Robot management system, robot and management server

Abstract

This invention provides a robot management system, robots, and a management server that can appropriately manage the operation of multiple robots. [Solution] The robot management system comprises a plurality of autonomously moving robots and a management server that manages the plurality of robots, wherein each robot has a detection unit that detects environmental information around itself and a control unit that transmits the environmental information to the management server, and the management server has a receiving unit that receives environmental information from the robots and a selection unit that, based on the environmental information, selects a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information.

Description

Technical Field

[0001] The present invention relates to a robot management system, a robot, and a management server.

Background Art

[0002] Conventionally, robots that autonomously move within a facility, such as security robots, cleaning robots, guiding robots, and transport robots, have been developed. In particular, in recent years, a robot management system that uses a plurality of robots within the same facility has been developed.

[0003] Patent Document 1 discloses a control device that determines, at a predetermined timing, a capability indicating the capabilities executable by a first robot at that timing, compares the capabilities required for a task executed by the first robot with the capabilities of the first robot, and generates a help list indicating the capabilities required for task execution. This control device instructs a second robot having capabilities that satisfy the capabilities indicated in the help list to execute a task in cooperation with the first robot.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a robot management system, it is required to appropriately manage the operations of a plurality of robots.

[0006] An object of the present invention is to provide a robot management system, a robot, and a management server that can appropriately manage the operations of a plurality of robots.

Means for Solving the Problems

[0007] To solve these problems, the present invention provides a robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving environmental information from the robots and a selection unit for selecting a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information, based on the environmental information.

[0008] In this robot management system, it is preferable for the control unit to transmit environmental information to the management server when its own robot is unable to respond to the aforementioned event.

[0009] In this robot management system, it is preferable that the control unit transmits environmental information to the management server regardless of whether the robot itself is capable of responding to events occurring around it, and that the selection unit selects a robot to respond to the events occurring around the robot that transmitted the environmental information, regardless of whether the robot itself is capable of responding to those events.

[0010] In this robot management system, it is preferable for the control unit to determine whether the robot is capable of responding to events occurring around it, and if it determines that the robot is not capable of responding to the event, to decide whether to continue the operation it is currently performing or wait until another robot arrives, depending on the event.

[0011] In this robot management system, the management server further has a memory unit that stores the functions that each of the multiple robots can perform, and the selection unit preferably selects a robot to respond to an event occurring around the robot that transmitted environmental information, based on the functions that each of the multiple robots can perform.

[0012] To solve these problems, the present invention provides an autonomously moving robot comprising: a detection unit that detects environmental information around the robot itself; and a control unit that transmits environmental information to a management server that manages a plurality of autonomously moving robots, including the robot itself, and selects a robot from among the plurality of robots to respond to an event indicated in the environmental information, so that the server can select a robot from among the plurality of robots to respond to an event occurring around the robot itself based on the environmental information.

[0013] To solve these problems, the present invention provides an autonomously moving robot comprising: a detection unit that detects environmental information around the robot; and a control unit that notifies one or more other robots having different functions from the robot that an event indicated in the environmental information is occurring around the robot.

[0014] To solve these problems, the present invention provides a management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a selection unit that, based on the environmental information, selects a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information. [Effects of the Invention]

[0015] The robot management system, robots, and management server according to the present invention enable appropriate management of the operation of multiple robots. [Brief explanation of the drawing]

[0016] [Figure 1] This diagram shows the overall system configuration of the robot management system 1. [Figure 2] (A) is a diagram showing an example of the data structure of correspondence table 163, and (B) is a diagram showing an example of the data structure of robot table 243. [Figure 3] This is a schematic diagram illustrating how to set up a travel route. [Figure 4] It is a flowchart showing an example of the operation of the detection process. [Figure 5] It is a sequence showing an example of the operation of the corresponding process.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, a robot management system according to an embodiment will be described with reference to the drawings.

[0018] FIG. 1 is a diagram showing the overall system configuration of a robot management system 1 according to an embodiment. As shown in FIG. 1, the robot management system 1 includes a plurality of robots 10, a management server 20, and the like. The robot management system 1 is a system for performing security, cleaning, or management of facilities such as companies, condominiums, and commercial facilities. The robot management system 1 controls and manages a plurality of robots 10. Each robot 10 autonomously moves (travels) within the facility and executes a predetermined operation. The robot 10 includes a security robot that executes security within the facility, a cleaning robot that executes cleaning of the facility, a guiding robot that guides users of the facility, a transporting robot that transports luggage such as an AED within the facility, and the like. Each robot 10 moves along a predetermined route to a predetermined point (position) according to a predetermined schedule and executes a predetermined operation. The management server 20 is arranged on a control desk or the like installed inside or outside the facility, and controls or manages a plurality of robots 10. Each robot 10 and the management server 20 are interconnected via a communication network N such as an intranet or the Internet. The robot 10 is connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network.

[0019] The robot 10 includes a position sensor 11, a drive unit 12, an input unit 13, an output unit 14, a first communication unit 15, a first storage unit 16, a first processing unit 17, and the like.

[0020] The position sensor 11 is a sensor for acquiring the current position of the robot 10. The position sensor 11 includes one or more laser sensors (LiDAR). Each laser sensor is provided on the front, side, rear, and / or upper surface of the robot 10. Each laser sensor includes an irradiator that irradiates light such as near-infrared light, visible light, and ultraviolet light in a predetermined direction, and a light receiver that receives the reflected light. The direction in which each irradiator irradiates light is set to have various azimuth angles and elevation angles with respect to the traveling direction of the robot 10. Each laser sensor measures the distance to an object existing around the robot 10 based on the time from when the irradiator irradiates light until the light receiver receives the reflected light. The position sensor 11 outputs a position detection signal including a plurality of combinations of each direction in which each laser sensor irradiates light and the measured distance to the first processing unit 17 at a predetermined period. The position sensor 11 may include a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System). The receiver receives navigation signals transmitted from a plurality of navigation satellites and outputs them to the first processing unit 17.

[0021] The drive unit 12 includes a motor for rotating the tires of the robot 10, a motor for changing the direction of the tires, and / or a motor for changing the angle of the arm of the robot 10. The drive unit 12 receives a drive signal from the first processing unit 17, rotates according to the received drive signal, and drives the tires and / or the arm.

[0022] The input unit 13 includes one or more sensors for detecting the situation around the robot 10. The input unit 13 includes, for example, one or more laser sensors similar to the laser sensors included in the position sensor 11. Each laser sensor outputs a detection signal including a plurality of combinations of the direction in which light is irradiated and the measured distance to the first processing unit 17 at a predetermined period. The input unit 13 may include one or more visible light cameras provided on the front, side, back, and / or top surface of the robot 10. The imaging direction of each visible light camera is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each visible light camera has, for example, a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter. Each visible light camera sequentially generates a visible light image based on visible light at a predetermined frame period and outputs it to the first processing unit 17. In addition, the input unit 13 may include a thermal imaging camera that acquires thermal images, either in place of or in addition to the visible light cameras. The thermal imaging camera has, for example, two-dimensionally arranged sensors that detect the radiant energy of two wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies the electrical signal output from the sensors and performs analog-to-digital (A / D) conversion. The thermal imaging camera generates a thermal image based on temperature values ​​determined by the ratio of two types of radiant energies, and outputs it to the first processing unit 17 at a predetermined frame period. The input unit 13 may include a microphone. The microphone has an A / D converter, generates an audio signal based on the detected sound, and outputs it to the first processing unit 17 at a predetermined interval. The input unit 13 may include a temperature sensor. The temperature sensor detects the temperature around the robot 10 and outputs a temperature signal indicating the detected temperature to the first processing unit 17 at a predetermined interval. Robot 10 uses sensor data and image data output from various sensors in the input unit 13 to determine its own movement path and to perform predetermined tasks. Furthermore, since this information is also useful for the movement and work of other robots 10, it is not limited to its own use but is also utilized by other robots 10. As described later, based on the output information, it detects events occurring around its own robot as environmental information, transmits the detected environmental information to the management server 20 via the first communication unit 15, and the management server 20 aggregates the environmental information acquired from each robot 10.

[0023] The output unit 14 includes an LED that lights up or turns off according to instructions from the first processing unit 17. The output unit 14 also includes a display including a liquid crystal, organic EL, etc., and an interface circuit that outputs image data to the display, and may display various information such as images and text according to instructions from the first processing unit 17. The output unit 14 also includes a speaker and an interface circuit that outputs audio data to the speaker, and may output audio according to instructions from the first processing unit 17. If the robot 10 is a cleaning robot or a transport robot, the robot 10 does not need to have the output unit 14.

[0024] The first communication unit 15 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. Alternatively, the first communication unit 15 has, for example, a communication interface circuit compliant with the W-CDMA or LTE method, and is connected to the communication network N via a communication network such as a base station and a mobile communication network. The first communication unit 15 outputs data received from the communication network N to the first processing unit 17 and transmits data input from the first processing unit 17 to the communication network N.

[0025] The first storage unit 16 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The first storage unit 16 stores a computer program and various data for controlling the robot 10, and inputs and outputs this information to and from the first processing unit 17. The computer program may be installed in the first storage unit 16 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0026] Furthermore, the first storage unit 16 stores map information 161, schedule information 162, and correspondence table 163 as data. Map information 161 shows the shape of corridors or rooms within the facility, the location of fixed obstacles such as equipment or partitions, etc. Map information 161 shows a graph structure that includes information about nodes and edges set in the corridors within the facility. Map information 161 is set by the management server 20. Schedule information 162 indicates the work schedule for robot 10. The work schedule includes, for each of one or more tasks, a departure time, departure location, work start time, work location, work content, work end time, return time, return location, and movement route. Schedule information 162 is set by the management server 20. The departure and return locations are set to predetermined home positions, etc. The method for setting the movement route will be described later. Details of the correspondence table 163 will be described later.

[0027] The first processing unit 17 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and performs various signal processing for the robot 10. The first processing unit 17 includes a detection unit 171 and a control unit 172, etc., which are implemented as functional modules of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the first processing unit 17.

[0028] The first processing unit 17 receives schedule information for the robot 10 from the management server 20 via the first communication unit 15, and drives the drive unit 12 according to the received schedule information to move the robot 10. The first processing unit 17 moves along the path shown in the map information 161. Periodically, the first processing unit 17 acquires a position detection signal or navigation signal from the position sensor 11 to detect the current position and direction of the robot 10. The first processing unit 17 determines the current position and direction from the combination of the direction in which each laser sensor irradiated light and the distance to the object, and the positions of the path, room, obstacles, etc. shown in the map information 161. Alternatively, the first processing unit 17 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signal. When the robot 10 arrives at the work position shown in the schedule information, the first processing unit 17 executes the work related to the work content shown in the schedule information.

[0029] The management server 20 includes an operation unit 21, a display unit 22, a second communication unit 23, a second storage unit 24, and a second processing unit 25, among others.

[0030] The operation unit 21 includes an input device such as a touch panel or keyboard, and an interface circuit that acquires signals from the input device. It accepts user operations and outputs a signal corresponding to the accepted operation to the second processing unit 25. The display unit 22 includes a display including a liquid crystal or organic EL display, and an interface circuit that outputs image data to the display. It displays various information such as images and text according to instructions from the second processing unit 25.

[0031] The second communication unit 23 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the communication network N. Alternatively, the second communication unit 23 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. The second communication unit 23 outputs data received from the communication network N to the second processing unit 25 and transmits data input from the second processing unit 25 to the communication network N.

[0032] The second storage unit 24 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The second storage unit 24 stores computer programs and various data for controlling the management server 20, and inputs and outputs this information to and from the second processing unit 25. The computer program may be installed in the second storage unit 24 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network. The second memory unit 24 also stores data such as map information 241, correspondence table 242, and robot table 243. Map information 241 and correspondence table 242 are the same information as map information 161 and correspondence table 163 stored by robot 10, respectively. Details of correspondence table 242 and robot table 243 will be described later.

[0033] The second processing unit 25 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and executes various processes of the management server 20. The second processing unit 25 includes a receiving unit 251 and a selection unit 252, etc., which are implemented as functional modules of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the second processing unit 25.

[0034] The second processing unit 25 receives the setting of the robot 10's work schedule from the control operator using the operation unit 21, and transmits the schedule information indicating the received work schedule to the robot 10 via the second communication unit 23 to set it on the robot 10. The second processing unit 25 also receives environmental information indicating events occurring within the facility from the robot 10 via the second communication unit 23, and based on the received environmental information, selects a robot 10 to respond to the event occurring within the facility and has it respond to that event.

[0035] Figure 2(A) shows an example of the data structure of correspondence table 163. Since the data structure of correspondence table 242 stored by the management server 20 is the same as that of correspondence table 163, only the data structure of correspondence table 163 will be explained as a representative example. As shown in Figure 2(A), the correspondence table 163 contains the characteristics of each robot 10 for each combination of events shown in the environmental information and the type of robot 10.

[0036] Environmental information indicates events occurring within the facility. Events indicated in environmental information include the occurrence of fires or the presence of suspicious individuals, floor stains, congestion, and people lying unconscious. Environmental information is detected by each robot 10 of the robot management system 1 and notified to the management server 20. The types of robots 10 include security robots, cleaning robots, guidance robots, and transport robots.

[0037] The characteristics of each robot 10 for each event include whether or not each robot 10 is capable of responding to that event. For example, a security robot can respond to an anomaly, but other robots cannot. Also, a cleaning robot can respond to a floor stain, but other robots cannot. Furthermore, a guidance robot that provides directions to facility users can respond to congestion, but other robots cannot. A transport robot that delivers an AED, etc., can respond to a person who has collapsed, but other robots cannot.

[0038] The characteristics of the robot 10 that are unable to respond to each event include whether or not it needs to wait at the location where the event was detected, and if it needs to wait, it further includes the processing that should be performed at that location. For example, a guidance robot having an output unit 14 is configured to wait at the location where an abnormality is detected and notify people in the vicinity to leave that location. On the other hand, a cleaning robot or transport robot without an output unit 14 is configured not to wait at the location where an abnormality is detected. Also, robots other than cleaning robots are configured not to wait at the location where dirt on the floor is detected. Also, robots other than guidance robots are configured not to wait at the location where congestion is detected. A security robot or guidance robot having an output unit 14 is configured to wait at the location where a person has fallen and notify people in the vicinity that an AED is being transported if a person has fallen. On the other hand, a cleaning robot without an output unit 14 is configured not to wait at the location where a person has fallen.

[0039] Figure 2(B) shows an example of the data structure of the robot table 243. As shown in Figure 2(B), the robot table 243 contains, for each of the multiple robots 10 owned by the robot management system 1, the identification number (robot ID), type, function, current position, battery level, schedule information, etc., of each robot 10, all of which are linked and configured accordingly. The functions of each robot 10 are the functions that each robot can perform. The identification number, type, and functions of each robot 10 are set in the robot management system 1 when each robot 10 is put into use. The current location and battery level of each robot 10 are periodically transmitted from each robot 10 to the management server 20 and updated. The schedule information for each robot 10 is set in the robot table 243 when it is set from the management server 20 to each robot 10.

[0040] Figure 3 is a schematic diagram illustrating how to set up a travel path. As described above, the map information 161 and 241 stored in each robot 10 and the management server 20 show a graph structure containing information about nodes and edges set up in the passages within the facility. Figure 3 shows the current position (home position) S of a particular robot 10 and the work position E of a particular task performed by that particular robot 10. In Figure 3, each white circle represents a node, and the line connecting two white circles represents an edge. Nodes are set at any location on the passage, such as branching points, corners, and locations where certain equipment is installed. For each pair of mutually adjacent nodes, a path connecting the nodes is set as an edge. Each edge is assigned a weight (cost value) corresponding to the length of the edge (the distance between the nodes located at both ends of each edge). The map information 161 and 241 show information about nodes and edges, such as the position of each node and the weight (cost value) of each edge.

[0041] When the controller sets the task to be performed, the start time, the work location, and the end time for each robot 10, the management server 20 uses the graph structure shown in the map information 241 to identify the entire route from the home position S to the work location E for each robot 10. The management server 20 uses known graph search techniques, such as Dijkstra's algorithm or the A* (A-star) search algorithm, to identify the route from the home position S to the work location E for each robot 10 that has the minimum sum of cost values ​​(total distance). In the example shown in Figure 3, among the multiple routes R1 to R3, route R2, which has the minimum total distance, is identified. The management server 20 uses the identified route as the travel route and calculates the travel time for each robot 10's travel route. From the calculated travel time, work start time, and work end time, the management server 20 calculates the departure time and return time for the robot 10. The management server 20 sets the robot 10 and the robot table 243 as schedule information, including the work content, work start time, work location, and work end time set by the controller, the specified movement route, and the calculated departure and return times. Note that the movement route may be determined by the robot 10 instead of the management server 20.

[0042] Figure 4 is a flowchart illustrating an example of the operation of the detection process by the robot 10. This flowchart is executed mainly by the first processing unit 17 in cooperation with each element of the robot 10, based on a program pre-stored in the first storage unit 16. The detection process is executed by each robot 10 of the robot management system 1 when each robot 10 is moving or performing a task according to the schedule information 162. The detection process may also be executed when each robot 10 is waiting in its home position.

[0043] First, the detection unit 171 detects environmental information around the robot (step S101). Based on the information output from the input unit 13, the detection unit 171 detects events occurring around the robot as environmental information.

[0044] For example, the detection unit 171 detects the occurrence of an abnormality (fire) based on the temperature signal received from the input unit 13. The detection unit 171 determines that a fire has occurred if the temperature indicated in the temperature signal is above a temperature threshold that is considered to indicate the occurrence of a fire.

[0045] Furthermore, the detection unit 171 detects the occurrence of an anomaly (the presence of a suspicious person) based on the detection signal received from the input unit 13. The detection unit 171 determines whether or not there are objects other than those shown in the map information 161 around the robot, based on the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and the positions of passages, rooms, obstacles, etc., shown in the map information 161. The detection unit 171 identifies the size of the object from the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and if the identified size is considered to be the size of a person, it determines that a person is located around the robot. The detection unit 171 tracks the identified person and detects that person as a suspicious person if the person stays in the same location for a predetermined time or longer, or if the person moves back and forth within a predetermined range. The detection unit 171 may detect the occurrence of an anomaly (presence of a suspicious person) based on the visible light image or thermal image received from the input unit 13. The detection unit 171 detects change regions in the sequentially acquired images by inter-frame difference processing or background difference processing, and identifies the change region as a person region if it has a predetermined size that is considered to be a person. The robot 10 pre-sets in the first storage unit 16 an equation or table that shows the relationship between the position and size of the change region in the image, the distance from the robot 10, and the direction with respect to the imaging direction of the camera of the input unit 13. The detection unit 171 refers to that equation or table to determine the distance to the object corresponding to the change region and the direction of that object. The detection unit 171 tracks the corresponding person region between each sequentially acquired image, and detects the person in that person region as a suspicious person if the person region stays in the same position for a predetermined time or longer, or if it moves back and forth within a predetermined range.

[0046] Furthermore, the detection unit 171 detects the occurrence of dirt on the floor based on the visible light image received from the input unit 13. The detection unit 171 extracts edge pixels from the visible light image of the floor using a Sobel filter or the like so that the direction of the slope of brightness changes can be determined. The detection unit 171 detects the object region surrounded by the extracted edge pixels by labeling or the like, and determines that the floor is dirty if the detected object region has a predetermined size that is considered to be dirt. The detection unit 171 may also extract pixels that have a different color from the floor color that has been registered in advance from the visible light image of the floor, and detect the region surrounded by the extracted pixels as an object region.

[0047] Furthermore, the detection unit 171 detects the occurrence of congestion based on the detection signal, visible light image, or thermal image received from the input unit 13. The detection unit 171 determines that congestion is occurring if the number of people or areas of people detected based on the detection signal, visible light image, or thermal image is equal to or greater than a predetermined number considered to indicate congestion. The detection unit 171 may detect the occurrence of congestion based on the sound signal received from the input unit 13. The detection unit 171 analyzes the sound indicated in the sound signal at predetermined intervals and determines that congestion is occurring if the proportion of the amplitude (sound level) at frequencies considered to be human voices that is above a predetermined value is above a predetermined percentage.

[0048] Furthermore, the detection unit 171 detects whether a person has fallen based on the detection signal, visible light image, or thermal image received from the input unit 13. The detection unit 171 determines that a person has fallen if it detects a person or area of ​​a person that is considered to be of a size that is considered to be a person that has fallen, based on the detection signal generated for light irradiated towards the floor or the image of the floor captured.

[0049] Next, the control unit 172 determines whether or not an event requiring action has been detected as environmental information (step S102). Events requiring action include the occurrence of an abnormality such as a fire or the presence of a suspicious person, the occurrence of dirt on the floor, congestion, or a person lying down. At least one of these events is pre-set as the event requiring action. If no event requiring action has been detected, the control unit 172 returns to step S101.

[0050] On the other hand, if an event requiring action is detected, the control unit 172 determines whether or not the robot is capable of responding to that event (step S103). The control unit 172 refers to the response table 163 and determines whether or not the type of the robot belongs to a type that can respond to the event indicated in the detected environmental information. If the type of the robot belongs to a type that can respond to that event, the control unit 172 determines that the robot is capable of responding to that event; if the type of the robot does not belong to a type that can respond to that event, the control unit 172 determines whether or not the robot is capable of responding to that event. In this way, the control unit 172 determines whether or not it is capable of responding to an event occurring around the robot based on the environmental information and the type of the robot, i.e., the functions that the robot can perform. Furthermore, the control unit 172 may determine that the robot is unable to respond to an event if it is currently performing an action indicated in the schedule information, or if it is scheduled to perform an action indicated in the schedule information within a predetermined time, regardless of the type of robot it is. In this way, the control unit 172 may determine whether or not it is able to respond to an event occurring around the robot based on the robot's schedule.

[0051] If the robot determines that it can handle the event, the control unit 172 takes action to address the event (step S104) and returns to step S101. This enables the robot management system 1 to respond to events occurring at the facility quickly and appropriately.

[0052] If the detected event is a fire, the control unit 172 outputs a predetermined alarm sound from the output unit 14 to notify people in the vicinity of the fire and urge them to evacuate. The control unit 172 also sends a notification signal to the management server 20 via the first communication unit 15 to notify the control operator of the fire. The control unit 172 may also move the robot 10 to the location where the sprinkler activation button is installed and drive the arm to press the sprinkler activation button.

[0053] If the detected event indicates the presence of a suspicious person, the control unit 172 outputs a predetermined alarm sound from the output unit 14 to warn the suspicious person. The control unit 172 also sends a notification signal to the management server 20 via the first communication unit 15 to indicate the presence of a suspicious person, and notifies the controller of the presence of a suspicious person. The control unit 172 may also move the robot 10 to track the suspicious person until the controller arrives.

[0054] If the detected event is dirt on the floor, the control unit 172 uses the cleaning device provided on the robot 10 to clean the area of ​​the floor where the dirt is located.

[0055] If the detected event is congestion, the control unit 172 displays a map of the facility on the output unit 14 and outputs voice guidance from the output unit 14 to guide people in the vicinity so that they can move to their destination quickly.

[0056] If the detected event is a person lying down, the control unit 172 outputs voice guidance from the output unit 14 requesting nearby people to help the person who has fallen. Also, if the robot is equipped with an AED, the control unit 172 outputs voice guidance from the output unit 14 requesting that the AED installed on the robot be used if the person who has fallen has stopped heartbeat.

[0057] On the other hand, if the control unit 172 determines that its own robot is not capable of responding to the event, it determines whether any other robots among the robots 10 owned by the robot management system 1 are capable of responding to the event (step S105). For example, the control unit 172 refers to the correspondence table 163 and determines whether there is a type of robot that is capable of responding to the event shown in the detected environmental information. If there is a type of robot that is capable of responding, the control unit 172 determines that the other robot is capable of responding to the event; if there is no type of robot that is capable of responding, it determines that the other robot is not capable of responding to the event. The control unit 172 may refer to the correspondence table 163 to identify the type of robot capable of handling the event and send an inquiry signal to the management server 20 via the first communication unit 15 to ask whether the robot management system 1 has that type of robot. When the management server 20 receives the inquiry signal from the robot 10 via the second communication unit 23, it refers to the robot table 243 to determine whether the type of robot indicated in the received inquiry signal exists and sends the determination result to the robot 10 via the second communication unit 23. The control unit 172 receives the determination result from the management server 20 via the first communication unit 15 and, based on the received determination result, determines whether the robot management system 1 has a robot of a type that can handle it.

[0058] If the control unit 172 determines that another robot is capable of responding to the event, it decides to send environmental information to the management server (step S106) and proceeds to step S108. On the other hand, if the control unit 172 determines that another robot is not capable of responding to the event, it decides not to send environmental information to the management server (step S107) and proceeds to step S108.

[0059] Next, the control unit 172 determines whether the robot needs to wait for the event (step S108). The control unit 172 refers to the correspondence table 163 and determines whether the type of the robot belongs to a type that should wait at the location where the event indicated in the environmental information is detected. If the type of the robot belongs to a type that should wait at that location, the control unit 172 determines that the robot needs to wait; if the type of the robot does not belong to a type that should wait at that location, the control unit 172 determines that the robot does not need to wait.

[0060] If the control unit 172 determines that the robot needs to wait in response to the event, it places the robot 10 in that position (step S109) and returns to step S101. The control unit 172 also refers to the correspondence table 163 to identify the process that the robot should perform at that position and executes the identified process. For example, the control unit 172 outputs a pre-set voice announcement from the output unit 14. In this way, the robot management system 1 can suppress the occurrence of secondary damage, etc., until the robot 10 corresponding to the detected event arrives.

[0061] On the other hand, if the robot determines that it does not need to wait for the event, the control unit 172 continues the process it is currently executing (step S110) and returns to step S101. That is, if the robot 10 is moving according to the schedule information 162, the control unit 172 moves from the position where the event was detected to the work position. Also, if the robot 10 is performing a task according to the schedule information 162, the control unit 172 continues the execution of that task. As a result, the robot management system 1 can have each robot 10 perform tasks efficiently and can prevent delays in the scheduled work.

[0062] In this way, the control unit 172 decides whether to continue the operation it is currently performing or wait until another robot arrives, depending on the detected event and the functions that the device can perform. As a result, the robot management system 1 can suppress the occurrence of secondary damage and prevent delays to the scheduled schedule.

[0063] Figure 5 shows a sequence illustrating an example of the operation of the corresponding processing by the robot management system 1. This sequence is executed mainly by the first processing unit 17 and the second processing unit 25 in cooperation with each element of the robot 10 and the management server 20, based on programs pre-stored in the first storage unit 16 and the second storage unit 24. The corresponding processing is executed when the robot 10 decides to send environmental information to the management server 20 in step S106 of Figure 4.

[0064] First, the control unit 172 of the robot 10 that detected the environmental information transmits the detected environmental information to the management server 20 via the first communication unit 15 (step S201). By transmitting the environmental information to the management server 20, the control unit 172 causes the management server 20 to select a robot from among the multiple robots 10 owned by the robot management system 1 that will respond to the event occurring around the robot 10 that detected the environmental information, based on the environmental information.

[0065] Next, the receiving unit 251 of the management server 20 receives environmental information from the robot 10 via the second communication unit 23 (step S202).

[0066] Next, the selection unit 252 selects a robot 10 from among the multiple robots 10 owned by the robot management system 1 to respond to the event occurring around the robot 10 that transmitted the environmental information (step S203). The selection unit 252 refers to the correspondence table 242 to identify the type of robot 10 that can respond to the event indicated in the received environmental information. The selection unit 252 also refers to the robot table 243 to extract the identified type of robot 10 from among the multiple robots owned by the robot management system 1. The selection unit 252 refers to the robot table 243 to select the robot 10 that is closest to the robot 10 that transmitted the environmental information from among the extracted robots 10 as the robot 10 to respond to that event. The selection unit 252 may also select the robot 10 with the largest battery level from among the extracted robots 10 as the robot 10 to respond to that event. The selection unit 252 may select from the extracted robots 10 the robot 10 that is not currently performing work, or the robot 10 with the longest time until the departure time or start time of the next work, as the robot 10 to respond to the event. The selection unit 252 may exclude the robot 10 that transmitted the environmental information from the selection criteria. Alternatively, the selection unit 252 may include the robot 10 that transmitted the environmental information in the selection criteria.

[0067] In this way, the selection unit 252 selects a robot 10 to respond to an event occurring around the robot 10 that transmitted the environmental information, based on the environmental information and the functions that each robot 10 can perform. That is, the selection unit 252 selects a robot 10 from among multiple robots 10 to respond to the event indicated in the environmental information. As a result, the robot management system 1 can appropriately select a robot 10 that can respond to the detected event.

[0068] Next, the selection unit 252 transmits a request signal to the selected robot 10 via the second communication unit 23, requesting that it respond to the event indicated in the environmental information (step S204). The request signal includes the event indicated in the environmental information and the current position of the robot 10 that detected the event, i.e., the location where the event is occurring. The selection unit 252 may set a movement path from the current position of the selected robot 10 to the current position of the robot 10 that detected the event, based on the map information 241, and include the set movement path in the request signal.

[0069] Next, the control unit 172 of the robot 10, which is the destination of the request signal, receives the request signal from the management server 20 via the first communication unit 15 (step S205).

[0070] If the robot 10, which is the recipient of the request signal, is performing a task, it will interrupt or terminate that task. Next, the control unit 172, which received the request signal, moves to the position specified in the request signal via the movement path specified in the request signal and responds to the event specified in the request signal (step S206). If the request signal does not include a movement path, the control unit 172 sets a movement path from the robot's current position to the position specified in the request signal based on the map information 161. The control unit 172 responds to each event in the same manner as the process in step S104 of Figure 4. With this, the response process is completed.

[0071] Note that steps S103 to S104 in Figure 4 are omitted, and the control unit 172 may send environmental information to the management server 20 regardless of whether its own robot is capable of responding to the events occurring around it. In this case, the selection unit 252 selects a robot 10 to respond to the event, regardless of whether the robot 10 that sent the environmental information is capable of responding to the event occurring around it. This allows the robot management system 1 to centrally manage the robots 10 that respond to the events that occur on the management server 20. Even if a robot 10 that has detected a particular event is capable of responding to that event, that robot 10 may already have a task assigned to it. In the robot management system 1, the management server 20, which manages the schedule of each robot 10, selects the robot 10 that should respond to the event that has occurred, thereby enabling each robot 10 to perform its task efficiently.

[0072] Furthermore, steps S105 and S107 in Figure 4 may be omitted, and the control unit 172 may send environmental information to the management server 20 without determining whether other robots are capable of responding to events occurring around its own robot. This allows the robot management system 1 to centrally manage the robots 10 that should respond to the events that occur, using the management server 20.

[0073] As explained above, the robot management system 1 selects a robot 10 from among multiple robots 10 to respond to an event occurring around a specific robot 10, based on environmental information surrounding that robot 10. This allows the robot management system 1 to appropriately select a robot 10 to respond to an event occurring around a specific robot 10, and to have the robot 10 that detected the environmental information and the selected robot 10 perform tasks appropriate to each robot. Therefore, the robot management system 1 can appropriately manage the operation of multiple robots.

[0074] The robot management system 1 can appropriately select a robot 10 capable of handling a specific event, even if the robot 10 that detects the event is of a type that cannot handle that event. Therefore, the robot management system 1 can respond appropriately to the event without leaving it unattended. In addition, the robot 10 that detects a specific event can instead respond to other events that it can handle, allowing the robot management system 1 to respond efficiently to events occurring within the facility.

[0075] Although preferred embodiments have been described above, the embodiments are not limited to the examples described above. For example, in the robot management system 1, the management server 20 may be omitted, and the robot 10 may select a robot to respond to an event occurring around itself. In that case, the first storage unit 16 of the robot 10 stores the information stored in the second storage unit 24 of the management server 20. The first processing unit 17 of the robot 10 has a selection unit that has the same function as the selection unit 252. Steps S201 to S204 in Figure 5 are omitted, and instead, the robot selection unit performs the processing of steps S203 to S204 in Figure 5. That is, the selection unit selects a robot 10 from among the multiple robots owned by the robot management system 1 to respond to an event occurring around its own robot, and sends a request signal to the selected robot 10. In this case as well, the robot management system 1 can appropriately select a robot 10 to respond to events occurring around a specific robot 10, and can appropriately perform tasks on the robot 10 that detected the environmental information and the selected robot 10.

[0076] Furthermore, if the management server 20 is omitted in the robot management system 1, robot 10 may communicate with other robots 10 periodically (for example, every 10 minutes) or irregularly (for example, when environmental information is detected) via an access point to obtain information about the status of other robots 10 (location information, work status (working, standby, etc.), battery level, etc.). Note that the robots 10 to be communicated with may be robots 10 within a predetermined range (for example, within a predetermined distance, within the same area) or robots 10 that have been registered in advance as robots to be linked.

[0077] Furthermore, in the robot management system 1, if the management server 20 is omitted, robot 10 is not limited to selecting a robot 10 to respond to an event occurring around itself, but may also transmit a signal to other robots 10 to notify them of the occurrence of the event. That is, the control unit 172 of robot 10 may notify one or more other robots having different functions from itself that an event indicated in the environmental information is occurring around itself. In that case, the robot 10 that receives the notification may decide on its own whether or not it can respond to the event and respond to the event. At this time, robot 10 may also notify the other robots 10 of its own position (the position where the event is occurring), and the other robots 10 may transmit a message to the notifying robot 10 indicating that it can respond if it can respond to the event. In this case, robot 10 may notify all other robots 10 of the occurrence of the event, rather than a specific robot 10, or it may notify only other robots 10 in the same area.

[0078] Furthermore, in addition to robot management by the management server 20, the robot management system 1 may also perform communication between robots and respond to events. In this case, the management server 20 manages all robots 10 operating within the facility, and also performs communication between robots 10 that can or need to cooperate without going through the management server 20. For example, when a robot detects an event indicated in the environmental information, if other robots 10 exist in the area where the robot is located, it may notify these robots 10. If no other robots 10 exist in the area, or if there are no robots 10 capable of responding to the event, it may notify the management server 20.

[0079] In the above embodiment, the detection unit 171 of the robot 10 detects events occurring around the robot as environmental information based on the information output from the input unit 13, but the embodiment is not limited to this. For example, the robot 10 may use the information output from the input unit 13 as environmental information. In this case, the robot 10 may transmit some (e.g., image data) or all of the information output from the input unit 13 (i.e., environmental information) to the management server 20, and the management server 20 may detect events occurring around the robot 10 based on the received environmental information.

[0080] A robot management system according to one embodiment of the present invention can contribute to solving social issues such as the declining labor force and long working hours. Furthermore, the robot management system according to one embodiment of the present invention can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation." [Explanation of Symbols]

[0081] 1 robot management system, 10 robots, 171 detection unit, 172 control unit, 20 management server, 251 receiving unit, 252 selection unit

Claims

1. A robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, The aforementioned robot, A detection unit that detects environmental information around the robot, It includes a control unit that transmits the environmental information to the management server, The aforementioned management server A receiving unit that receives the environmental information from the robot, A selection unit that, based on the aforementioned environmental information, selects a robot from among the plurality of robots that is appropriate for responding to an event occurring around the robot that transmitted the environmental information, A robot management system characterized by having the following features.

2. The robot management system according to claim 1, wherein the control unit transmits the environmental information to the management server when the robot is unable to respond to the event.

3. Regardless of whether the robot is capable of responding to events occurring around it, the control unit transmits the environmental information to the management server. The robot management system according to claim 1, wherein the selection unit selects a robot to respond to an event, regardless of whether the robot that transmitted the environmental information is capable of responding to the event occurring around the robot.

4. The robot management system according to claim 1, wherein the control unit determines whether the robot is capable of responding to an event occurring around it, and if it determines that the robot is not capable of responding to the event, it determines whether to continue the operation it is currently performing or wait until another robot arrives, depending on the event.

5. The management server further includes a storage unit that stores functions that each of the plurality of robots can perform, The robot management system according to any one of claims 1 to 4, wherein the selection unit selects a robot to respond to an event occurring around the robot that transmitted the environmental information, based on the functions that each of the plurality of robots can perform.

6. It is an autonomously moving robot, A detection unit that detects environmental information around the robot, A control unit transmits environmental information to a management server that manages multiple autonomously moving robots, including its own robot, and selects a robot from among the multiple robots to respond to an event indicated in the environmental information, so that the management server can select a robot from among the multiple robots to respond to an event occurring around its own robot, based on the environmental information. A robot characterized by having the following features.

7. It is an autonomously moving robot, A detection unit that detects environmental information around the robot, A control unit that notifies one or more other robots having functions different from its own robot that an event indicated in the environmental information is occurring around its own robot, A robot characterized by having the following features.

8. A management server for managing multiple autonomously moving robots, A receiving unit that receives environmental information about the surroundings of each of the aforementioned multiple robots, A selection unit that, based on the aforementioned environmental information, selects a robot from among the plurality of robots that is appropriate for responding to an event occurring around the robot that transmitted the environmental information, A management server characterized by having the following features.

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