels, a battery, and other components. The Robot 200 is also equipped with sensors such as cameras and a LiDAR device, as well as a processing unit like a processor. The Robot 200 estimates its own position based on sensor readings. The Robot 200 autonomously navigates a route on a map from a starting point to a destination based on its own position. The starting point is the robot's current location, and the destination is the delivery location of the transported object. Route planning can be performed, for example, using the transported object's pickup location as an intermediate point. Either the Management Device 100 or the Robot 200 can perform the route planning from the starting point to the destination. The user terminal 400 and the robot 200 can transmit and receive signals without passing through the management device 100. For example, the user terminal 400 and the robot 200 can directly transmit and receive signals via wireless communication. The management device 100 can also collect data from the camera 500. The camera 500 can be a surveillance camera or a security camera. The management device 100 can also collect data from communication devices and sensors not shown. This document assumes that several types of robots 200 are used in a building. The management device 100 assigns tasks to each of the robots 200. Each robot 200 can be equipped with an auxiliary unit 700, appropriate to the assigned task, to perform it. The task to be performed by the robot 200 can be entered by user U1 or U2, or it can be scheduled in advance. For example, a user such as user U1 submits a task request by operating the user terminal 400. A user such as user U1 can specify the type of task to be performed. A user such as user U1 can specify the area or time period for performing the task. The management device 100 prepares a schedule for the robots 200 to perform tasks efficiently. User U1 or U2 can operate the user terminal 400 to request a transport task. In this case, user U1 or U2 enters information regarding the object to be transported. User U1 or U2 can also enter arrival schedule information indicating the expected arrival of the object. The management device 100 assigns a robot to execute the transport task based on the expected arrival schedule information. The management device 100 then transmits a control signal to the robot to execute the task. The control signal can contain information about the object being transported, specifying the route to the destination and the object itself. In such an overall configuration, the elements of the management system 1 can be distributed among the robots 200, the user terminals 400, and the management device 100 to jointly construct the management system 1. Alternatively, the core elements for implementing the transport of objects can be integrated into a single device. Control system The management device 100 includes a server computer and performs calculations to control and manage the robots 200. For example, the management device 100 can be implemented as a device capable of executing programs, such as a central processing unit (CPU) of a computer. The functions described later can also be implemented by a program. The management device 100 manages the transport objects based on their transport object IDs and manages the robots 200 based on their robot IDs. For example, the management device 100 manages the schedules of the robots 200 to enable the robots 200 to perform tasks efficiently. For example, when the management device 100 receives a task request from the user terminal 400, etc., it selects a robot 200 from among the robots 200 and instructs the robot 200 to perform the task. Alternatively, the management device 100 instructs the robot 200 which auxiliary unit 700 to use. Fig. 2 is a block diagram illustrating a control system of the management device 100 according to the present embodiment. As shown in Fig. 2, the management device 100 comprises a map information storage unit 111, a robot information storage unit 112, a transport object information storage unit 113, a task management unit 114, and a route planning unit 115. The management device 100 further comprises a partitioning unit 120, an area setting unit 121, a waypoint setting unit 122, a right-of-way granting unit 123, a priority setting unit 124, an update unit 125, and a communication unit 140. The functional blocks shown in Fig. 2 are exemplary, and the management device 100 may include other functional blocks. Alternatively, the management device 100 may not include any of the functional blocks shown in Fig. 2.Some of the functions can be performed by the Robot 200. The map information storage unit 111 stores map information that specifies a floor map of the building (also simply referred to as a "map"). The map information can include information about restricted areas and waypoints that will be described later. The map information can be created in advance. Instead of a floor map of the entire building, the map information can cover a portion of the area where the service is planned to operate. Each robot references the map information and autonomously navigates to its destination. The map information can be generated based on architectural drawings, computer-aided design (CAD) data, building information modeling (BIM) data, and so on. Alternatively, the map information can be generated based on measurements from a distance sensor such as LiDAR. The Robot Information Storage Unit 112 stores robot information. This robot information includes details about the robots 200 operating within the building. Specifically, it contains information such as the robot 200's model number, available services, types of transportable objects, and attachable auxiliary units 700. The Robot Information Storage Unit 112 stores this robot information in a database format, containing various types of information for each robot ID. This information can include the robot's current position, route, whether it is performing a task or in a resting state, and details of the task being performed. The robot information can also include details about the auxiliary unit being used or the object being transported. The transport object information storage unit 113 stores transport object information relating to transport objects. For example, transport object information includes a transport object's identification number (ID), its contents (type), a pickup location, a delivery destination, a pickup time, or an arrival time. Transport object information 126 indicates whether the transport object is a pharmaceutical, a medical device, a meal, a dish, a medical record, a supply, a sample, laundry, or a person. Transport object information 126 can include information such as the transport object's size or weight. The transport object information storage unit 113 stores the transport object information in a database where such information is linked to each transport object ID.When a new transport request is made from user terminal 400, transport object information is added. After the transport is complete, the information relating to the transport object can be deleted from the list. Task Management Unit 114 manages tasks performed by Robot 200. For example, user U1 enters transport object information specifying a transport object, a pickup location, and a delivery destination, and submits a transport task request. Task Management Unit 114 assigns the transport task to a Robot 200. For example, Task Management Unit 114 extracts a robot capable of performing the task. If some Robot 200 are unable to transport the transport object specified in the transport request, Task Management Unit 114 excludes these Robot 200s and extracts the Robot 200s that are capable of performing the task. Task Management Unit 114 extracts a Robot 200 capable of transporting the transport object from among the Robot 200. Task Management Unit 114 then assigns the transport task to the extracted Robot 200. If two or more robots are capable of transporting the transport object, Task Management Unit 114 selects one robot to ensure the transport service is performed more efficiently. For example, Task Management Unit 114 might assign the task to a robot located near the pickup location. Alternatively, Task Management Unit 114 might assign the task to a stationary robot that is not performing any other task. This allows the task to be performed efficiently. Task Management Unit 114 manages tasks performed by each Robot 200, tasks performed by each Robot 200, and tasks scheduled for performance by each Robot 200. Task Management Unit 114 can also store various types of task information for each task in a database. Task Information Unit 114 can store information indicating whether each Robot 200 is performing a task or has completed a task. Task Information Unit 114 can also store a transport start time and a scheduled completion time for a completed task. Task Information Unit 114 can include transport information related to the transported object. For example, Task Information Unit 114 can include information such as the type of object being transported, the delivery destination, and the pickup location.Alternatively, the task management unit 114 can store information indicating whether the auxiliary unit 700 is being used. Route planning unit 115 plans a route to perform a task. For example, route planning unit 115 searches for a route from the pickup point to the delivery destination for robot 200, which has been assigned a task. Specifically, route planning unit 115 searches for a route from robot 200's current position to the pickup point. The pickup point is a loading location where the transport object is loaded. Route planning unit 115 also searches for a route from the pickup point to the delivery destination. Waypoints placed on the map are used for route planning. Waypoints are indicated on the map as points of passage through which the robot travels. The waypoints are described later. The route sought by the route planning unit 115 is transmitted to the robot 200. At least part of the processing by the route planning unit 115 can be performed by the robot 200. If a congested area is identified based on images from surveillance cameras, etc., the route planning unit 115 can search for a route that avoids the congested area. The route planning unit 115 can search for a route that allows travel in the shortest time or distance. When waypoints corresponding to a starting point, a destination, and an intermediate point are entered, the route planning unit 115 performs a route search. This search determines the waypoints to be passed and the order in which they are passed. The communication unit 140 then transmits ID information and the positions of the waypoints to be passed to the robot 200. The Division Unit 120 divides the map into a variety of areas. For example, Division Unit 120 uses a segmentation algorithm that takes architectural data, such as CAD or BIM data, as input. When image data specifying architectural information is input into Division Unit 120, semantic or instance segmentation is used to classify passable and impassable locations. Impassable locations include areas with stairs, walls, or installed objects. Passable locations include halls, corridors, and rooms. The segmentation algorithm can be a deep learning model that uses a convolutional neural network (CNN), etc. The division unit 120 can subdivide the map into a multitude of regions using a Voronoi diagram. Using a Voronoi diagram makes it possible to divide the map into suitable regions. In a Voronoi diagram, space is divided into regions based on where each point is closest to the other. The boundary line of each region is formed by the angle bisector between the starting points. In this way, multiple regions are created on the map. Area Setting Unit 121 places at least one restricted area and at least one unrestricted area on the map based on these areas. For example, Area Setting Unit 121 places restricted areas on the map. A restricted area is a region where the movement of Robot 200s is limited. For example, a restricted area might be a region containing intersections or junctions. Alternatively, a restricted area might be a narrow corridor where two-way movement of Robot 200s is not possible. A Robot 200 must have right-of-way to pass through a restricted area. That is, a Robot 200 that has not been granted right-of-way cannot enter the restricted area and instead waits outside of it. Regions on the map other than restricted areas are unrestricted areas.A Robot 200 does not need right-of-way to pass through an unrestricted area. The Area Setting Unit 121 places one or more restricted areas on the map. The Area Setting Unit 121 also places one or more unrestricted areas on the map. Area setting unit 121 assigns an area ID to each of the restricted and unrestricted areas. Area setting unit 121 associates boundary lines or boundary coordinates with the area ID and stores them as area information. The area information can include information specifying attributes of restricted and unrestricted areas. For example, the attributes can include a hall, an intersection, a junction point, an elevator hall, a hall, a room, an entrance / exit, a pick-up point for transported objects, a loading point, an unloading point, a waiting point, and a loading location. The area information can also include information specifying the number of robots that can pass through simultaneously. The restriction of passage is not limited to prohibiting simultaneous passage but can include a single passage or single-lane passage.The area setting unit 121 can change the area settings depending on the time of day or situation. For example, the subdivision unit 120 divides the map so that each room is treated as a separate area. The area setting unit 121 then determines whether each room should be designated as a restricted area based on its use, size, location, and layout. The area setting unit 121 designates intersections and branch points in a hall as restricted areas. The area setting unit 121 designates sections other than intersections and branch points as unrestricted areas. For example, the area setting unit 121 designates straight sections of a hall as unrestricted areas. The Management Device 100 or another computer can set restricted and unrestricted ranges through arithmetic processing, or the user can set restricted and unrestricted ranges. After restricted or unrestricted ranges have been set through arithmetic processing, the user can adjust the range settings manually. For example, a computer such as the Management Device 100 can set one or more restricted ranges or one or more unrestricted ranges by running a program. The user can also set one or more restricted ranges or one or more unrestricted ranges manually. Using a zone-setting program allows for simple zone configuration. Specifically, the computer classifies halls and rooms based on architectural drawing data, map layouts, or BIM data. When the computer identifies intersections, junctions, entrances / exits, waiting areas, corners, or narrow halls, these locations are set as restricted zones. An artificial intelligence (AI) model, generated through supervised learning, etc., can be used for automatic zone setting. Image data representing architectural drawings or BIM data is used as input for the machine learning model. The machine learning model uses a segmentation algorithm to identify impassable locations, such as walls or installed objects, and classifies rooms and halls. The machine learning model determines whether passage should be restricted and sets restricted areas. For example, the machine learning model sets narrow halls, entrances / exits, waiting areas, junctions, and their surrounding areas as restricted areas. The machine learning model sets other areas on the map as unrestricted areas. The Area Setting Unit 121 can perform area setting using an algorithm other than a model obtained through machine learning. Alternatively, the robots' movement can be monitored after they have been commissioned. If a location is identified where robots are unlikely to be able to travel, the Area Setting Unit 121 can define this location as a restricted area. Manual and automatic setting can be combined. The waypoint setting unit 122 places waypoints on the map. A waypoint is a point through which the robot 200 travels. Waypoints are used for route planning. For example, the route planning unit 115 places waypoints from a starting point to a destination and determines their sequence. The route planning unit 115 determines the order in which the waypoints must be passed. The robot 200 travels autonomously to pass the waypoints in the specified order. For example, if a hall branches at intersections and junctions, the waypoint setting unit 122 places waypoints appropriately at intersections, junctions, corners, and their surrounding positions. The waypoint setting unit 122 also places waypoints at the boundaries of areas. The Waypoint Setting Unit 122 places multiple waypoints on the map. The Waypoint Setting Unit 122 assigns a waypoint ID to each waypoint. The Waypoint Setting Unit 122 associates the coordinates of the waypoints with their IDs and stores them as waypoint information. This waypoint information can include waypoint attributes. The Waypoint Setting Unit 122 can also set waypoints such as a charger, the interior of an elevator, elevator entry and exit positions, a location for picking up transported objects, a location for loading transported objects, and the area in front of an automatic door. Management Device 100 or another computer can set waypoints through arithmetic processing, or the user can set them manually. After waypoints have been set through arithmetic processing, the user can adjust the waypoint settings manually. For example, one or more waypoints can be set by running a program on Management Device 100 or another computer. The user can also set waypoints manually. Using a waypoint setting program allows for simple waypoint setup. Specifically, when the computer identifies intersections, etc., based on architectural drawing data, map layout, CAD data, or BIM data, the waypoint setting unit 122 sets waypoints at these locations. Alternatively, the waypoint setting unit 122 sets waypoints in boundary sections between constrained and unconstrained areas. A computer model generated through supervised learning, etc., can be used for automatic waypoint setup. Image data representing architectural drawings or BIM data is used as input for the machine learning model. Map data containing defined areas is also used as input for the machine learning model. The machine learning model sets waypoints using a segmentation algorithm. Manual and automatic settings can be combined. Restricted areas, unrestricted areas, and waypoints placed on a map are described with reference to Fig. 3. Fig. 3 is a top view that schematically shows the map. In Fig. 3, restricted areas RA1 and RA2 and unrestricted areas FA1, FA2, and FA3 are included on the map. Fig. 3 also shows a two-dimensional orthogonal XY coordinate system for clarity of description. In Fig. 3, three robots 200 are shown, identified as robots 200A, 200B, and 200C. If robots 200A, 200B, and 200C are not to be distinguished individually, they are referred to collectively as robot(s) 200. In Fig. 3, a hall B extending in the X direction is shown on the -Y side of the map. A junction point T1, forming a three-way intersection, is located in the center of hall B. Hall B is divided into the unrestricted area FA1, the restricted area RA1, and the unrestricted area FA2. The restricted area RA1 is located between the unrestricted areas FA1 and FA2. The unrestricted area FA1 is located on the -X side of the restricted area RA1, and the unrestricted area FA2 is located on the +X side of the restricted area RA1. In the restricted area RA1, the number of robots that can pass through simultaneously is limited to one. The restricted area RA1 corresponds to junction point T1. Hall H is located on the +Y side of the restricted area RA1. Branch point T1 serves as a path from Hall B to Hall H. Hall H contains, for example, an elevator hall in which an elevator EV is installed. The restricted area RA1 corresponds to the branch point where Hall H and Hall B are connected. Hall H is defined as the unrestricted area FA3. A drug preparation room D is located on the +Y side of the unrestricted area FA2 and on the +X side of the unrestricted area FA3. Drug preparation room D serves as a loading and unloading point. That is, drug preparation room D is a room where transport objects are loaded onto robot 200, or a room where transport objects are picked up by robot 200. Drug preparation room D can also be considered a waiting area for picking up or loading transport objects. An entrance EN to the drug preparation room D is located at the boundary between the unrestricted area FA2 and the restricted area RA2. Robot 200 enters drug preparation room D from hall B through entrance EN. A transport object, such as a pharmaceutical product, is then loaded onto robot 200. An exit EX from drug preparation room D is located at the boundary between the unrestricted area FA3 and the restricted area RA2. Robot 200 leaves drug preparation room D through exit EX to hall H. Robot 200 then travels to the designated delivery destination to deliver the transport object. In Fig. 3, 15 waypoints WP1 to WP15 are placed on the map. The waypoint setting unit 122 registers a unique waypoint ID for each of the waypoints WP1 to WP15. The waypoint setting unit 122 also associates XY coordinates on the map with the waypoint IDs. Waypoints WP1 to WP8 are located in Hall B. Waypoints WP9 to WP12 are located in Hall H. Waypoints WP13 to WP15 are located in Drug Preparation Room D. Waypoints WP1, WP2, WP5, and WP6 are located in the unrestricted area FA1. Waypoints WP3, WP4, WP7, and WP8 are located in the unrestricted area FA2. Waypoints WP9 to WP11 are located in the unrestricted area FA3. Waypoints WP12 to WP15 are located in the restricted area RA2. Although no waypoint is located in the restricted area RA1, a waypoint may be located within it. Since corridor B is wide enough for the robots 200 to pass each other, the waypoints are set in two rows. It is assumed here that the robots 200 travel to the right along corridor B. Waypoints WP1 to WP4 serve as passage points when traveling in the +X direction along corridor B. Waypoints WP5 to WP8 serve as passage points when traveling in the -X direction along corridor B. For example, if a planned route includes a path that runs along corridor B in the +X direction, the route planning unit 115 plans the route so that the robot 200A passes waypoints WP1, WP2, WP3, and WP4 in that order. Since corridor B has a width sufficient for two-way movement in both the +X and -X directions, waypoints WP1 and WP5 are set at the same position in the X direction but offset in the Y direction. This allows two robots to pass each other. Waypoints WP2 and WP6 correspond to the junction point in corridor B. Accordingly, waypoints WP2 and WP6 are located in the boundary section between restricted area RA1 and unrestricted area FA1. That is, waypoints WP2 and WP6 are positioned near the boundary line between restricted area RA1 and unrestricted area FA1. In this example, waypoints WP2 and WP6 are located on the side of the boundary line of unrestricted area FA1. Waypoints WP3 and WP7 correspond to the junction point in corridor B. Waypoints WP3 and WP7 are located in the boundary section between restricted area RA1 and unrestricted area FA2. This means that waypoints WP3 and WP7 are positioned near the boundary line between restricted area RA1 and unrestricted area FA2. In this example, waypoints WP3 and WP7 are located on the side of the boundary line of unrestricted area FA2. Waypoints WP9 and WP10 correspond to the junction point in corridor B. Waypoints WP9 and WP10 are located in the boundary section between restricted area RA1 and unrestricted area FA3. This means that waypoints WP9 and WP10 are positioned near the boundary line between restricted area RA1 and unrestricted area FA3. In this example, waypoints WP9 and WP10 are located on the side of the boundary line of unrestricted area FA3. Waypoints WP11 and WP12 correspond to a waiting position for the elevator EV. Waypoints WP11 and WP12 are placed before the elevator EV. For example, when robot 200 takes the elevator EV, waypoint WP11 or WP12 is included in its route. Robot 200 then waits at waypoint WP11 or WP12 until the elevator EV arrives. Waypoints WP13 to WP15 correspond to waiting locations for loading and unloading transport objects. Robot 200 waits at waypoint WP13, etc., until the loading of the transport object is complete. Alternatively, Robot 200 waits at waypoint WP13, etc., until the unloading of the transport object is complete. Referring again to Fig. 2, the right-of-way granting unit 123 grants the robot 200 right-of-way. Right-of-way is a resource that allows the robot 200 to traverse a restricted area. The right-of-way granting unit 123 grants right-of-way to each robot. The right-of-way granting unit 123 also manages the right-of-way for each restricted area. The right-of-way granting unit 123 grants robot 200 right-of-way in response to a request from robot 200. For example, when robot 200A arrives at or near waypoint WP2, robot 200A transmits a request signal to management device 100 to request right-of-way for the restricted area RA1. When management device 100's communication unit 140 receives the request signal, the right-of-way granting unit 123 grants robot 200A right-of-way for the restricted area RA1. Specifically, communication unit 140 transmits a right-of-way grant signal to robot 200A. The right-of-way grant signal includes information such as the area ID of the restricted area in which the robot is permitted to pass. Alternatively, the right-of-way granting unit 123 can determine whether right-of-way should be granted. When robot 200A transmits its own position on the map to management device 100, the right-of-way granting unit 123 determines whether robot 200A has reached the front of restricted area RA1. For example, if robot 200A has reached waypoint WP2, robot 200A is granted right-of-way. The position at which right-of-way is granted need not be a waypoint. Position coordinates for granting right-of-way can be preset. For example, if robot 200 reaches a predetermined right-of-way granting position near a restricted area, the right-of-way granting unit 123 grants robot 200 right-of-way. In the following description, the right-of-way granting position is described as the same position as the waypoint closest to a restricted area.However, the right-of-way grant position can be set to position coordinates that differ from those of a waypoint. The right-of-way granting unit 123 revokes the right-of-way as soon as the robot 200 passes through the restricted area. For example, if the robot 200A passes through the restricted area RA1 and enters the unrestricted area FA2, the right-of-way granting unit 123 revokes the robot 200A's right-of-way for the restricted area RA1. Alternatively, the robot 200A can transmit a revocation signal to the management device 100 based on its own position. A waypoint for revoking the right-of-way can be set. For example, it is assumed here that the route planning unit 115 plans a route such that robot 200A moves along route PH1 and robot 200B moves along route PH2. In this case, if robots 200A and 200B enter the restricted area RA1 simultaneously, there is a risk that they will encounter each other within the restricted area RA1. Consequently, robots 200A and 200B may be unable to pass through the restricted area RA1, or they may need to be rerouted. Therefore, the restricted area RA1 is provided to limit the passage of the robots 200. This allows multiple robots 200 to operate efficiently. Priority Setting Unit 124 sets priority for right-of-way. Specifically, priority is a resource used to determine the order in which robots pass through a restricted area. Priorities are data set for each restricted area. For example, the robot 200 with the highest (first) priority can enter the restricted area. If multiple rights of way are granted for a restricted area, priorities are assigned according to the number of robots with right-of-way as first, second, and so on. The robot with the highest priority is assigned first priority. Multiple robots 200 pass through the restricted area in order according to their priorities. Priority Setting Unit 124 assigns the priority at the time right-of-way is granted. That is, a robot 200 that reaches the right-of-way grant position is assigned a priority along with the right-of-way. Update Unit 125 updates the priorities. When the first-priority robot 200 passes through a restricted area, its right-of-way and priority are revoked. Update Unit 125 increases the priorities of the remaining robots by one. Accordingly, when the first robot 200's right-of-way is revoked, the priority of the second robot is updated first, and the priority of the third robot 200 is updated second. Update Unit 125 increases the priorities at the same time the Right-of-Way Grant Unit 123 revokes right-of-way. Multiple robots 200 that have been granted right-of-way can pass through the restricted area in order of their priorities. The communication unit 140 transmits various types of data and signals to each of the robots 200. For example, when a robot 200 approaches a restricted area, the communication unit 140 transmits right-of-way and priority data to the robot 200. The communication unit 140 also transmits the priorities updated by the update unit 125 to each robot 200. Each robot 200 waits in front of the restricted area if its priority is second or later. The robot 200 whose priority has become first enters the restricted area. For example, priority setting unit 124 can assign a priority at the time right-of-way is granted. Priority setting unit 124 assigns priorities to robots 200 in the order in which they arrive closest to the restricted area. The priority setting unit 124 can set priorities based on transport object information, task information, and so on. For example, priorities are updated so that a robot 200, carrying a priority transport object, can traverse the restricted area with priority. The following describes the case in Fig. 3, where robot 200A arrives at waypoint WP2, which is a right-of-way grant position, before robot 200B arrives at waypoint WP10, which is also a right-of-way grant position. It is assumed here that robot 200A is carrying a normal transport object, while robot 200B is carrying a priority transport object that should be transported with priority over robot 200A's transport object. First, if neither robot 200A to 200C has been granted right-of-way or assigned priority, robot 200A arrives at waypoint WP2. The right-of-way granting unit 123 grants right-of-way to robot 200A. The priority setting unit 124 sets the priority of robot 200A to first. Suppose robot 200B arrives at waypoint WP10 before robot 200A enters the restricted area RA1. At this point, the right-of-way granting unit 123 grants right-of-way to robot 200B, and the priority setting unit 124 sets the priority of robot 200B to first. The update unit 125 then updates the priority of robot 200A from first to second. In other words, the priority of robot 200A is reduced by one. In this way, priority setting unit 124 executes an interruption process so that robot 200B, which is transporting a priority transport object, can pass through the restricted area RA1 in front of robot 200A. The interruption process refers to a process by which a robot that has been newly granted right-of-way is allowed to pass through a restricted area in front of a robot that has previously been granted right-of-way. Priority setting unit 124 defines a robot that has already been granted right-of-way as a granted robot. Accordingly, the interruption process refers to assigning a higher priority to a newly granted robot than to a granted robot. When priority setting unit 124 performs the interruption process, update unit 125 lowers the priority of robot 200A, which was set first, to second. In this way, robot 200B, which is transporting a priority transport object, traverses the restricted area RA1 along route PH2. At this point, robot 200A, whose priority is second, waits outside the restricted area RA1. That is, robot 200A stops at a position between waypoint WP2 and the boundary line between the restricted area RA1 and the unrestricted area FA1. Although robot 200A has been granted right of way, it cannot enter the restricted area RA1 because its priority is second. As shown in Fig. 4, after robot 200B has passed through the restricted area RA1, update unit 125 removes robot 200B's right of way and priority. Update unit 125 then increases robot 200A's priority from second to first. As a result, robot 200A enters the restricted area RA1. At the moment robot 200A enters the restricted area RA1, robot 200B has moved close to waypoint WP6 in the unrestricted area FA1. In other words, robot 200B is no longer in the restricted area RA1. Therefore, robot 200A can traverse the restricted area RA1 along route PH1 without encountering or interfering with robot 200B. This allows robot 200B to transport the priority object. Furthermore, multiple robot 200s can operate efficiently. As a result, the overall task execution efficiency is less likely to decrease. If robot 200A has already entered the restricted area RA1 when robot 200B arrives at the right-of-way grant position, robot 200B's priority is set to be after that of robot 200A. In other words, the interruption process does not apply if robot 200A is already passing through the restricted area RA1. Priority setting unit 124 can set priorities based on transport object information. For example, the priority can be set according to the type or size of the transport object. Alternatively, priority setting unit 124 can set priorities based on robot information, task information, and so on. In other words, priority setting unit 124 can assign a higher priority to robot 200B, which arrived later at a right-of-way grant position, so that robot 200B can pass through preferentially. Update unit 125 then lowers the priority of robot 200A. In this way, robot 200B, which arrived later at a right-of-way grant position, can pass through the restricted area RA1 ahead of robot 200A. For example, in task information, priority setting unit 124 sets priorities such that the priority of a robot transporting a transport object is higher than that of a robot that has completed the transport. The priority of a robot 200 performing a task can be set higher than that of a robot 200 not performing a task. Alternatively, priority setting unit 124 can set priorities according to the priority of the tasks. Priority setting unit 124 assigns a higher priority to a robot performing a task with a higher priority. Priorities are set based on the urgency or importance of tasks, etc. For example, the priority setting unit can define 124 priorities or priority levels based on the type of object being transported, the type of task, the time of day, congestion conditions in the building, etc. Each task or object being transported can be assigned priority data. Alternatively, a priority can be assigned to the robot itself. A robot dispatched in response to an emergency call, etc., can be assigned the highest priority. A task to drive to a charging station can be assigned a low priority. The priority can differ between the trip to the destination and the return trip. Priorities can be set according to the actions to be performed by the robot. The priority can be classified into multiple levels, such as one to five, or can be set using scores calculated from various data points.If multiple robots have the same priority level, the priorities are set in the order in which right-of-way is granted. Priorities for Robot 200 are set based on task information, transport object information, robot information, and other factors. The Priority Setting Unit 124 compares the priority of a newly granted robot with that of an already granted robot and sets the priorities accordingly. For example, a robot performing a high-priority task will be assigned a high priority. If a delivery deadline is set for a transport object in the transport object information, the robot with the shorter remaining time until the deadline can be given a higher priority. Priorities can be set based on the real-time task management status of the task management unit. The priority can be varied according to the task being performed by a newly granted Robot 200.In particular, the priority setting unit 124 can determine whether the interruption process should be carried out by comparing the task of a newly granted robot 200 with the task of a granted robot. Tasks requiring right-of-way are not limited to transportation and can include cleaning tasks, etc. In other words, "passing through" when right-of-way is granted also includes temporary stops. Accordingly, if a Robot 200 is assigned a cleaning task, it cannot enter the restricted area to perform the cleaning task until it is granted right-of-way. Priorities can also be set according to the congestion levels in the building. For example, management device 100 can determine the level of congestion based on images from camera 500, and so on. A higher priority can be set for robot 200 whose destination is a congested area. Alternatively, a lower priority can be set for robot 200 whose destination is a congested area. The right-of-way granting unit 123 revokes the right-of-way for a robot 200 that has left a restricted area. The priority setting unit 124 revokes the priority assigned to a robot 200 whose right-of-way has been revoked. Alternatively, the right-of-way and priority can be revoked a specified time after the robot 200 re-enters the restricted area. If a robot is newly granted right-of-way while several robots already have right-of-way, the priority of the newly granted robot can be set to any value. An example is described in which a third robot, 200C, is granted right-of-way when two robots, 200A and 200B, already have right-of-way. Initially, it is assumed that robots 200A and 200B have already been granted right-of-way, with robot 200A having first priority and robot 200B having second priority. If robot 200C is newly granted right-of-way, it can be assigned first priority. In this case, update unit 125 updates the priority of robot 200A to second and that of robot 200B to third. Alternatively, if robots 200A and 200B have already been granted right-of-way and robot 200C is newly granted right-of-way, robot 200C can be assigned a second priority. The update unit 125 then updates the priority of robot 200B to third. In other words, robot 200A's priority remains first and is not updated. Alternatively, if robots 200A and 200B have already been granted right of way and robot 200C is newly granted right of way, robot 200C can be assigned a third priority. In other words, robot 200A retains first priority and robot 200B retains second priority. If right-of-way is granted to multiple robots simultaneously, the priority setting unit 124 or the update unit 125 can completely reorder the priorities. A maximum number of robots that can pass through a restricted area simultaneously can be assigned to at least one restricted area. For example, in Fig. 3, restricted area RA2 serves as a waiting area for loading and unloading transport objects. Restricted area RA2 includes three waiting points, which are waypoints WP13, WP14, and WP15. In this case, three robots 200 can pass through simultaneously. Alternatively, four or more robots can be allowed to pass through simultaneously. If a newly granted robot 200 is assigned a higher priority, the priorities and right-of-way of robots 200 with lower priorities can be revoked. When multiple restricted areas are placed on a map, different priorities can be set for each restricted area. In other words, if there are multiple restricted areas, the rules for determining priorities can be different for each restricted area. For example, in Fig. 3, for restricted area RA2, which corresponds to a loading and unloading location, priority setting unit 124 sets priorities according to the type or importance of the transported object. For restricted area RA1, which is located on a map, priority setting unit 124 sets priorities according to the type of robot. For example, priority setting unit 124 can assign a higher priority to robots capable of moving at higher speeds. Priorities can be set for each robot within one or more restricted areas. Priorities can be set according to the type of task, such as transport, cleaning, or security. Priorities can be set according to the type of object being transported within yet another restricted area. Restricted and unrestricted areas are now described with reference to Fig. 5. Fig. 5 shows a map on which restricted and unrestricted areas are defined. As shown in Fig. 5, four restricted areas RA11 to RA14 and six unrestricted areas FA11 to FA16 are shown on the map. A hall Y1 extending in the Y direction is shown on the map. Halls X1 and X2 extending in the X direction are connected to hall Y1. Halls Y1, X1, and X2 are wide enough for robots to pass each other. Halls X1 and Y1 are connected by a right-angle corner C1. Halls X2 and Y1 are connected by a junction T1. A room R1 is located at the end of hall X1 in the -X direction. A door DR is installed at the entrance / exit EX1 of room R1. Waypoints WP are placed on the map. For example, waypoints WP are arranged in two rows in halls X1 and X2.The waypoints WP are arranged in two rows in most of the halls Y1. Room R1 is set as an unrestricted area FA11, and the entrance / exit EX11 of room R1 and its surrounding area are set as a restricted area RA11. The door DR at entrance / exit EX11 narrows the hall width. Therefore, the robots 200 cannot pass each other. By setting entrance / exit EX11 and its surrounding area as the restricted area RA11, multiple robots 200 can efficiently pass through entrance / exit EX11. For example, if a robot 200 moving in the +X direction passes through restricted area RA11, a robot 200 moving in the -X direction cannot enter restricted area RA11. Therefore, restricted area RA11, where the passage of robots 200 is limited, is set around door DR, where the hall width is narrow. In this way, multiple robots 200 can efficiently pass through entrance / exit EX11. Hall X2 is set as an unconstrained area FA13. The junction point T1, which connects halls Y1, X2, and their surrounding area, is set as a restricted area RA12. At junction point T1, the paths of multiple robots 200 can overlap or intersect. If two robots 200 enter junction point T1 from different directions, they may be facing each other and unable to pass. By setting junction point T1 and its surrounding area as restricted area RA12, multiple robots 200 can therefore efficiently pass through junction point T1. Room R2 is set as an unconstrained area FA15, and the entrance / exit EX12 of room R2 and its surrounding area are set as restricted area RA13. The region around entrance / exit EX12 corresponds to a junction point leading from hall Y1 in the Y direction to the X direction.If a robot 200 turns in the -X direction at entrance / exit EX12, it can enter room R2. The hall width narrows at entrance / exit EX12. By defining entrance / exit EX12 and its surrounding area as the restricted area RA13, multiple robots can efficiently pass through entrance / exit EX12. The region between the restricted areas RA11 and RA12 is defined as an unrestricted area FA12. In this example, corner C1 is the unrestricted area FA12. In hall Y1, the region between the restricted areas RA12 and RA13 is defined as an unrestricted area FA14. A section of the straight part of hall Y1 is the unrestricted area FA14. A charging point CS1 is located at the end of hall Y1 in the -Y direction. A region projecting from hall Y1 in the +X direction serves as charging point CS1. A charger for recharging the batteries of the Robot 200 is installed at charging point CS1. Charging point CS1 serves as a waiting area where the Robot 200 remain for extended periods. Charging point CS1 is set as a restricted area RA14. Waypoint WP21, provided at charging location CS1, corresponds to the location of the charger. Waypoint WP21 is located in a widened section of hall Y1. If a robot 200 remains at waypoint WP21 while charging, it may protrude into the hall. Because the effective hall width narrows while a robot 200 remains at waypoint WP21, charging location CS1 and its surrounding area are set as the restricted area RA14. The waiting location of robot 200 is also set as the restricted area RA14. As described above, branching points of halls, halls narrower than a prescribed width, or waiting areas for autonomously moving objects are defined as restricted areas. As a result, the robots can move efficiently. However, the restricted areas are not limited to these locations. Other examples of restricted areas include an elevator hall, a hall, a room, an entrance / exit, a pick-up point for transported objects, a loading point, an unloading point, a waiting point, and a loading point. In Figure 5, restricted and unrestricted areas are arranged alternately. However, restricted areas can be arranged consecutively. That is, one restricted area can be adjacent to another restricted area. In such a case, the restrictions between adjacent restricted areas may differ.For example, simultaneous passage within a restricted area may be prohibited, while single-lane passage within an adjacent restricted area may be prohibited. A maximum number of moving objects that can simultaneously pass through a restricted area can be specified. Figure 6 is a flowchart illustrating a management procedure according to the present embodiment. The partitioning unit 120 divides the map into a plurality of areas (S11). In particular, the partitioning unit 120 reads map information from the map information storage unit 111. The map information can be image data such as architectural drawing data. Based on the partitioned areas, the area setting unit 121 places restricted areas and unrestricted areas on the map (S12). The area setting unit 121 places at least one restricted area and at least one unrestricted area. The area setting unit 121 can assign attributes to the restricted and unrestricted areas. A restricted area can be placed in conjunction with the boundary position between areas.For example, the area setting unit 121 can set the boundary segment between an area representing one room and an area representing another room as a restricted area. Alternatively, the area setting unit 121 can set the boundary segment between an area representing a hall and an area representing a room as a restricted area. The area setting unit 121 can also set the boundary segment between an area representing a hall in the X direction and an area representing a hall in the Y direction as a restricted area. Since the boundary between two halls extending in different directions corresponds to an intersection or junction point where the two halls converge or diverge, this area is set as a restricted area. The waypoint setting unit 122 places several waypoints on the map (S13). As shown in Fig. 5, the waypoint setting unit 122 places several waypoints in the restricted area. The waypoint setting unit 122 also places several waypoints in the unrestricted area. Preferably, the waypoint setting unit 122 places waypoints in the boundary section between the restricted and unrestricted areas. For example, if the waypoint setting unit 122 places a waypoint in an unrestricted area near a restricted area, this waypoint serves as a waypoint for a robot to wait before entering the restricted area. The Management Device 100 or the Robot 200 can use a machine learning model, such as deep learning, for route planning and driving control. A machine learning model, such as deep learning like a recurrent neural network (RNN) or a convolutional neural network (CNN), can also be used to detect surrounding objects. Part or all of the processing performed by the robot 200 or the management device 100 described above may be implemented as a computer program. Such a program may be stored and delivered to a computer using various types of non-volatile, computer-readable media. Non-volatile, computer-readable media include various types of tangible storage media. Examples of non-volatile, computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), compact disc read-only memory (CD-ROM), compact disc recordable (CD-R), compact disc rewritable (CD-R / W), and semiconductor memory (e.g., mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash ROM, and random-accessible memory (RAM)).The program can also be delivered to a computer via various types of volatile computer-readable media. Examples of volatile computer-readable media include electrical signals, optical signals, and electromagnetic waves. A volatile computer-readable medium can deliver a program to a computer via wired communication channels, such as electrical wires and optical fibers, or via wireless communication channels. The present invention is not limited to the above embodiment and can be modified as needed without deviating from the spirit and scope of the invention. QUOTES INCLUDED IN THE DESCRIPTION This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature JP 2024 - 17 484 A

[0002]

Claims

Management system comprising a server configured to manage a multitude of autonomously moving objects moving within a building, wherein the management system is configured to divide a map of the building into a multitude of areas based on map information representing the map, to define at least one restricted area and at least one unrestricted area on the map based on the areas, and to allow passage within the restricted area for an autonomously moving object granted the right of way that permits passage through the restricted area, and to restrict passage for an autonomously moving object not granted the right of way. Management system according to claim 1, wherein the restricted area is defined in conjunction with a boundary position between the areas. Management system according to claim 2, wherein a connection point of a corridor, a corridor with a width that is less than a predetermined value, or a waiting place for the autonomously moving objects is defined as a restricted area. Management system according to one of claims 1 to 3, wherein the map is divided into areas by a Voronoi diagram. A method for managing a plurality of autonomously moving objects moving within a building using a computer, wherein the method causes the computer to: divide a map of the building into a plurality of areas based on map information representing the map, define at least one restricted area and at least one unrestricted area on the map based on the areas, and allow passage in the restricted area for an autonomously moving object to which the right of way is granted permitting passage of the restricted area, and restrict passage for an autonomously moving object to which the right of way is not granted.

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