Movement management system and movement management method

Abstract

To provide a highly versatile movement management system and movement management method that can flexibly adapt to an environment change in a range where a mobile body moves.SOLUTION: A movement environment management device (70) includes: a storage unit (74) that stores environment marker data (74b) in which identification information of a marker (40) provided in a movement range of a mobile body (10), which operates autonomously, and control required in accordance with surrounding environment of the marker are associated with each other; and a control unit (71) that receives the identification information of the marker from the mobile body, specifies corresponding control with reference to the environment marker data, and transmits information related to the control specified for the mobile body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobility management system and a mobility management method. [Background technology]

[0002] Conventionally, autonomously traveling mobile objects have been used in factories, logistics warehouses, and the like. One example is an automated guided vehicle that travels along a predetermined travel route to transport parts and perform cargo handling operations. Patent Document 1 discloses a technology for controlling an autonomously traveling mobile object. This publication describes a mobile object system including: "a flat sign arranged according to a predetermined travel route; and a mobile object that travels autonomously along the travel route, the mobile object including: a distance and direction detection device that is provided on the mobile object and that detects the distance and direction between the mobile object and an object present within a predetermined search range by scanning a detection light within the search range; and a traveling direction determination means that determines the traveling direction of the mobile object based on the detection result of the distance and direction detection device; the flat sign including a specular surface and a diffuse reflection surface that diffusely reflects incident light at a rate higher than that of the specular surface." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-113765 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, the mobile body stores map information showing the travel route and multiple teaching images acquired at each of multiple teaching points on the travel route, controls its driving based on the results of comparing the captured image with the teaching images, identifies flat signs, and corrects its position.

[0005] In recent years, mobile objects are no longer just required to follow a route; they are also required to perform location-specific actions, such as linking with facilities. For example, when passing through an automatic door, it is necessary to control the door to open when in front of it. Therefore, the motion sequence of the mobile object was set up so that it would perform a specific action at a specific position based on the coordinates on the route. However, this method required the involvement of the mobile device manufacturer to change or add actions, which was costly and took time to complete. For example, when a vehicle is traveling through a construction site, the situation at the site may change, temporarily creating impassable areas or requiring changes to the route of travel. Even though the general route itself remains the same, it is not realistic for manufacturers to respond to environmental changes each time.

[0006] Therefore, an object of the present invention is to provide a highly versatile mobility management system and mobility management method that can flexibly respond to environmental changes within the range in which a mobile object moves. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, one representative mobility management system of the present invention is characterized by having a mobility environment management device that includes: a memory unit that stores environmental marker data that associates identification information of markers placed within the movement range of an autonomously operating mobile body with control required depending on the environment around the marker; and a control unit that receives the identification information of the marker from the mobile body, identifies the corresponding control by referring to the environmental marker data, and transmits information regarding the identified control to the mobile body. Furthermore, one representative mobility management method of the present invention is characterized in that a management device stores and manages environmental marker data in a memory unit that associates identification information of markers placed within the movement range of an autonomously operating mobile body with control required depending on the environment surrounding the marker, receives the identification information of the marker from the mobile body, identifies the corresponding control by referring to the environmental marker data, and transmits information regarding the identified control to the mobile body.

[0008] According to the present invention, it is possible to flexibly respond to environmental changes within the range in which a moving body moves. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram of mobility management according to a first embodiment; [Figure 2] Mobility management system configuration diagram [Figure 3] Configuration diagram of map management device [Figure 4] An explanatory diagram of data held by a map management device [Figure 5] Configuration diagram of the driving environment management device [Figure 6] Environmental data illustration [Figure 7] Environmental marker data illustration [Figure 8] An explanatory diagram of historical data from the driving environment management device [Figure 9] Robot management device configuration diagram [Figure 10] Robot configuration diagram [Figure 11] Traffic control device configuration diagram [Figure 12] Flowchart showing the processing procedure of the driving environment management device [Figure 13] Flowchart showing the processing steps when the robot is running [Figure 14] Flowchart detailing environmental event processing [Figure 15] Diagram of branching control using environmental markers [Figure 16] Illustration of driving conditions using environmental markers DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings. [Example]

[0011] FIG. 1 is an explanatory diagram of mobility management according to the first embodiment. The robot 10 is a mobile object that travels autonomously. The robot 10 travels along a travel route 30 that has been planned in advance. The travel route 30 is indicated by links connecting a plurality of nodes 31. Along the travel route 30, there is a traffic control device 80, and an environmental marker 40 is placed nearby. The traffic control device 80 in FIG. 1 is an automatic door. The environmental marker 40 can be optically recognized, for example, to read identification information that uniquely identifies the environmental marker 40. The identification information that uniquely identifies the environmental marker 40 is called an environmental marker ID.

[0012] The driving environment management device 70 associates and manages environmental marker IDs and event data. For example, the environmental marker ID "M001" is associated with event data such as "Event type: Passing through an automatic door," "Related information 1: Cooperative device ID," "Related information 2: Cooperative device location," and "Related information 3: Waiting location." Here, an event is a control that does not affect the shape of the travel route 30 but is necessary depending on the surrounding environment. Event types include passing through an automatic door, using an elevator, passing through a gate, etc. Event types can also include road closure, one-way traffic, stop, no stopping, slow down (maximum speed), keep to the right, no overtaking, sound the horn, be quiet, height limit, maximum width, steep slope, slippery, uneven road surface, and evacuation area. Related information is information used to process the event. Related information includes information used to link with traffic control devices (automatic doors, elevators, gates, etc.) and the extent of one-way traffic. When the traveling environment management device 70 receives the environmental marker ID from the robot 10, it reads out the corresponding event data and transmits it to the robot 10.

[0013] The robot 10 determines a travel route 30, confirms its current position, and performs travel control. Furthermore, when the robot 10 recognizes an environmental marker 40, it processes an event based on the environmental marker 40 with priority over travel control.

[0014] For example, when the robot 10 reads the environmental marker ID “M001” from the environmental marker 40, the robot 10 transmits the environmental marker ID “M001” to the traveling environment management device 70. When the traveling environment management device 70 receives the environmental marker ID "M001", it transmits the corresponding event data to the robot 10. Based on the received event data, the robot 10 identifies an action that it should perform, and executes the identified action as a priority over traveling control.

[0015] Specifically, the robot 10 identifies the actions to be performed to process the event of passing through an automatic door as "stopping at a waiting position," "sending a door open instruction to the traffic control device 80," "receiving a door open notification from the traffic control device 80," and "passing through the position of the traffic control device 80." The robot 10 stops at the standby position and transmits a door open command to the traffic control device 80. The traffic control device 80 receives the door open command, opens the door, and transmits a door open notification to the robot 10. After receiving the door-open notification and passing the position of the traffic control device 80, the robot 10 resumes travel control along the travel route 30.

[0016] In this way, by associating the actions required of the robot 10 and the information necessary for them with the environmental markers 40, it is possible to have the robot 10 perform the specific actions required by receiving instructions from the environment while following a route, without having to create a special operation sequence for the robot 10. That is, the travel route 30 used by the robot 10 does not require information such as where automatic doors are located or the control for opening the automatic doors, and the detection of an environmental marker 40 while traveling along the travel route 30 is treated as an event, and an action linked to the ID of the detected marker is reactively performed. That is, event-driven cooperation with traffic control devices can be realized. Therefore, there is no need to set a configuration file, a start position for collaboration, or a standby position for equipment collaboration when the robot 10 is introduced. In other words, there is no need to predefine a sequence of actions that occur along the route; only the travel route needs to be created.

[0017] Any technology may be used to plan and recognize the travel route 30. For example, a configuration may be adopted in which map markers corresponding to nodes 31 are appropriately placed, and the robot 10 detects the map markers to identify its current location. In this case, two types of markers, map markers and environmental markers, are placed within the area in which the robot 10 travels. When the robot 10 detects a map marker, it confirms its own location based on the detection result, and when it detects an environmental marker, it transmits the environmental marker ID to the traveling environment management device 70 and executes processing based on the environmental marker. Alternatively, the robot 10 may be configured to recognize a line drawn within the travel area and travel along the line.

[0018] 2 is a system configuration diagram of the movement management system. The movement management system includes a robot 10, a robot management device 20, a map management device 60, a driving environment management device 70, and a traffic control device 80.

[0019] The robot 10 is an autonomously moving object that performs various tasks. The robot 10 may be, for example, a transport robot whose task is to transport items, a cleaning robot whose task is to clean, or a security robot whose task is to guard.

[0020] The robot management device 20 manages tasks for multiple robots 10 via a network. Although one robot management device 20 is illustrated in FIG. 2, multiple robot management devices 20 may exist. For example, a robot management device 20 can be provided for each manufacturer and each task. Each robot 10 is under the management of one robot management device 20. There is no need for arbitration regarding the management of the robots 10 between multiple robot management devices 20, and each robot management device 20 independently manages the robots 10 under its own management.

[0021] The map management device 60 manages map data of the travel range of the robot 10. The travel range may be, for example, a floor of a building or a construction site. The travel range may overlap with an area where people pass through. The map data includes various information related to the planning of the travel route of the robot 10, such as the location and shape of passages. The driving environment management device 70 manages the driving environment within the driving range of the robot 10. The driving environment does not affect the shape of the driving route itself, but indicates various factors that need to be taken into consideration when driving. Doors, elevators, gates, shutters, etc. are traffic control devices 80 that control the passage of the robot 10 and are examples of the driving environment. Branches in the driving route, temporary no-entry areas, and conditions for driving are also included in the driving environment.

[0022] In this way, the map management device 60 manages map data, which is relatively static information related to the driving route itself, whereas the driving environment management device 70 manages relatively dynamic data related to the surrounding environment during driving. Since both the map management device 60 and the driving environment management device 70 manage data related to the driving range, for example, both may be under the jurisdiction of a building manager, in which case the map management device 60 and the driving environment management device 70 may be the same device. However, even when the map management device 60 and the driving environment management device 70 are the same device, it is preferable to manage the map data and the environmental data separately. More preferably, the map management device 60 may be placed under the jurisdiction of the building manager, and the driving environment management device 70 may be placed under the control of the construction worker, and so on. The robot management device 20 does not manage data related to the travel range, but manages the robot 10 itself, and therefore, unlike the map management device 60 and the travel environment management device 70, is under the control of, for example, the manufacturer or robot operator.

[0023] The traffic control device 80 is a device that controls the passage of the robot 10, and includes doors, elevators, gates, shutters, etc. Preferably, the traffic control device 80 is capable of automatically controlling whether or not to allow passage based on instructions from the robot 10. The traffic control device 80 may also be capable of automatically controlling whether or not to allow passage based on instructions from the driving environment management device 70. The traffic control device 80 may also be a device that switches whether or not to allow passage through manual operation. For example, if the traffic control device 80 is a shutter that is opened by manual operation, the traffic control device 80, the driving environment management device 70, etc. may set an event to notify the person who performs the manual operation, and after confirming that the person who received the notification has opened the shutter, issue permission for the robot 10 to travel.

[0024] 3 is a configuration diagram of the map management device 60. As shown in FIG. 3, the map management device 60 includes a CPU (Central Processing Unit) 61, a memory 62, a communication unit 63, and a storage unit 64.

[0025] The storage unit 64 is an auxiliary storage device that stores programs and various data. The storage unit 64 stores map data 64a, map marker data 64b, history data 64c, etc. Details of each data will be described later.

[0026] The communication unit 63 is a communication interface used for wireless communication with the robot 10, etc. The communication unit 63 is used to receive a map marker ID from the robot 10, transmit various data to the robot 10, etc.

[0027] The CPU 61 loads the programs read from the storage unit 64 into the memory 62, which is a main storage device, and executes them sequentially, thereby realizing the functions of a map data management unit 61a, a map marker management unit 61b, and a history management unit 61c.

[0028] The map data management unit 61a is a processing unit that registers and edits the map data 64a. Furthermore, the map data management unit 61a provides the map data 64a when the robot 10 or the like requests the map data. The map marker management unit 61b is a processing unit that registers and edits map marker data 64b, which is data related to map markers placed within the travel area. Furthermore, when the map marker management unit 61b receives a map marker ID from the robot 10, it reads the corresponding data from the map marker data and transmits it to the robot 10. The history management unit 61c registers the operation history in history data 64c.

[0029] FIG. 4 is an explanatory diagram of data held by the map management device 60. The map data 64a associates a node ID with a building ID, a floor ID, coordinates of the node in the building coordinate system, width, height, and the like. The building ID is identification information that uniquely identifies a building. The floor ID is identification information that uniquely identifies a floor. Coordinates in the building coordinate system indicate the location of a node relative to the building. The width and height indicate the amount of space at the node's location.

[0030] The map marker data 64b associates a map marker ID with a building ID, a floor ID, a marker size, the coordinates of the marker origin in the building coordinate system, the orientation of the marker in the building coordinate system, and the like. The building ID is identification information that uniquely identifies a building. The floor ID is identification information that uniquely identifies a floor. The marker size indicates the physical size of the map marker. The coordinates of the marker origin in the building coordinate system indicate the position of the origin, which is the reference position of the map marker, relative to the building. The orientation of the marker in the building coordinate system indicates the direction in which the map marker faces relative to the building, for example, using a quaternion or rotation matrix.

[0031] The history data 64c associates a log ID with a time, a robot ID, a map marker ID, and the like. For example, when a map marker ID is received from a robot, a new unique log ID is assigned, and the time of reception and the robot ID of the sender are associated with each other and registered in the history data 64c.

[0032] 5 is a configuration diagram of the running environment management device 70. As shown in FIG. 5, the running environment management device 70 includes a CPU 71, a memory 72, a communication unit 73, and a storage unit 74.

[0033] The storage unit 74 is an auxiliary storage device that stores programs and various data. The storage unit 74 stores environmental data 74a, environmental marker data 74b, history data 74c, etc. Details of each data will be described later.

[0034] The communication unit 73 is a communication interface used when communicating wirelessly with the robot 10, etc. The communication unit 73 is used to receive an environmental marker ID from the robot 10, transmit various data to the robot 10, etc.

[0035] The CPU 71 loads the programs read from the storage unit 74 into the memory 72, which is the main storage device, and executes them sequentially, thereby realizing the functions of an environmental data management unit 71a, an environmental marker management unit 71b, and a history management unit 71c.

[0036] The environmental data management unit 71a is a processing unit that registers and edits the environmental data 74a. The environmental marker management unit 71b is a processing unit that registers and edits environmental marker data 74b, which is data related to environmental markers placed within the travel area. Furthermore, when the environmental marker management unit 71b receives an environmental marker ID from the robot 10, it reads the corresponding data from the environmental marker data 74b and transmits it to the robot 10. The history management unit 71c registers the operation history in history data 74c.

[0037] FIG. 6 is an explanatory diagram of the environment data 74a. The environmental data 74a associates an environmental element ID that identifies an environmental element with a building ID, a floor ID, a coordinate in the building coordinate system, a type, an environmental marker ID, a traffic control device ID, and the like. The building ID is identification information that uniquely identifies a building. The floor ID is identification information that uniquely identifies a floor. Coordinates in the building coordinate system indicate the location of an environmental element relative to the building. The type indicates the type of environmental element, such as a door, an elevator, a branch, or a driving condition. The environmental marker ID indicates the identification information of an environmental marker that is associated with the environmental element, if any. Note that multiple environmental markers may be associated with one environmental element. For example, in the case of an automatic door, two environmental marker IDs may be placed depending on the direction of passage. The traffic control device ID indicates the identification information of a traffic control device 80 corresponding to the environmental element, if any.

[0038] FIG. 7 is an explanatory diagram of the environmental marker data 74b. The environmental marker data 74b is data in which an event is associated with an environmental marker ID. In Figure 7, for the environmental marker ID "M001", Event type: Passing through automatic doors Related information 1: Linked device ID (E001) Related information 2: Location of linked device Related information 3: Standby position :" The robot 10 can use this information to pass through the automatic door with ID E001.

[0039] Also, in Figure 7, for the environmental marker ID "M002", Event type: Elevator use Related information 1: Linked device ID (E002) Related information 2: Location of linked device Related information 3: Standby position :" The robot 10 can use this information to call the elevator car with ID E002, specify the destination floor, and use the elevator.

[0040] Also, in Figure 7, for the environmental marker ID "M003", Event type: Gate passage Related information 1: Linked device (E003) Related information 2: Gate location Related information 3: Standby position :" The robot 10 can pass through the gate using this information. Here, the device with ID E003 is a device that calls a person who operates the gate, and is separate from the gate itself.

[0041] Also, in Figure 7, for the environmental marker ID "M004", Event type: Run along the right wall Related information 1: Affected sections This event is a type of driving condition. Driving conditions can be set arbitrarily, such as driving with an alarm sounding or reducing the driving speed.

[0042] Also, in Figure 7, for the environmental marker ID "M005", Event type: Select branch left Related information 1: Branching point In this way, by preparing an event that instructs the selection of a branch, a route with a branch can be set when setting the route, and the route can be flexibly switched according to the environment at the time of driving.

[0043] FIG. 8 is an explanatory diagram of the history data 74c of the traveling environment management device 70. The history data 74c associates a time and a process with a log ID. FIG. 8 shows that, as the log ID "L001", an "environmental marker inquiry (ID: M001) was received from a robot (ID: RB001)" at the time "20240125 14:33:05". Also, the log ID "L002" indicates that "event data was sent to robot (ID: RB001)" at time "20240125 14:33:06". Also, log ID "L003" indicates that "a door open notification was received from the traffic control device (ID: E001)" at time "20240125 14:33:07". That is, here, in addition to the operation history of the robot 10, the operation history of the traffic control device 80 is also managed collectively. In this case, the driving environment management device 70 also communicates with the traffic control device 80 and receives notification of its operation. Note that the operation history of the robot 10 and the operation history of the traffic control device 80 may be managed separately. Also, the driving environment management device 70 may be configured to manage only the operation history of the robot 10, and not manage the operation history of the traffic control device 80.

[0044] 9 is a configuration diagram of the robot management device 20. As shown in FIG. 9, the robot management device 20 includes a CPU 21, a memory 22, a communication unit 23, and a storage unit 24.

[0045] The storage unit 24 is an auxiliary storage device that stores programs and various data, such as task management data 24a, robot management data 24b, and history data 24c. The task management data 24a indicates the content of the task to be assigned to the robot 10 and the processing status of the task. The robot management data 24b indicates the performance of the robot 10, tasks assigned to the robot 10, task processing status, the location of the robot 10, the remaining battery level of the robot 10, etc. The location of the robot 10 may be at a granularity such as which building it is in, and does not have to be managed at a granularity based on map data within the building. Alternatively, the location of the robot 10 may be managed by another positioning system, without managing the positional relationship within the building.

[0046] The communication unit 23 is a communication interface used for wireless communication with the robot 10, etc. The communication unit 23 is used to receive position information and task execution status from the robot 10, assign new tasks to the robot 10, etc.

[0047] The CPU 21 loads the programs read from the storage unit 24 into the memory 22, which is a main storage device, and executes them sequentially, thereby realizing the functions of a task management unit 21a, a robot management unit 21b, and a history management unit 21c.

[0048] The task management unit 21a is a processing unit that registers and edits task management data 24a. The robot management unit 21b is a processing unit that registers and edits the robot management data 24b, and manages new task allocations and progress. The history management unit 21c registers the operation history in the history data 24c.

[0049] 10 is a configuration diagram of the robot 10. As shown in FIG. 10, the robot 10 includes a CPU 11, a memory 12, a communication unit 13, a storage unit 14, a driving unit 15, a sensor 16, and a camera 17.

[0050] The sensor 16 is a unit that acquires information about the surroundings of the robot 10 . The camera 17 is a unit that captures images of the surroundings of the robot 10. Map markers and environmental markers can be identified from the images captured by the camera 17. The driving unit 15 is a unit that drives the robot 10, and includes wheels, a motor, and the like.

[0051] The storage unit 14 is an auxiliary storage device that stores programs and various data, and stores a robot ID 14a, path data 14b, and task data 14c. The robot ID 14a is identification information that uniquely identifies the robot 10. The route data 14b indicates a travel route of the robot 10. The route data 14b may be provided from an external source, or may be generated by the robot 10 from map data or the like. The task data 14c indicates the content and processing status of a task assigned to the robot 10.

[0052] The communication unit 13 is a communication interface used for wireless communication with the robot management device 20, the map management device 60, the driving environment management device 70, the traffic control device 80, etc. The communication unit 13 is used to receive tasks from the robot management device 20, send task statuses to the robot management device 20, send map marker IDs to the map management device 60, receive data from the map management device 60, send environment marker IDs to the driving environment management device 70, receive data from the driving environment management device 70, send instructions to the traffic control device 80, and receive notifications from the traffic control device 80.

[0053] The CPU 11 loads the programs read from the storage unit 14 into the memory 12, which is the main storage device, and executes them sequentially, thereby realizing the functions of the location management unit 11a, the autonomous driving processing unit 11b, the task processing unit 11c, and the event processing unit 11d.

[0054] The position management unit 11a is a processing unit that manages the position of the robot 10. The position management unit 11a extracts the image of the map marker from the image captured by the camera 17 and reads the map marker ID from the image of the map marker. The position management unit 11a transmits the read map marker ID together with the robot ID 14a to the map management device 60 and receives the position information of the marker, etc. The position management unit 11a estimates its own position using the data received from the map management device 60 and the sensing results of the sensor 16, etc. The result of this self-position estimation becomes the current position information.

[0055] The autonomous driving processing unit 11b controls the driving of the robot 10. First, the autonomous driving processing unit 11b acquires map data 64a from the map management device 60, plans a driving route 30, and registers it in the route data 14b. The autonomous driving processing unit 11b acquires current position information from the position management unit 11a, determines the content of driving control based on the driving route 30 and the current position information, and controls the drive unit 15.

[0056] The task processing unit 11c controls task processing by the robot 10. The task processing unit 11c receives tasks from the robot management device 20 and registers them in task data 14c. The task processing unit 11c updates the task data 14c according to the task processing status and notifies the robot management device 20. The autonomous driving processing unit 11b can also refer to the contents of the task data 14c when planning the driving route 30.

[0057] The event processing unit 11d extracts an image of an environmental marker from the image captured by the camera 17 and reads an environmental marker ID from the image of the environmental marker. The event processing unit 11d transmits the read environmental marker ID together with the robot ID 14a to the traveling environment management device 70, and processes the event received from the traveling environment management device 70 with priority over traveling control by the autonomous traveling processing unit 11b.

[0058] 11 is a configuration diagram of a traffic control device 80. The traffic control device 80 shown in FIG.

[0059] The sensor 86 is a unit that acquires information about the surroundings of the traffic control device 80 . The door driving section 85 is a unit that drives the door opening and closing mechanism.

[0060] The storage unit 84 is an auxiliary storage device that stores programs and various data, and stores a traffic control device ID 84a that uniquely identifies the traffic control device 80.

[0061] The communication unit 83 is a communication interface used when communicating with the robot 10, the driving environment management device 70, etc. The communication unit 83 receives control instructions related to events from the robot 10 and notifies the robot 10 of the open / closed state of the door, etc.

[0062] The CPU 81 loads the programs read from the storage unit 84 into the memory 82, which is a main storage device, and executes them sequentially, thereby realizing the functions of the door control unit 81a and the remote instruction processing unit 81b.

[0063] The door control unit 81a controls the opening and closing of the door, for example, by controlling the door driving unit 85 to open the door based on a predetermined detection result by the sensor 86. Furthermore, the door control unit 81a controls the door driving unit 85 to open the door based on an instruction from the remote instruction processing unit 81b.

[0064] When the remote instruction processing unit 81b receives an instruction to open the door from the robot 10, it transmits the instruction to the door control unit 81a. Thereafter, the remote instruction processing unit 81b responds to an inquiry from the robot 10 with the open / closed state of the door. Alternatively, the remote instruction processing unit 81b may be configured to wait until the door is completely opened after transmitting the instruction to the door control unit 81a, and then notify the robot 10 of the completion of the door opening.

[0065] FIG. 12 is a flowchart showing the processing procedure of the traveling environment management device 70. First, the communication unit 73 receives the environment marker ID from the robot 10 (step S101). The environmental marker management unit 71b reads out the event corresponding to the environmental marker ID received from the robot 10 from the environmental marker data 74b (step S102), transmits it to the robot 10 (step S103), and ends the process.

[0066] FIG. 13 is a flowchart showing the processing procedure when the robot 10 runs. First, the autonomous driving processing unit 11b reads out a driving route from the route data 14b (step S201). The location management unit 11a estimates its own location (step S202). The location estimation may be performed by detecting a map marker, for example. The autonomous driving processing unit 11b controls the driving of the robot 10. The content of the driving control is determined based on the current position information and the driving route 30 (step S203).

[0067] The event processing unit 11d detects an environmental marker from an image captured by the camera 17. If an environmental marker is detected (step S204; Yes), environmental event processing is performed (step S205) with priority over driving control, and the process returns to step S202. Specifically, the environmental event processing is a process of transmitting the environmental marker ID together with the robot ID 14a to the driving environment management device 70, and executing the event received from the driving environment management device 70. The environmental event processing will be described in detail later.

[0068] If the event processing unit 11d does not detect an environmental marker (step S204; No), the autonomous driving processing unit 11b performs autonomous driving control by operating the drive unit 15 in accordance with the control content determined in step S203 (step S206). After step S206, the autonomous traveling processing unit 11b determines whether or not the destination has been reached (step S207). If the destination has not been reached (step S207; No), the process returns to step S202. If the destination has been reached (step S207; Yes), the process ends.

[0069] FIG. 14 is a flowchart showing the details of the environmental event processing shown in FIG. The event processing unit 11d transmits the environmental marker ID to the traveling environment management device 70 (step S301). The event processing unit 11d receives event data from the driving-environment management device 70 (step S302). The event processing unit 11d identifies an operation required to process the event based on the received event data (step S303).

[0070] The event processing unit 11d executes one of the identified operations (step S304) and determines whether all operations have been completed (step S305). If an operation remains to be completed (step S305; No), the event processing unit 11d selects the next operation (step S106) and returns to step S104. If all operations are completed (step S105; Yes), the process ends.

[0071] Fig. 15 is an explanatory diagram of branching control using an environmental marker. In Fig. 15, a travel route 30 branches into a travel route 30R and a travel route 30L. An environmental marker 40 is placed near the branching point. The environmental marker 40 is placed in a position where the robot 10 can detect it well before the branching point. The robot 10 can switch between traveling route 30R and traveling route 30L by detecting the environmental marker 40. Therefore, when setting a traveling route, a traveling route with a branch is set, and the traveling route can be flexibly switched according to the environment at the time of traveling.

[0072] FIG. 16 is an explanatory diagram of driving conditions using environmental markers. In FIG. 16, a temporary no-entry area 90 is set on the left side of the passage. For example, if part of the passage is used as a material storage area, it is preferable to set the material storage area as an area where entry is prohibited, even if no materials are stored there at the time the robot 10 passes through. Therefore, by placing an environmental marker 40 sufficiently in front of the no-entry area 90 and associating the driving condition with "drive along the right wall," it is possible to avoid the robot 10 entering the no-entry area 90. In this way, the robot 10 follows the travel conditions associated with the environmental markers 40, enabling flexible travel control in accordance with the environment at the time of travel.

[0073] As described above, the system disclosed in the embodiments includes a mobile environment management device (70) that includes a memory unit (74) that stores environmental marker data (74b) that associates identification information of markers (40) placed within the movement range of an autonomously operating mobile body (10) with controls required depending on the environment around the marker, and a control unit (71) that receives the identification information of the marker from the mobile body, identifies the corresponding control by referring to the environmental marker data, and transmits information regarding the identified control to the mobile body. This allows the mobile unit to flexibly respond to changes in the environment within its range of movement.

[0074] In addition, the moving body performs movement control based on a pre-planned movement route and current location information, and when the marker is detected during the movement control, it transmits identification information of the marker to the movement environment management device, and based on the control information received from the movement environment management device, it identifies the action that it should perform and executes the identified action in priority to the movement control. This allows for the separation of control related to driving along a route from control adapted to the environment, enabling simple route planning that excludes responses to environmental factors.

[0075] The mobile environment management device further includes a traffic control device (80) that controls the passage of the mobile body, the markers are arranged near the traffic control device, the environmental marker data associates identification information of one marker with information used by the mobile body to cooperate with the traffic control device, and the mobile environment management device refers to the environmental marker data and transmits information used to cooperate with the traffic control device to the mobile body. Therefore, when planning a driving route, there is no need to consider coordination with traffic control devices.

[0076] As an example, the traffic control device is a door, and the mobile environment management device manages the position of the door, identification information for communicating with the door, and the waiting position of the mobile body as information used by the mobile body to cooperate with the traffic control device. In this way, the opening and closing of doors along the travel path can be treated as an environmental factor and can be separated from the travel along the travel path. Similarly, the traffic control device may be an elevator, and may be configured to manage the elevator's location, identification information for communicating with the elevator, and the waiting location of the mobile body as information used by the mobile body to interact with the elevator. In addition, the traffic control device may be a management device for a space (e.g., a narrow road, a one-way section, a left-turn section, etc.) that requires control over whether the mobile body can pass through, and may be configured to manage the position of the object to be controlled by the traffic control device, identification information for communicating with the traffic control device, and the waiting position of the mobile body as information used by the mobile body to cooperate with the traffic control device.

[0077] The system further includes a map management device (60) that manages a map of the travel range, and the map management device manages map data (64a) used to plan the travel route of the mobile body, and the mobile body acquires the map data and plans the travel route. This allows for separation of responsibilities, for example, placing map data under the jurisdiction of a building manager and environmental factors under the control of field workers.

[0078] In addition, in addition to the environmental markers, which are markers managed by the mobile environment management device, map markers managed by the map management device are placed within the movement range, and when the mobile body detects the map marker, it determines its current location information based on the map marker, and when it detects the environmental marker, it transmits identification information of the environmental marker to the mobile environment management device. In this configuration, the mobile body can travel by selectively using a marker for identifying its position and a marker for responding to the environment.

[0079] The system further comprises a mobile object management device (20) that manages the mobile objects, and the mobile object management device assigns tasks to the mobile objects and manages the execution status of the tasks by the mobile objects. In this configuration, management of the robot's movement range and management of the robot's tasks can be separated.

[0080] In addition, the movement route of the moving object has a branch point, the marker is placed near the branch point, and the environmental marker data specifies the direction in which the moving object should proceed at the branch point. For this reason, when planning a route, branches can be included in the route, allowing for flexible switching depending on the environment.

[0081] The environmental marker data also specifies conditions of movement that apply in the vicinity of the marker. This allows for flexible setting of various driving conditions.

[0082] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, not only can the configurations be deleted, but also replacements and additions of configurations are possible. For example, the moving body may move not only by running but also by flying or sailing. [Explanation of symbols]

[0083] 10: robot, 11: CPU, 11a: position management unit, 11b: autonomous driving processing unit, 11c: task processing unit, 11d: event processing unit, 14b: route data, 14c: task data, 15: driving unit, 16: sensor, 17: camera, 20: robot management device, 30: driving route, 40: environmental marker, 60: map management device, 70: driving environment management device, 71: CPU, 71a: environmental data management unit, 71b: environmental marker management unit, 71c: history management unit, 72: memory, 73: communication unit, 74: storage unit, 74a: environmental data, 74b: environmental marker data, 74c: history data, 80: traffic control device,

Claims

1. a storage unit that stores environmental marker data that associates identification information of a marker placed within a movement range of the autonomously operating moving body with control required depending on the environment surrounding the marker; a control unit that receives identification information of the marker from the moving body, identifies a corresponding control by referring to the environmental marker data, and transmits information about the identified control to the moving body; A mobility management system comprising a mobility environment management device comprising:

2. The mobility management system according to claim 1, The moving body is Executes movement control based on a pre-planned movement route and current location information, When the marker is detected during the movement control, the marker's identification information is transmitted to the movement environment management device; A mobility management system characterized by identifying an action to be performed by itself based on control information received from the mobility environment management device, and executing the identified action in priority to the mobility control.

3. The mobility management system according to claim 1, Further provided is a traffic control device for controlling the passage of the moving body, the marker is disposed near the traffic control device; The environmental marker data associates identification information of one marker with information used by the moving body to cooperate with the traffic control device, The mobile environment management device refers to the environmental marker data and transmits information used for linking with the traffic control device to the mobile object, in a mobile management system.

4. The mobility management system according to claim 3, the traffic control device is a door or an elevator; A mobility management system characterized in that the mobility environment management device manages the position of the traffic control equipment, identification information for communicating with the traffic control equipment, and the waiting position of the mobile body as information used by the mobile body to cooperate with the traffic control equipment.

5. The mobility management system according to claim 3, the traffic control device is a management device for a space that requires control over whether or not the moving object can pass through, A mobility management system characterized in that the mobility environment management device manages the location of the object to be controlled by the traffic control equipment, identification information for communicating with the traffic control equipment, and the waiting location of the mobile body as information used by the mobile body to cooperate with the traffic control equipment.

6. The mobility management system according to claim 1, a map management device that manages a map of the travel range; the map management device manages map data used to plan a travel route of the mobile object; A mobility management system characterized in that the mobile object acquires the map data and plans the travel route.

7. The mobility management system according to claim 6, a map marker managed by the map management device is placed in the movement range, separate from an environmental marker that is a marker managed by the movement environment management device; A mobility management system characterized in that when the mobile body detects the map marker, it identifies its current location information based on the map marker, and when it detects the environmental marker, it transmits identification information of the environmental marker to the mobile environment management device.

8. The mobility management system according to claim 1, a mobile object management device for managing the mobile object; The mobile management system is characterized in that the mobile object management device assigns tasks to the mobile objects and manages the execution status of the tasks by the mobile objects.

9. The mobility management system according to claim 1, the movement route of the moving object has a branch point; The marker is disposed near the branch point, A movement management system characterized in that the environmental marker data specifies the direction in which the moving object should proceed at the branch point.

10. The mobility management system according to claim 1, A movement management system characterized in that the environmental marker data specifies movement conditions that are applied in the vicinity of the marker.

11. The management device storing and managing environmental marker data in a storage unit, the environmental marker data correlating identification information of markers placed within the movement range of the autonomously operating mobile body with control required depending on the environment surrounding the markers; receiving identification information of the marker from the moving object; Identifying a corresponding control by referencing the environmental marker data; Transmitting information regarding the specified control to the mobile unit A mobility management method comprising:

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