Robot management system, management server, and robot

Abstract

We provide a robot management system, management server, and robots that can appropriately manage spatial resources. [Solution] The robot management system comprises a first autonomously mobile robot, a second autonomously mobile robot, and a management server that manages the first and second robots, wherein the first and second robots have control units that transmit requests for the use of spatial resources, and the management server comprises a receiving unit that receives the usage request, a decision unit that assigns spatial resources to the robot that transmitted the usage request, and a transmitting unit that, when it receives a usage request from the second robot, transmits a retreat instruction to the first robot if the spatial resources have already been assigned to the first robot.

Description

Technical Field

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

Background Art

[0002] Conventionally, robots that perform predetermined operations according to a predetermined work schedule are known. For example, in Patent Document 1, a work robot that can autonomously move and can execute at least a work operation of performing a predetermined operation according to a work schedule, a first coping operation of moving to an abnormal occurrence location without performing the work operation, and a second coping operation of moving to the abnormal occurrence location while performing the work operation, and a security device are disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a plurality of autonomously movable robots travel or work in a facility, the travel or work of the robots may be hindered by other robots. For example, there may be a case where another robot occupies a space resource that a robot traveling or working according to a predetermined schedule tries to use.

[0005] An object of the present invention is to provide a robot management system, a management server, and a robot that can appropriately manage space resources.

Means for Solving the Problems

[0006] The robot management system according to the present invention is a robot management system comprising an autonomously mobile first robot, an autonomously mobile second robot, and a management server that manages the first robot and the second robot, wherein the first robot and the second robot have control units that transmit requests for the use of spatial resources, and the management server is characterized by comprising a receiving unit that receives the use request, a decision unit that assigns spatial resources to the robot that transmitted the use request, and a transmitting unit that, when it receives a use request from the second robot, transmits a retreat instruction to the first robot if the spatial resources have already been assigned to the first robot.

[0007] In this robot management system, the management server further includes a determination unit that determines whether or not to issue a retreat instruction to the first robot based on information acquired from the first robot or the second robot, and the transmission unit preferably transmits the retreat instruction based on the determination result of the determination unit.

[0008] In this robot management system, it is preferable that the determination unit determines whether or not to issue an evacuation order based on time information regarding the use of spatial resources by the first robot or the second robot.

[0009] In this robot management system, the time information is preferably the remaining time for the first robot to use the space resources, the time required for the second robot to use the space resources, or the grace period for the work schedule including the use of space resources by the second robot.

[0010] In this robot management system, it is preferable that the control unit transmits information regarding the remaining battery level of the second robot, and the determination unit determines whether or not to issue an evacuation instruction based on the remaining battery level of the second robot.

[0011] In this robot management system, it is preferable that the control unit transmits type information regarding the type of the second robot or purpose information regarding the purpose of using the spatial resource along with the usage request, and the determination unit determines whether or not to issue a retreat instruction based on the type information or purpose information.

[0012] In this robot management system, it is preferable for the decision-making unit to decide to issue a retreat instruction if the priority for the second robot to utilize spatial resources is higher than the priority for the first robot.

[0013] In this robot management system, it is preferable that the decision-making unit decides to move the first robot into the spatial resource if the spatial resource is passable to both the first robot and the second robot, and decides to move the first robot outside the spatial resource if the spatial resource is impassable to both the first robot and the second robot.

[0014] The management server according to the present invention is a management server that is communicatively connected to an autonomously mobile first robot and an autonomously mobile second robot, and manages the first robot and the second robot, and is characterized by comprising: a receiving unit that receives requests for the use of spatial resources from the first robot and the second robot; a deciding unit that allocates spatial resources to the robot that sent the request for use; and a transmitting unit that, when a request for use is received from the second robot, sends a retreat instruction to the first robot if the spatial resources have already been allocated to the first robot.

[0015] The robot according to the present invention is a robot that is autonomously mobile and can communicate with other autonomously mobile robots, and is characterized by having a receiving unit that receives requests for the use of spatial resources from other robots, and a determination unit that, when it receives a request for use from another robot, determines whether or not to evacuate from the spatial resources if it is currently staying there.

[0016] The robot according to the present invention is a robot that can move autonomously and is communicably connected to other robots that can move autonomously. When using a space resource, if another robot is staying in the space resource, it has a determination unit that determines whether to evacuate the other robot from the space resource, and a transmission unit that transmits an evacuation instruction to the other robot.

Effect of the Invention

[0017] The robot management system, management server, and robot according to the present invention enable appropriate management of space resources.

Brief Description of the Drawings

[0018] [Figure 1] It is a diagram showing an overview of the robot management system 1. [Figure 2] It is a diagram showing the overall system configuration of the robot management system 1. [Figure 3] (A) is a diagram showing an example of the data structure of the priority table 242, (B) is a diagram showing an example of the data structure of the robot table 243, (C) is a diagram showing an example of the data structure of the space resource tables 163 and 244, and (D) is a diagram showing an example of the data structure of the allocation table 245. [Figure 4] It is a sequence showing an example of the operation of the robot operation determination process. [Figure 5] It is a flowchart showing an example of the operation of the determination process. [Figure 6] (A) is a diagram showing an example of the data structure of the priority table 242a according to Modification 1, and (B) is a diagram showing an example of the data structure of the priority table 242b according to Modification 2. [Figure 7] It is a sequence showing an example of the operation of the robot operation determination process according to Modification 5.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, a robot management system according to an embodiment will be described while referring to the drawings.

[0020] FIG. 1 is a diagram showing an overview of the robot management system 1. In the robot management system 1, when the autonomous mobile second robot 10b (10) attempts to use the space resource SR, if the space resource SR has already been assigned to the autonomous mobile first robot 10a (10), the management server 20 determines whether to give an evacuation instruction to the first robot 10a. The space resource SR is a space within a predetermined facility where the number of robots 10 that can use the space as a resource is limited. The space resource SR is, for example, a space where only one robot 10 can enter, a space where passing movement between robots 10 is prohibited, a space where overtaking movement of other robots 10 by a robot 10 is prohibited, a space where U-turn movement by a robot 10 is prohibited, and the like.

[0021] FIG. 2 is a diagram showing the overall system configuration of the robot management system 1 according to the embodiment. As shown in FIG. 2, 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 and the management server 20 are communicably connected to each other 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.

[0022] Robot 10 autonomously moves (travels) within the facility and performs predetermined tasks. Robot 10 moves along a predetermined route (travel path) according to a predetermined schedule, moves to a predetermined point (location), and performs predetermined tasks. When Robot 10 wants to use a spatial resource SR to move along a travel path or perform predetermined tasks, it sends purpose information regarding the purpose of using the spatial resource SR to the management server 20. The purpose of use is the purpose for which the spatial resource SR is to be used. Details of the purpose of use will be described later. The purpose information includes the purpose of use, the resource ID which is the identification number of the spatial resource SR to be used, and the usage time which is the time for which the spatial resource SR is to be used. A predetermined time is set as the usage time according to the spatial resource SR and the purpose of use. The usage time may be set each time the purpose information is transmitted. When Robot 10 transmits purpose information, it also transmits a request to use the spatial resource SR. The request to use is a request to use the spatial resource SR. The request to use may be included in the purpose information.

[0023] Robot 10 is, for example, a security robot that performs security within a facility, a cleaning robot that performs cleaning within a facility, a guidance robot that provides guidance to facility users, or a transport robot that transports items such as AEDs within a facility. 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, and a first processing unit 17, etc.

[0024] The position sensor 11 is a sensor used to acquire the current position of the robot 10. The position sensor 11 includes one or more laser sensors (LiDAR). Each laser sensor is mounted on the front, side, back, and / or top surface of the robot 10. Each laser sensor includes an irradiator that emits light such as near-infrared light, visible light, or ultraviolet light in a predetermined direction, and a receiver that receives the reflected light. The direction in which each irradiator emits light is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each laser sensor measures the distance to objects present around the robot 10 based on the time from when the irradiator emits light until the receiver receives the reflected light. The position sensor 11 outputs a position detection signal to the first processing unit 17 at a predetermined period, which includes multiple combinations of each direction in which the laser sensor emitted light and the measured distance. 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 multiple navigation satellites and outputs them to the first processing unit 17.

[0025] 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.

[0026] The input unit 13 includes one or more sensors for detecting the surrounding conditions of the robot 10. The input unit 13 includes one or more laser sensors, similar to the laser sensor in the position sensor 11, for example. Each laser sensor outputs a detection signal to the first processing unit 17 at a predetermined interval, which includes multiple combinations of the direction in which light was irradiated and the measured distance. 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.

[0027] 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.

[0028] 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 system, 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.

[0029] The first storage unit 16 is an example of a table storage unit and 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.

[0030] Furthermore, the first storage unit 16 stores map information 161, schedule information 162, and spatial resource 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 of 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 duration, 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. Details of the spatial resource table 163 will be described later.

[0031] 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.

[0032] 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.

[0033] The management server 20 is located on a control console or the like, either inside or outside the facility, and controls or manages multiple robots 10. 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, etc.

[0034] 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.

[0035] 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.

[0036] The second storage unit 24 is an example of a table storage unit and 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, priority table 242, robot table 243, spatial resource table 244, and allocation table 245. Map information 241 and spatial resource table 244 are the same information as map information 161 and spatial resource table 163 stored by robot 10, respectively. Details of priority table 242, robot table 243, spatial resource table 244, and allocation table 245 will be described later.

[0037] 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 specific unit 251, a determination unit 252, a receiving unit 253, a decision unit 254, a transmission unit 255, and a management unit 256, 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.

[0038] The second processing unit 25 receives the setting of the robot 10's work schedule from the controller 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 purpose information and usage requests from the robot 10 via the second communication unit 23, and when it receives a usage request from one robot 10 (second robot 10b), if the spatial resources have already been allocated to another robot 10 (first robot 10a), it determines whether or not to issue an evacuation instruction to the first robot 10a.

[0039] Figure 3(A) shows an example of the data structure of priority table 242. As shown in Figure 3(A), the priority table 242 contains a set of usage purposes and the priority levels for each usage purpose, all of which are interrelated.

[0040] As shown in Figure 3(A), the purpose of use is set as either passing through the spatial resource SR or staying in the spatial resource SR. Further, the purpose of passing through the spatial resource SR can be set as either passing through a spatial resource SR with a detour route or passing through a spatial resource SR without a detour route. A detour route is a route that allows movement between the entrance and exit of the spatial resource SR without using the spatial resource SR. The movement route is the route that minimizes the sum of cost values ​​(total distance) among all routes from the departure position or current position of each robot 10 to a predetermined point or work position. The movement route is determined by the second processing unit 25 of the management server 20 using known graph search techniques such as Dijkstra's algorithm or A* (A-star) search algorithm. Note that if using a detour route would cause the travel distance to exceed a predetermined limit distance, or the travel time to exceed a predetermined limit time, the detour route may be set as not existing. The limit distance and limit time are set in advance by the second processing unit 25 of the management server 20.

[0041] Prioritizing robot 10 intended for stay would increase the waiting time for robot 10 intended for transit, potentially causing delays in its work schedule. In other words, if there is no alternative route, robot 10 intended for transit must wait until robot 10 intended for stay completes its predetermined tasks. As a result, robot 10 intended for transit cannot proceed with its work according to its schedule. Therefore, when the purpose of use is to pass through a spatial resource SR without an alternative route, the priority is set higher than when the purpose of use is to stay. On the other hand, if an alternative route exists for the spatial resource SR, robot 10 does not need to wait until robot 10 intended for stay completes its predetermined tasks. Therefore, when the purpose of use is to pass through a spatial resource SR with an alternative route, the priority is set lower than when the purpose of use is to stay.

[0042] Figure 3(B) shows an example of the data structure of the robot table 243. As shown in Figure 3(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), current position, battery level, schedule information, etc., of each robot 10, all of which are linked and configured accordingly. The identification number for each robot 10 is 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.

[0043] Figure 3(C) shows an example of the data structure of spatial resource tables 163 and 244. Since the data structure of spatial resource table 244 stored by the management server 20 is the same as the data structure of spatial resource table 163 stored by the robot 10, only the data structure of spatial resource table 163 will be explained as a representative example. As shown in Figure 3(C), the spatial resource table 163 contains, for each of one or more spatial resource SRs, the resource ID, location, presence or absence of detour routes, whether two-way traffic is permitted, evacuation location, and passage time, all of which are interrelated and set. The location, presence or absence of detour routes, whether two-way traffic is permitted, evacuation location, and passage time of a spatial resource SR are pre-set by the management server 20 according to the resource ID. Two-way traffic indicates that two or more robots 10 will be passing through the spatial resource SR. Two-way traffic includes movement where robots 10 pass each other and movement where robot 10 overtakes other robots 10. The evacuation location is the position where a robot 10 assigned to a spatial resource SR will temporarily wait when the spatial resource SR is being used by another robot 10. The passage time is the time it takes to pass through the spatial resource SR.

[0044] Figure 3(D) shows an example of the data structure of allocation table 245. As shown in Figure 3(D), the allocation table 245 contains, for each spatial resource SR that is the target of the usage request, the resource ID of the spatial resource SR, whether the spatial resource SR is allocated (a flag indicating whether it is already allocated or not), the robot ID of each robot 10 to which the spatial resource SR is allocated, the purpose of use, and the usage time, all of which are interrelated and set up.

[0045] Figure 4 shows a sequence illustrating an example of the robot motion determination process performed by robot 10. This sequence is executed primarily by the first processing unit 17 in cooperation with each element of robot 10 and management server 20, based on a program pre-stored in the first storage unit 16. For convenience, the robot 10 that sends the request to use the spatial resource SR first will be referred to as the first robot 10a, and the robot 10 that sends the request to use the spatial resource SR later will be referred to as the second robot 10b.

[0046] First, the control unit 172 of the first robot 10a, having received schedule information from the management server 20, determines the spatial resources SR to be used (step S101). The control unit 172 determines the spatial resources SR to be used by referring to the work position and movement path included in the work schedule, and the resource area included in the spatial resource table 163. The control unit 172 determines the spatial resources SR to be used if the movement path overlaps with the resource area. The control unit 172 also determines the spatial resources SR to be used if the work position overlaps with the resource area. The first robot 10a may move to the work position by taking a path other than the movement path included in the work schedule. In this case, the control unit 172 determines the spatial resources SR to be used if the path determined using the aforementioned known graph search technique overlaps with the resource area.

[0047] Next, the control unit 172 of the first robot 10a generates purpose information that includes the resource ID, purpose of use, and time of use of the spatial resource SR to be used (step S102). The control unit 172 sets the purpose of use by referring to the work position included in the work schedule and the resource area of ​​the spatial resource SR determined in S101. If the work position included in the work schedule overlaps with the resource area of ​​the spatial resource SR determined in S101, the control unit 172 sets the purpose of use to stay. If the work position included in the work schedule does not overlap with the resource area of ​​the spatial resource SR determined in S101, the control unit 172 sets the purpose of use to pass through. If the purpose of use is set to pass through, the control unit 172 refers to the presence or absence of a detour route included in the spatial resource table 163 to determine whether the purpose of pass through is to pass through a spatial resource SR with a detour route, or to pass through a spatial resource SR without a detour route. If there is a detour route for the spatial resource SR determined in S101, the control unit 172 sets the purpose of use to pass through the spatial resource SR that has a detour route. If there is no detour route for the spatial resource SR determined in S101, the control unit 172 sets the purpose of use to pass through the spatial resource SR that does not have a detour route.

[0048] The control unit 172 of the first robot 10a sets the usage time by referring to the set purpose of use and the work time included in the work schedule or the passage time included in the spatial resource table 163. If the purpose of use is set to stay, the control unit 172 sets the time equivalent to the work time as the usage time. If the purpose of use is set to pass through, the control unit 172 sets the time required for the first robot 10a to pass through the spatial resource SR as the usage time.

[0049] As described above, the control unit 172 of the first robot 10a generates purpose information that includes the resource ID, purpose of use, and usage time of the spatial resource SR to be used.

[0050] Next, the control unit 172 of the first robot 10a transmits the objective information and the request to use the spatial resource SR to the management server 20 via the first communication unit 15 (step S103).

[0051] Next, the second processing unit 25 of the management server 20, upon receiving the objective information and usage request from the first robot 10a, executes a determination process (step S104). In the determination process, the determination unit 252 of the management server 20 determines whether the requested spatial resource SR is assigned to any of the robots 10. If the spatial resource SR is assigned to any of the robots 10, the determination unit 252 of the management server 20 determines whether to move the robot 10 to which the spatial resource SR is assigned and to allow the robot 10 that sent the usage request to use the spatial resource SR. Based on the information obtained from the robot 10 to which the spatial resource SR is assigned or the robot 10 that sent the usage request, the determination unit 252 determines whether to issue a move-out instruction. Details of the determination process will be described later.

[0052] Next, if the determination process determines that the requested spatial resource SR is not assigned to any of the robots 10, the transmission unit 255 of the management server 20 sends an assignment permission to the first robot 10a that sent the request for use of the spatial resource SR via the second communication unit 23 (step S105). The management unit 256 of the management server 20 sets the assignment flag, robot ID, purpose of use, and usage time associated with the resource ID of the spatial resource SR for which assignment has been permitted in the assignment table 245, and sets the robot ID, purpose of use, and usage time included in the purpose information of the first robot 10a that sent the request for use.

[0053] Next, when the control unit 172 of the first robot 10a receives an allocation permission from the management server 20, it determines the operation of the first robot 10a (step S106). The operation is to pass through the requested spatial resource SR or to perform a predetermined task at the requested spatial resource SR. The control unit 172 refers to the current position of the first robot 10a and the resource area included in the spatial resource table 244, activates the drive unit 12 to move to the spatial resource SR, and causes the first robot 10a to perform the aforementioned operation.

[0054] Meanwhile, the control unit 172 of the second robot 10b, having received schedule information from the management server 20, determines the spatial resource SR to be used in the same manner as in S101 described above (step S107). The control unit 172 of the second robot 10b generates objective information in the same manner as in S102 described above (step S108). The control unit 172 of the second robot 10b transmits the objective information and usage request to the management server 20 in the same manner as in S103 described above (step S109).

[0055] Next, when the second processing unit 25 of the management server 20 receives the target information and usage request from the second robot 10b, it performs a determination process (step S110). The determination process in S110 is the same as the process in S104.

[0056] Next, if the determination process decides to evacuate the robot 10 to which the spatial resource SR has been allocated and to allow the robot 10 that sent the usage request to use the spatial resource SR, the transmission unit 255 of the management server 20 sends an evacuation instruction to the first robot 10a instructing it to evacuate from the spatial resource SR (step S111). That is, the transmission unit 255 sends the evacuation instruction based on the determination result of the determination unit 252. The evacuation instruction is either an evacuation instruction within the spatial resource SR or an evacuation instruction outside the spatial resource SR. An evacuation instruction within the spatial resource SR is an instruction to evacuate the first robot 10a while keeping it within the spatial resource SR. An evacuation instruction outside the spatial resource SR is an instruction to evacuate the first robot 10a outside the spatial resource SR.

[0057] Next, the control unit 172 of the first robot 10a receives a retreat instruction from the management server 20 via the first communication unit 15 and retreats (step S112). If the retreat instruction is for retreat within the spatial resource SR, the control unit 172 retreats within the spatial resource SR. The control unit 172 drives the drive unit 12 of its own device to move to a retreat position included in the spatial resource table 163. In this case, the retreat position is located within the spatial resource SR. The control unit 172 of the first robot 10a may also retreat to a position within the spatial resource SR other than the retreat position, based on the distance between its own device and an object obtained from the input unit 13.

[0058] If the evacuation instruction is to evacuate outside the spatial resource SR, the control unit 172 of the first robot 10a evacuates outside the spatial resource SR. The control unit 172 drives the drive unit 12 of its device to move to an evacuation position included in the spatial resource table 163. In this case, the evacuation position is located outside the spatial resource SR. The control unit 172 may also evacuate to a position outside the spatial resource SR other than the evacuation position, based on the distance to the object obtained from the input unit 13.

[0059] Next, when the control unit 172 of the first robot 10a has completed moving to the retraction position, it transmits a message indicating that the retraction is complete to the management server 20 via the first communication unit 15 (step S113). The control unit 172 determines that the movement to the retraction position is complete when the current position of the first robot 10a coincides with the retraction position. The control unit 172 may also transmit a message indicating that the retraction is complete when the distance between its own device and the object acquired from the input unit 13 falls below a predetermined threshold (for example, 30 centimeters).

[0060] Next, when the transmission unit 255 of the management server 20 receives confirmation of the completion of the evacuation via the second communication unit 23, it sends an assignment permission to the second robot 10b that sent the request to use the spatial resource SR via the second communication unit 23 (step S114). The management unit 256 of the management server 20 sets the assignment flag associated with the resource ID of the spatial resource SR from which the first robot 10a was evacuated to "none" in the assignment table 245, and deletes the assignment flag, robot ID, purpose of use, and usage time associated with that resource ID. Subsequently, the management unit 256 sets the assignment flag, robot ID, purpose of use, and usage time associated with that resource ID to "yes" in the assignment table 245, and sets the robot ID, purpose of use, and usage time included in the purpose information of the second robot 10b that sent the request to use.

[0061] Next, when the control unit 172 of the second robot 10b receives an assignment instruction via the first communication unit 15, it determines the operation of the second robot 10b (step S115). The control unit 172 refers to the current position of the second robot 10b and the resource area included in the spatial resource table 244, and activates the drive unit 12 of its device to move to the spatial resource SR. When the control unit 172 arrives at the assigned spatial resource SR, it sends an arrival signal to the management server 20 via the first communication unit 15 indicating that it has arrived at the spatial resource SR. The control unit 172 either allows the second robot 10b to pass through the spatial resource SR or to perform a predetermined task at the spatial resource SR. When the predetermined task is completed, the control unit 172 of the second robot 10b sends a usage completion message to the management server 20 via the first communication unit 15 indicating that the use of the spatial resource SR has ended. When the management unit 256 of the management server 20 receives a notification of the end of use via the second communication unit 23, it deletes the allocation flag, robot ID, purpose of use, and usage time associated with the resource ID of the space resource SR whose use has ended in the allocation table 245. It then resets the allocation flag, robot ID, purpose of use, and usage time for the robot that was moved out due to the use of the space resource SR by the robot 10 that sent the use request (second robot 10b), i.e., the robot 10 that had the space resource SR allocated to it before it was allocated to the robot 10 that sent the use request (first robot 10a), and sends an allocation permission to the first robot 10a via the second communication unit 23. With this, the robot operation determination process is completed.

[0062] Figure 5 is a flowchart illustrating an example of the operation of the decision processing by the management server 20. This flowchart is executed mainly by the second processing unit 25 in cooperation with each element of the management server 20, based on a program pre-stored in the second storage unit 24. The decision processing is performed in S104 and S110 as described above.

[0063] First, when the receiving unit 253 receives a usage request from the robot 10, the determination unit 252 determines whether the spatial resource SR specified in the purpose information received along with the usage request is assigned to any of the robots 10 (step S201). The determination unit 252 refers to the assignment table 245 and determines whether the resource is assigned to any of the robots 10 based on whether the assignment flag associated with the resource ID included in the purpose information is set to "yes".

[0064] If it is determined that the target spatial resource SR is not assigned to any of the robots 10 (S201-NO), the decision unit 254 decides to assign the spatial resource SR to the robot 10 that sent the usage request (step S202) and generates an assignment instruction. That is, the decision unit 254 assigns the spatial resource to the robot 10 that sent the usage request. This completes the determination process. If it is decided to assign the spatial resource SR to the robot 10 that sent the usage request, the transmission unit 255 transmits the generated assignment instruction to the robot 10 that sent the usage request via the second communication unit 23, as described in S105 above.

[0065] If the target spatial resource SR is assigned to any of the robots 10 (S201-YES), the identification unit 251 identifies the priority for each of the robots 10 to which the target spatial resource SR is assigned and the robot 10 that sent the usage request (step S203). The identification unit 251 refers to the assignment table 245 and identifies the usage purpose associated with the combination of the robot ID of the robot 10 to which the target spatial resource SR is assigned and the resource ID of the target spatial resource SR. The identification unit 251 identifies the usage purpose included in the purpose information received from the robot 10 that sent the usage request. The identification unit 251 refers to the priority table 242 and identifies the priority associated with each identified usage purpose. In this way, the identification unit 251 identifies the priority for each of the robots 10 to each usage purpose.

[0066] Next, the determination unit 252 compares the priorities of each robot 10 identified in S203 and determines whether the priority of the robot 10 that sent the usage request is higher than the priority of the robot 10 to which the target spatial resource SR has been assigned (step S204).

[0067] If the priority of the robot 10 that sent the usage request is higher than the priority of the robot 10 to which the target spatial resource SR is assigned (S204-YES), it is decided to withdraw the robot 10 to which the target spatial resource SR is assigned and to allow the robot 10 that sent the usage request to use the spatial resource SR (S205).

[0068] Next, the determination unit 252 determines whether both the robot 10 to which the target spatial resource SR is assigned and the robot 10 that sent the usage request, i.e., two robots 10, can pass through the target spatial resource SR (step S206). The determination unit 252 refers to the spatial resource table 244 and determines whether both robots 10 can pass through the target spatial resource SR based on whether the resource ID of the target spatial resource SR is set to allow bidirectional passage.

[0069] If it is determined that two robots 10 can pass through the target spatial resource SR (S206-YES), the determination unit 254 decides to send an evacuation instruction within the spatial resource SR to the robot 10 to which the target spatial resource SR has been assigned (step S207), and generates an evacuation instruction within the spatial resource SR. In this case, the transmission unit 255 transmits the generated evacuation instruction within the spatial resource SR to the robot 10 to which the target spatial resource SR has been assigned via the second communication unit 23, as described in S111 above. This completes the determination process.

[0070] If it is determined that two robots 10 cannot pass through the target spatial resource SR (S206-NO), the decision unit 254 decides to instruct the robots 10 to which the target spatial resource SR has been assigned to move outside the spatial resource SR (step S208), and generates an instruction to move outside the spatial resource SR. In this case, the transmission unit 255 transmits the generated instruction to move outside the spatial resource SR to the robots 10 to which the target spatial resource SR has been assigned via the second communication unit 23, as described in S111 above. This completes the determination process.

[0071] On the other hand, in step S204, if it is determined that the priority of the robot 10 that sent the usage request is not higher than the priority of the robot 10 to which the target space resource SR has been assigned (S204-NO), the decision unit 254 decides not to move the robot 10 to which the target space resource SR has been assigned and not to allow the robot 10 that sent the usage request to use the space resource SR (step S209). The case where the priority is not higher also includes the case where the purpose of use of the robot 10 to which the target space resource SR has been assigned and the purpose of use of the robot 10 that sent the usage request are the same.

[0072] Next, the decision unit 254 decides to send a denial instruction to the robot 10 that sent the request to use the target spatial resource SR, notifying the robot 10 that it is not permitted to use the spatial resource SR (step S210), and generates a denial instruction. The transmission unit 255 sends the denial instruction to the robot 10 that sent the request via the second communication unit 23. This completes the determination process.

[0073] As explained above, in the robot management system 1, when the second processing unit 25 of the management server 20 receives a usage request from the robot 10, if the spatial resource SR has already been allocated to another robot 10, it determines whether or not to issue a retreat instruction to the robot 10a that has already been allocated the spatial resource SR. This enables the robot management system 1 to properly manage the spatial resource SR.

[0074] In this robot management system 1, the control unit 172 of the robot 10 preferably transmits purpose information regarding the purpose of using the spatial resource SR along with the usage request, and the determination unit 252 of the management server 20 preferably determines whether or not to issue a retreat instruction based on the purpose information. This enables the robot management system 1 to appropriately determine whether or not to retreat a robot that has already been allocated the spatial resource SR.

[0075] In this robot management system 1, it is preferable for the decision unit 254 of the management server 20 to decide to issue a retreat instruction if the priority of the second robot 10b to use the spatial resource SR is higher than the priority of the first robot 10. This allows the robot management system 1 to allocate the spatial resource SR to the robot 10 with the higher priority of using the spatial resource SR. In other words, the robot management system 1 can appropriately determine whether or not to retreat a robot to which the spatial resource SR has already been allocated.

[0076] In this robot management system, it is preferable to set the purpose of use as either a passage purpose (to pass through) or a stay purpose (to stay in) the spatial resource SR. Typically, the purpose of use of the spatial resource SR differs between a passage purpose and a stay purpose, and therefore the necessity of the spatial resource SR also differs. By setting the purpose of use of the spatial resource SR as either a passage purpose or a stay purpose, the robot management system 1 can appropriately determine whether or not to evacuate a robot that has already been assigned to the spatial resource SR.

[0077] In this robot management system, it is preferable that the decision unit 254 of the management server 20 decides to move the first robot 10a into the spatial resource SR if the spatial resource SR is passable to both the first robot 10a and the second robot 10b, and decides to move the first robot outside the spatial resource if the spatial resource SR is impassable to both the first robot 10a and the second robot 10b. This allows the robot management system 1 to minimize the movement of the robot (first robot 10a) that has already been allocated the spatial resource SR. This also contributes to suppressing schedule delays for the first robot 10a.

[0078] (Various variations of Embodiment 1) In each of the modifications described below, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their descriptions are omitted as appropriate. In addition, in each modification, unless otherwise specified, the robot motion determination process (Figure 4) and judgment process (Figure 5) of Embodiment 1 are executed.

[0079] (Modifications 1 and 2 of Embodiment 1) In the data structure of the priority table 242 of Embodiment 1, the purpose of use was set as either a transit purpose to pass through a spatial resource SR with a detour route, a transit purpose to pass through a spatial resource SR without a detour route, or a stay purpose, and a priority was set in association with each purpose of use. However, the relationship between the purpose of use and priority is not limited to this example.

[0080] Figure 6(A) shows an example of the data structure of the priority table 242a according to Modification 1. In Modification 1, the second storage unit 24 of the management server 20 stores the priority table 242a as data.

[0081] As shown in Figure 6(A), the priority table 242a contains a set of usage purposes and the priority levels for each usage purpose, all of which are interrelated.

[0082] The purpose of use is defined as either passing through the spatial resource SR or staying in the spatial resource SR. Further, the purpose of passing through can be defined as either a low-urgency passing purpose or a high-urgency passing purpose. A high-urgency passing purpose is a passing purpose that is urgent and involves passing through the spatial resource SR to be used. A low-urgency passing purpose is a passing purpose other than a high-urgency passing purpose.

[0083] An urgent reason for passing through is, for example, when the battery level of robot 10 is low (for example, when the battery level is 10 percent or less). An urgent reason for passing through may also be when robot 10 is responding to an abnormal situation.

[0084] An abnormal situation may be, for example, the occurrence of a fire, the presence of a suspicious person, a person lying down, or the transport of a person in need of rescue. An abnormal situation may also be, for example, the occurrence of dirt on the floor or congestion. An abnormal situation is detected by the detection unit 171 of each robot 10 via the input unit 13 of each robot 10, which is controlled or managed by the management server 20. The control unit 172 of each robot 10 that has detected an abnormal situation generates an abnormal signal indicating that an abnormal situation has been detected and transmits the abnormal signal to the management server 20 via the first communication unit 15. The abnormal signal includes the type of abnormality, the location where the abnormality occurred, etc. The detection unit 171 detects the occurrence of a fire as an abnormal situation when, for example, the temperature is above a predetermined threshold. The first processing unit 17 identifies the location where the abnormality occurred by referring to information output from, for example, the position sensor 11.

[0085] The receiving unit 253 of the management server 20 receives an abnormal signal via the second communication unit 23. The transmitting unit 255 of the management server 20 transmits an abnormal signal to each of the robots 10 that it controls or manages, except for the robot 10 that detected the abnormal situation.

[0086] The control unit 172 of each robot 10 that generated an abnormal signal, or the control unit 172 of each robot that received an abnormal signal, refers to the type of abnormality and the location where the abnormality occurred, as well as the current position of each robot 10, to determine whether or not to respond to the abnormal situation. The control unit 172 decides to respond to the abnormal situation if the distance between the current position of the robot 10 and the location where the abnormality occurred is less than or equal to a predetermined distance. Even if the distance between the current position of the robot 10 and the location where the abnormality occurred is less than or equal to the predetermined distance, the control unit 172 decides not to respond to the abnormal situation if the type of abnormality is unmanageable. Whether or not it is unmanageable is predetermined by the management server 20, for example, depending on the type of robot 10 (security robot, cleaning robot, guidance robot, transport robot). The abnormal situation may also be detected by another notification system and transmitted as an abnormal signal to the management server 20 or each robot 10.

[0087] If the purpose of use is a transit purpose with low urgency, the priority will be set low. If the purpose of use is a stay purpose, the priority will be set higher than the priority for a transit purpose with low urgency, because there is little need to use the spatial resource SR for a transit purpose with low urgency. If the purpose of use is a transit purpose with high urgency, the priority will be set higher than the priority for a stay purpose, because a highly urgent situation has occurred and there is a particularly high need for robot 10 to use the spatial resource SR.

[0088] In S102 of Figure 4, the control unit 172 of the first robot 10a further determines whether there is an emergency based on whether the remaining battery level of its own device is above a predetermined battery threshold, or whether the device is responding to an abnormal situation, and generates objective information including the information regarding the determined emergency status. In S103, the control unit 172 transmits the objective information, including the information regarding the emergency status, to the management server 20 along with the usage request.

[0089] In S105, the second processing unit 25 of the management server 20 sets the purpose of passage in the allocation table 245, including whether or not it is urgent.

[0090] In S108, the control unit 172 of the second robot 10b generates objective information, including information regarding the urgency of the situation. In S109, the control unit 172 of the second robot 10b transmits the objective information, including information regarding the urgency of the situation, to the management server 20 along with the request for use.

[0091] In S110, the receiving unit 253 of the management server 20 receives purpose information, including information regarding the use request and whether or not it is urgent, transmitted from the second robot 10b via the second communication unit 23.

[0092] Figure 6(B) shows an example of the data structure of 242b in Modification 2. As shown in Figure 6(B), the priority table 242b contains the robot type and the priority for each robot type, all of which are related to each other. In Modification 2, the robot table 243 contains, for each of the multiple robots 10 owned by the robot management system 1, the robot ID, current position, battery level, schedule information, etc. for each robot 10, as well as the type of each robot 10, all of which are related to each other.

[0093] As shown in Figure 6(B), the robot type can be set to a transport robot, a cleaning robot, or a security robot.

[0094] When a transport robot is selected as the robot type, its priority is set low. When a cleaning robot is selected as the robot type, its priority is set higher than that of a transport robot because dirt and other issues within the facility can cause discomfort to facility users. When a security robot is selected as the robot type, its priority is set higher than that of a cleaning robot because security is a task related to the safety of the facility and therefore requires a higher priority.

[0095] In S203 of Figure 5, the determination unit 252 of the management server 20 refers to the robot table 243 to identify the type of robot associated with the robot ID. The determination unit 252 refers to the priority table 242b instead of the priority table 242 to identify the priority associated with the purpose of use. In this way, the determination unit 252 identifies the priority for each type of robot 10 for the robot 10 to which the target spatial resource SR is assigned and the robot 10 that sent the usage request. That is, the determination unit 252 determines whether or not to issue an evacuation order based on the type information regarding the type of robot 10. The decision unit 254 determines whether or not to issue an evacuation order based on the type information regarding the type of robot 10.

[0096] In Modification 1 and Modification 2, the decision unit 254 of the management server 20 issues a retreat instruction to the robot 10 to which the target space resource SR has been assigned if the priority of the robot 10 that sent the usage request for the space resource SR is higher than the priority of the robot 10 to which the target space resource SR has been assigned. This enables the robot management system 1 to retreat the robot 10 to which the target space resource SR has been assigned from the space resource SR according to the priority of the space resource SR.

[0097] (Modification 3 of Embodiment 1) In Embodiment 1 and Modifications 1 and 2 of Embodiment 1, the management server 20 has a priority table 242, and the decision unit 254 decides to issue a retreat instruction if the priority of the robot 10 that sent the usage request to use the spatial resource SR is higher than the priority of the robot 10 to which the target spatial resource SR is assigned. However, the determination of whether or not to retreat may be made based on a basis other than priority. In Modification 3, the second processing unit 25 of the management server 20 determines whether or not to retreat based on the remaining time of the robot 10 to which the target spatial resource SR is assigned and the grace period of the work schedule including the use of the spatial resource SR by the robot 10 that sent the usage request. In Modification 3, the priority table 242 of the management server 20 is omitted.

[0098] In step S203 of Figure 5, instead of determining priority, the determination unit 252 calculates the remaining time for the robot 10 to which the target spatial resource SR has been assigned, and the grace period for the robot 10 that sent the usage request. The determination unit 252 calculates the remaining time by subtracting the elapsed time from when the assignment permission was sent to the robot 10 to the present from the usage time associated with the resource ID of the target spatial resource SR in the assignment table 245. Alternatively, the determination unit 252 may set the usage time associated with the resource ID of the target spatial resource SR in the assignment table 245 as the remaining time.

[0099] The determination unit 252 calculates the time from the start time of the work to the current time, and calculates the grace period by subtracting the travel time required for the robot 10 to move from its current position to the work position from the calculated time. The determination unit 252 also calculates the travel time by dividing the distance traveled between the robot 10's current position and the work position by the robot 10's travel speed.

[0100] In S204, instead of determining the priority level, the determination unit 252 determines whether the grace period for the second robot 10b is shorter than the remaining time for the first robot 10a. If the grace period for the second robot 10b is shorter than the remaining time for the first robot 10a, the determination unit 252 decides to move the first robot 10a to a safe place and allow the second robot 10b to use the space resource SR. On the other hand, if the grace period for the second robot 10b is longer than or equal to the remaining time for the first robot 10a, the decision unit 254 decides not to move the first robot 10a to a safe place and not to allow the second robot 10b to use the space resource SR. This allows the robot management system 1 to move the robot 10 that has been assigned to use the target space resource SR from the space resource if the robot 10 that sent the usage request is likely to fall behind schedule. This also contributes to suppressing schedule delays for the robot 10 that sent the usage request.

[0101] The determination unit 252 may also determine whether to issue an evacuation order based on time information regarding the use of the spatial resource SR by the robot 10 assigned to use the target spatial resource SR (first robot 10a) or the robot 10 that sent the use request (second robot 10b). The time information is the remaining time for the first robot 10 to use the spatial resource SR, the time required for the second robot 10b to use the spatial resource SR, or the grace period for the work schedule including the use of the spatial resource by the second robot 10b. For example, the determination unit 252 may determine whether the remaining time for the robot 10 assigned to use the spatial resource SR is equal to or greater than a first time threshold (e.g., 3 minutes). The determination unit 252 may also determine whether the grace period for the robot 10b that sent the use request is equal to or less than a second time threshold. In other words, the determination unit 252 determines whether to issue an evacuation order based on the time for the spatial resource SR used by the robot 10 assigned to use the spatial resource SR or the grace period for the work to be performed by the robot 10 that sent the use request. The decision unit 254 decides to issue an evacuation instruction to the robot 10 assigned to use the spatial resource SR if the remaining time is equal to or greater than the first time threshold, or if the grace period is equal to or less than the second time threshold. The first time threshold and / or the second time threshold are set in advance by, for example, the management server 20. In this case as well, the robot management system 1 makes it possible to evacuate the robot 10 assigned to use the spatial resource SR from the spatial resource, according to the status of each robot 10.

[0102] Furthermore, the determination unit 252 may determine whether the time required for the second robot 10b that sent the usage request to use the spatial resource SR (required time) is within the third time threshold (for example, 1 minute). The determination unit 252 may also determine whether the required time for the second robot 10b that sent the usage request is greater than or equal to the fourth time threshold. In other words, the determination unit 252 determines whether to issue a retreat instruction based on the usage time of the spatial resource SR of the robot 10 that sent the usage request for the spatial resource SR. The decision unit 254 decides to issue a retreat instruction to the robot 10 that has been assigned to use the spatial resource SR if the required time is within the third time threshold. This makes it possible for the robot management system 1 to retreat the robot 10 that has been assigned to use the spatial resource SR when the robot 10 that sent the usage request will only use the spatial resource SR for a short period of time.

[0103] (Modification 4 of Embodiment 1) In Modification 4, the second processing unit 25 of the management server 20 determines whether or not to evacuate the robot 10 (second robot 10b) that sent the usage request later, depending on whether or not its battery level is below the battery threshold. In Modification 4, the priority table 242 of the management server 20 is also omitted.

[0104] In step S203 of Figure 5, the determination unit 252 sets the battery threshold for the second robot 10b instead of determining the priority. The battery threshold is set in advance by, for example, the management server 20. The battery threshold may be set to increase as the distance traveled from the current position of each robot 10 to the target position, such as the work start position, increases.

[0105] In S204, instead of determining the priority level, the determination unit 252 determines whether the battery level of the second robot 10b is below the battery threshold. That is, if the battery level of the second robot 10b is below the battery threshold, the decision unit 254 decides to issue an evacuation instruction to the robot 10 that has been assigned the use of the spatial resource SR.

[0106] In the modified example 4, the determination unit 252 of the management server 20 determines whether or not to issue an evacuation instruction based on the remaining battery level of the robot 10 that sent the usage request. This enables the robot management system 1 to evacuate the robot 10 that has been assigned to use the spatial resource SR before it becomes immobile due to insufficient battery power.

[0107] (Modification 5 of Embodiment 1) In the robot management system 1, the management server 20 may be omitted. In modified example 5, the first storage unit 16 of the robot 10 stores the information stored in the second storage unit 24 of the management server 20. That is, the first storage unit 16 stores a priority table, a robot table, and an assignment table similar to the priority table 242 (or priority table 242a or priority table 242b), robot table 243, and assignment table 245. The first processing unit 17 of the robot 10 has a specification unit, a determination unit, a reception unit, a determination unit, a transmission unit, and a management unit that have the same functions as the specification unit 251, determination unit 252, reception unit 253, decision unit 254, transmission unit 255, and management unit 256 of the management server 20. Each robot 10 periodically or irregularly (when using the space resource, for example) transmits its current location, battery level, schedule information, and usage status of the space resource SR to other robots 10. Each robot 10 sets the current location, battery level, and schedule information of some or all of the robots 10 held by the robot management system 1 into the robot robot table. Each robot 10 may set a robot 10 within a predetermined range (for example, within a predetermined distance, within the same area) or a robot 10 that has been previously registered as a robot to cooperate with as the robot 10 to communicate with.

[0108] Figure 7 shows a sequence illustrating an example of the operation of the robot motion determination process according to Modification 5. This sequence is executed mainly by the first processing unit 17 of each robot 10 in cooperation with each element of the robot 10, based on a program that is pre-stored in the first storage unit 16 of each robot 10.

[0109] First, when schedule information is set, the control unit 172 of robot 10 (first robot 10a) determines the spatial resources SR to be used (step S501) and generates objective information (step S502), in the same manner as S101 and S102 in Figure 4.

[0110] Next, the determination unit determines whether the space resource SR to be used is allocated to another robot 10 (step S503). The determination unit refers to the allocation table and determines whether the space resource SR to be used is allocated to another robot 10 based on whether the allocation flag associated with the resource ID allocated to the space resource SR is set to "yes".

[0111] If the space resource SR to be used is not allocated to any other robot 10, the management unit of the first robot 10a updates the allocation table in the same manner as in step S105 of Figure 4. The transmission unit of the first robot 10a transmits the updated items to all robots 10 other than its own robot, which are controlled by the robot management system 1, via the first communication unit 15. The receiving unit of each robot 10 receives the updated items in the allocation table from the first robot 10a via the first communication unit 15. The management unit of each robot 10 sets the updated items in its own robot's allocation table. Next, the control unit 172 of the first robot 10a determines the operation of the first robot 10a in the same manner as in step S106 (S504). If the space resource SR to be used is not allocated to any other robot 10, the first processing unit 17 performs the same processing as in S507, which will be described later.

[0112] Meanwhile, the control unit 172 of the other robot 10 (second robot 10b) determines the spatial resource SR to be used (step S505) and generates objective information (step S506), in the same manner as in S107 and S108 of Figure 4.

[0113] Next, the determination unit of the second robot 10b determines, in the same manner as in S503, whether the space resource SR to be used is assigned to another robot 10 (S507). If the space resource SR to be used is not assigned to another robot 10, the first processing unit 17 of the second robot 10b performs the same processing as in S504. On the other hand, if the space resource SR to be used is assigned to another robot 10, the identification unit of the second robot 10b identifies the robot 10 to which the space resource SR to be used is assigned. The identification unit refers to the assignment table and identifies the robot 10 with the robot ID associated with the resource ID assigned to the space resource SR to be used as the robot 10 to which the space resource SR to be used is assigned. The control unit 172 transmits the purpose information and usage request to the robot 10 to which the space resource SR to be used is assigned (the first robot 10a in the example of Figure 7) via the first communication unit 15 (step S508).

[0114] Next, the receiving unit of the first robot 10a receives the target information and usage request from the second robot 10b via the first communication unit 15. The identification unit, determination unit, and decision unit of the first robot 10a perform a determination process (step S509). The determination process is the same as the determination process in Figure 5. However, since it has already been determined in S107 whether the spatial resource SR is assigned to any of the robots 10 (the robot 10 to which the spatial resource SR is assigned is the robot itself), the processes in S201 to S202 are omitted.

[0115] If the determination process decides to move the robot 10 to which the spatial resource SR has been allocated and to allow the robot 10 that sent the usage request to use the spatial resource SR, the control unit 172 of the first robot 10a moves to the side in the same manner as in S112 of Figure 4 (step S510).

[0116] Next, when the relocation is complete, the transmission unit of the first robot 10a transmits the completion of relocation to the second robot 10b that sent the request to use the spatial resource SR via the first communication unit 15 (step S511). The management unit of the first robot 10a updates the allocation table in the same manner as in S114. The transmission unit of the first robot 10a transmits the updated items to all robots 10 other than its own robot, which are controlled by the robot management system 1, via the first communication unit 15. Each robot 10 receives the updated items in the allocation table from the first robot 10a via the first communication unit 15 and sets them in its own robot's allocation table.

[0117] Next, the control unit 172 of the second robot 10b determines the operation of the second robot 10b in the same manner as in S115 of Figure 4 (step S512). When the predetermined task is completed, the control unit 172 of the second robot 10b transmits a "use completion" message to the first robot 10a via the first communication unit 15, indicating that the use of the spatial resource SR has ended. When the management unit of the first robot 10a receives the "use completion" message via the second communication unit 23, it sets the assignment flag associated with the resource ID of the spatial resource SR whose use has ended in the assignment table to none, and deletes the assignment flag, robot ID, purpose of use, and usage time associated with that resource ID. The transmission unit of the first robot 10a transmits the updated items to all robots 10 other than its own robot in the robot management system 1 via the first communication unit 15. Each robot 10 receives the updated items in the assignment table from the first robot 10a via the first communication unit 15 and sets them in its own robot's assignment table. With this, the robot operation determination process is completed.

[0118] The determination unit of the robot 10 in this modified version determines whether or not to evacuate from the spatial resource SR if it is currently staying there when it receives a usage request from another robot 10. In this case as well, the robot management system 1 is able to appropriately manage the spatial resource.

[0119] (Modification 6 of Embodiment 1) The determination process may be performed by a robot 10 that is scheduled to use the spatial resource SR, rather than the robot 10 to which the spatial resource SR has been assigned. In that case, if the spatial resource SR to be used is assigned to another robot 10 in S507, in S508, instead of the control unit 172 of the second robot 10b transmitting the objective information and usage request, the identification unit, determination unit, and decision unit perform the determination process. The determination process is the same as the determination process performed in Modification 5. However, the identification unit, determination unit, and decision unit perform the determination process as if their own robot were the robot 10 that sent the usage request. Since the robot 10 that sent the usage request is their own robot, the process in S210 is omitted.

[0120] If, in the determination process, the first processing unit 17 of robot 10 (second robot 10b) decides to have the robot 10 to which the target spatial resource SR has been assigned move to a safe place and to allow its own robot 10 to use the spatial resource SR, it transmits a move-out instruction to the robot 10 (first robot 10a) to which the spatial resource SR has been assigned via the first communication unit 15.

[0121] S509 is omitted, and in S510, the control unit 172 of the first robot 10a takes cover if it receives a retreat instruction from another robot 10. In S511, the control unit 172 of the first robot 10a transmits a message of completion of retreat to the second robot 10b that sent the retreat instruction via the first communication unit 15. In S512, the management unit of the second robot 10b updates the assignment table in the same manner as in S114 if it receives a message of completion of retreat from another robot 10 via the first communication unit 15. The transmission unit of the second robot 10b transmits the updated items to all robots 10 other than its own robot in the robot management system 1 via the first processing unit 17. Each robot 10 receives the updated items in the assignment table from the first robot 10a via the first communication unit 15 and sets them in its own robot's assignment table. Next, the control unit 172 of the second robot 10b determines the operation of the second robot 10b. When the predetermined task is completed, the management unit of the second robot 10b sets the allocation flag associated with the resource ID of the space resource SR whose use has ended in the allocation table to none, and deletes the allocation flag, robot ID, purpose of use, and usage time associated with that resource ID. The transmission unit of the second robot 10b transmits the updated items to all robots 10 other than its own robot, which are owned by the robot management system 1, via the first communication unit 15. Each robot 10 receives the updated items in the allocation table from the first robot 10a via the first communication unit 15 and sets them in its own robot's allocation table.

[0122] The determination unit of the modified robot 10 (second robot 10b) determines whether to evacuate the other robot 10 (first robot 10a) from the spatial resource SR if the other robot 10 is already present in the spatial resource SR when the robot is using the spatial resource SR. Based on the determination result, the decision unit decides to evacuate the other robot 10 from the spatial resource SR. In this case as well, the robot management system 1 is able to appropriately manage the spatial resource.

[0123] (Modification 7 of Embodiment 1) Even if the management server 20 is not omitted, the first storage unit 16 of each robot 10a, 10b may have a priority table 242, priority table 242a, or priority table 242b. In this case, the control unit 172 of each robot 10a, 10b transmits the priority as target information, and the determination unit 252 of the management server 20 determines, in step S204 of Embodiment 1, whether the priority of the second robot 10b is higher than the priority of the first robot 10a, based on the transmitted priority. In this modified example, S203 described in Embodiment 1 is omitted. Also, in the second storage unit 24, each priority table is omitted.

[0124] In S102 or S108 of Figure 4, the control unit 172 of each robot 10 further refers to the purpose of use and priority included in the priority tables 242, 242a, and 242b stored in the first storage unit 16 to identify the priority as purpose information. Each control unit 172 identifies the priority by the same process as described in S203 in Embodiment 1. In S103 or S109, the control unit 172 transmits the priority, including the resource ID and usage time of the spatial resource SR, along with the usage request, to the management server 20 via the first communication unit 15.

[0125] The management server 20 receives the usage request along with the priority via the second communication unit 23. When S105, as described in Embodiment 1, is executed, the management unit 256 of the management server 20 stores the allocation flag, the robot ID of the robot 10 (first robot 10a) that sent the usage request, the priority, and the usage time in the allocation table 245, in association with the resource ID of the allocated spatial resource SR.

[0126] In S204 of Figure 5, the determination unit 252 of the management server 20 compares the priority included in the allocation table 245 with the priority included in the purpose information of the requested robot 10. The determination unit 252 determines whether the priority of the requested robot 10 is higher than the priority of the robot 10 to which the target spatial resource SR has been allocated. This allows the robot management system 1 to remove robots that have already been allocated the spatial resource SR from the spatial resource SR, according to the priority of the spatial resource SR.

[0127] (Other modifications of Embodiment 1) The decision unit 254 may determine priority using two or three of the following: purpose of use and purpose of stay, availability of alternative routes, and urgency. The decision unit 254 may determine priority using only the purpose of use and purpose of stay. The decision unit 254 may identify priority using other information in addition to the purpose of use and purpose of stay.

[0128] Whether or not there is an alternative route, or whether or not there is an emergency, may be determined not by the first processing unit 17 of the robot 10, but by the second processing unit 25 of the management server 20. The second processing unit 25 determines whether or not there is an alternative route based on the relationship between the resource ID included in the purpose of use of the robot 10 that sent the request to use the spatial resource SR, and the existence or absence of an alternative route associated with the resource ID included in the spatial resource table 244.

[0129] The second processing unit 25 identifies the current location of the robot 10 that sent the request to use the spatial resource SR, based on the robot ID of the robot 10 that sent the request and the current location associated with the robot ID included in the robot table 243. The second processing unit 25 identifies the purpose of use of the robot 10 that sent the request as a high-priority transit purpose if the current location matches the location of the anomaly included in the anomaly signal, and the purpose of use included in the purpose information sent with the request is a transit purpose.

[0130] Those skilled in the art will understand that various changes, substitutions, and modifications can be made without departing the scope of the present invention. For example, the embodiments and modifications described above may be combined as appropriate within the scope of the present invention.

[0131] 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]

[0132] 1 robot management system, 10 robots, 172 control units, 20 management servers, 252 determination unit, 253 receiving unit, 254 decision unit, 255 transmitting unit

Claims

1. A robot management system comprising a first autonomously mobile robot, a second autonomously mobile robot, and a management server for managing the first and second robots, The first robot and the second robot are It has a control unit that transmits requests for the use of spatial resources, The aforementioned management server A receiving unit that receives the aforementioned usage request, A decision unit that allocates spatial resources to the robot that sent the aforementioned usage request, The system includes a transmitting unit that, upon receiving the usage request from the second robot, transmits a retreat instruction to the first robot if the spatial resources have already been allocated to the first robot. A robot management system characterized by the following features.

2. The aforementioned management server The system further includes a determination unit that determines whether or not to issue the retraction instruction to the first robot based on information obtained from the first robot or the second robot, The transmitting unit transmits the retraction instruction based on the determination result of the determination unit. The robot management system according to claim 1.

3. The determination unit determines whether or not to issue the evacuation instruction based on time information relating to the use of the spatial resources by the first robot or the second robot. The robot management system according to claim 2.

4. The aforementioned time information is, The remaining time for the first robot to utilize the spatial resources, the time required for the second robot to utilize the spatial resources, or the grace period for the work schedule including the use of the spatial resources by the second robot. The robot management system according to claim 3.

5. The control unit transmits information regarding the remaining battery level of the second robot. The determination unit determines whether or not to issue the evacuation instruction based on the remaining battery level of the second robot. The robot management system according to claim 2.

6. The control unit transmits, along with the usage request, type information relating to the type of the second robot or purpose information relating to the purpose of using the spatial resource. The determination unit determines whether or not to issue the evacuation instruction based on the type information or the purpose information. The robot management system according to claim 2.

7. The aforementioned determination unit, If the priority of the second robot to use the spatial resources is higher than the priority of the first robot, it is decided to issue the retreat instruction. The robot management system according to claim 1 or 2.

8. The aforementioned determination unit, If the spatial resource is passable to both the first robot and the second robot, it is decided to move the first robot out of the spatial resource. If the spatial resource is impassable for both the first robot and the second robot, it is decided to move the first robot outside the spatial resource. The robot management system according to claim 1 or 2.

9. A management server that is connected to a first autonomously mobile robot and a second autonomously mobile robot in a communication manner and manages the first robot and the second robot, A receiving unit that receives requests for the use of spatial resources from the first robot and the second robot, A decision unit that allocates spatial resources to the robot that sent the aforementioned usage request, A transmitting unit that, upon receiving the usage request from the second robot, transmits a retreat instruction to the first robot if the spatial resources have already been allocated to the first robot, A management server characterized by having the following features.

10. A robot that is capable of autonomous movement and can communicate with other autonomously moving robots, The receiving unit receives a request to use spatial resources from the aforementioned other robot, When a robot receives the aforementioned request for use from another robot, if it is currently residing in the spatial resource, the determination unit determines whether or not to evacuate from the spatial resource. A robot characterized by having the following features.

11. A robot that is capable of autonomous movement and can communicate with other autonomously moving robots, When using a spatial resource, if another robot is present in the spatial resource, a determination unit determines whether or not to evacuate the other robot from the spatial resource. A transmitting unit that transmits an evacuation instruction to the other robot, A robot characterized by having the following features.

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