Business plan making device and business plan making method

Abstract

The present disclosure aims to provide a service planning device and a service planning method that can implement a service of an autonomous mobile body without stoppage when adjustment of the service is required. The service planning device according to the present disclosure includes: a movement planning unit that prepares in advance a service plan in which a service performed by at least one autonomous mobile body in a predetermined period is allocated; a plan change judgment unit that, during the period in which the autonomous mobile body is implementing the service plan, evaluates a priority of a newly generated service, i.e., a new service, when the new service is received, and judges whether to change the service plan based on the priority; and a plan change unit that changes the service plan during the period in which the autonomous mobile body is implementing the service plan.

Description

Technical Field

[0001] This disclosure relates to a business plan development apparatus and a business plan development method for developing business plans for autonomous mobile entities. Background Technology

[0002] Recently, with the decline in the working-age population, service robots are being introduced to perform tasks such as cleaning or security in office buildings and train stations. These robots are operated by having their plans and actions pre-programmed or appropriately set by managers. When managers manually set these tasks, limitations such as robot performance, the timing of charging, and ensuring they don't interfere with the movement of people indoors in office buildings require individual task allocation. Furthermore, if tasks increase or diversify, planning becomes complex and inefficient, potentially leading to over-investment, such as securing more robots than needed.

[0003] Previously, technologies have been disclosed that determine the necessity of charging based on the robot's remaining battery level, and if charging is deemed necessary, reschedule operations accordingly (see, for example, Patent Document 1). Additionally, technologies have been disclosed that allow autonomous mobile units to adjust their operations relative to each other or with humans when adjustments to their operations are required (see, for example, Patent Document 2). In Patent Document 2, the times when adjustments are needed include situations where scheduling overlaps result in operations that the autonomous mobile unit cannot perform, and situations where there is a possibility of collision with other autonomous mobile units or humans during movement.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-106919

[0005] Patent Document 2: Japanese Patent Application Publication No. 2018-5799 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In Patent Document 1, when replanning operations, the entire robot plan needs to be rewritten from scratch. Furthermore, in Patent Document 2, when adjusting operations, the autonomous mobile units requiring adjustment need to share or relocate operations with other autonomous mobile units. Thus, previously, there was a possibility of operational stagnation for autonomous mobile units when adjustments were needed.

[0008] This disclosure was made to solve such problems, and aims to provide a service planning apparatus and a service planning method that enable the uninterrupted implementation of services by an autonomous mobile entity when service adjustments are required.

[0009] Solution for solving the problem

[0010] To address the aforementioned issues, the service plan formulation apparatus based on this disclosure comprises: an action plan unit that pre-formulates a service plan allocating services to be performed by at least one autonomous mobile unit during a predetermined period; a plan change determination unit that, while the autonomous mobile unit is implementing the service plan, evaluates the priority of a newly generated service (i.e., a new service) when it receives such a service, and determines whether to change the service plan based on the priority; and a plan change unit that changes the service plan while the autonomous mobile unit is implementing the service plan.

[0011] The effects of the invention

[0012] According to this disclosure, when adjustments to services are required, the services of autonomous mobile entities can be implemented without interruption.

[0013] The purpose, features, methods, and advantages of this disclosure become clearer from the following detailed description and accompanying drawings. Attached Figure Description

[0014] Figure 1 This is a structural diagram of an autonomous mobile system that utilizes a business planning device based on Implementation Method 1.

[0015] Figure 2 This is a diagram used to illustrate the business database based on Implementation Method 1.

[0016] Figure 3 This is a diagram used to illustrate the autonomous mobile body database based on Implementation Method 1.

[0017] Figure 4 This is a diagram used to illustrate the charger database based on Implementation Method 1.

[0018] Figure 5 This is a diagram used to illustrate the business plan of the autonomous mobile entity based on Implementation Method 1.

[0019] Figure 6 This is a flowchart illustrating the operation of the business planning device based on Implementation Method 1.

[0020] Figure 7 This is a flowchart illustrating the operation of the business planning device based on Implementation Method 1.

[0021] Figure 8 This is a diagram used to illustrate the scope of plan changes based on the business plan in Implementation Method 1.

[0022] Figure 9 This is a structural diagram of an autonomous mobile system that utilizes a business planning device based on Implementation Method 2.

[0023] Figure 10 This is a diagram used to illustrate the business plan of the autonomous mobile entity based on Implementation Method 2.

[0024] Figure 11 This is a diagram used to illustrate the rescue operation based on Implementation Method 2.

[0025] Figure 12 This is a structural diagram of an autonomous mobile system that utilizes a business planning device based on Implementation Method 3.

[0026] Figure 13 This is a diagram used to illustrate a high-probability service based on implementation method 3.

[0027] Figure 14 This is a diagram used to illustrate the business plan of the autonomous mobile entity based on implementation method 3.

[0028] Figure 15 This is a diagram used to illustrate the business plan of the autonomous mobile entity based on implementation method 3.

[0029] Figure 16 This is a flowchart illustrating the operation of the business planning device based on Implementation Method 3.

[0030] Figure 17 This is a diagram illustrating an example of the hardware structure of a business planning device based on implementation methods 1 to 3.

[0031] Figure 18 This is a diagram illustrating an example of the hardware structure of a business planning device based on implementation methods 1 to 3.

[0032] (Explanation of reference numerals in the attached diagram)

[0033] 1: Business planning device; 2: Autonomous mobile unit control device; 3: Autonomous mobile unit; 4: Information terminal; 5: Wireless communication device; 6: Charger; 11: Autonomous mobile unit database; 12: Business database; 13: Charger database; 14: Indoor map database; 15: Action planning unit; 16: Movement route planning unit; 17: Charge volume prediction unit; 18: Plan change judgment unit; 19: Business buffer; 20: Plan change unit; 21: Rescue request unit; 22: Business learning generation unit; 23: Processing circuit; 24: Processor; 25: Memory. Detailed Implementation

[0034] The following description of the embodiments uses the accompanying drawings. Furthermore, in each drawing, the same or equivalent parts are given the same reference numerals. Additionally, repeated descriptions of the same or equivalent parts are simplified or omitted where appropriate.

[0035] <Implementation Method 1>

[0036] <1-1. Structure>

[0037] Figure 1 This is a structural diagram of an autonomous mobile system that utilizes the business planning device 1 based on implementation method 1.

[0038] like Figure 1 As shown, the autonomous mobile system includes a business planning device 1, an autonomous mobile control device 2, an autonomous mobile body 3, an information terminal 4, a wireless communication device 5, and a charger 6.

[0039] Multiple information terminals 4 are carried by multiple individuals or installed indoors within the building. Information terminals 4 may be wearable devices such as smartphones, or information boards installed within the building. Furthermore, in Figure 1 The example shows a scenario with two information terminals 4, but it is not limited to this; at least one information terminal 4 is sufficient.

[0040] Multiple autonomous mobile bodies 3 are configured within specific areas indoors or outdoors of a building. The autonomous mobile body 3 is a device that moves autonomously without human intervention. Examples of autonomous mobile bodies 3 include robots or personal mobility devices. Alternatively, the autonomous mobile body 3 could also be, for example, driverless taxis or large transport robots. Furthermore, in... Figure 1 The example shows a scenario with two autonomous mobile bodies 3, but it is not limited to this; at least one autonomous mobile body 3 is required.

[0041] Multiple wireless communication devices 5 are installed indoors in the building. Each wireless communication device 5 is capable of wireless communication with each information terminal 4. Furthermore, in Figure 1 The example shows a scenario with two wireless communication devices 5, but it is not limited to this; at least one wireless communication device 5 is sufficient.

[0042] The autonomous mobile body control device 2 is installed indoors in the building. The autonomous mobile body control device 2 controls its respective main mobile body 3.

[0043] The business planning device 1 includes an autonomous mobile body database 11, a business database 12, a charger database 13, an indoor map database 14, an action planning unit 15, a movement route planning unit 16, a charging volume prediction unit 17, a plan change judgment unit 18, a business buffer 19, and a plan change unit 20.

[0044] Business database 12 stores information related to the business of autonomous mobile body 3. Figure 2 This diagram illustrates the service database 12. Services stored in the service database 12 refer to tasks requested by the user of the service planning device 1 from the autonomous mobile unit 3. The user of the service planning device 1 registers the services requested by the autonomous mobile unit 3 in the service database 12.

[0045] For example, business database 12 stores business information associated with each business using business IDs. Business information includes at least the content of the business, the location of its implementation, and the start and end times of its implementation. Additionally, business information may also include the required time for the business, the implementation conditions, the implementation interval, and its importance compared to other businesses. In the diagram, importance is represented as "A or B or C or...", but only one of these is actually shown. For example, importance A could be set as the highest, with importance decreasing in the order of B, C, etc. For example, businesses with higher importance are prioritized for earlier times within a given time period. Furthermore, for example, charging and movement are businesses for autonomous mobile body 3, but they are not registered in business database 12.

[0046] The autonomous mobile entity database 11 stores information related to the autonomous mobile entity 3. Figure 3 This is a diagram used to illustrate the autonomous mobile entity database 11. The autonomous mobile entity database 11 stores the individual identifier of the autonomous mobile entity 3, the services that the autonomous mobile entity 3 can perform, the current charge level of the autonomous mobile entity 3, and the current location of the autonomous mobile entity 3.

[0047] The charger database 13 stores information related to the charger 6 used when the autonomous mobile body 3 is charging. Figure 4 This is a diagram used to illustrate the charger database 13. The charger database 13 stores the individual identifier of the charger 6, the location of the charger 6, and the state of the charger 6 accordingly.

[0048] The indoor map database 14 stores and configures information related to the indoor maps of buildings of the autonomous mobile body 3.

[0049] The charging quantity prediction unit 17 predicts the charging quantity of each host mobile unit 3. For example, the charging quantity prediction unit 17 predicts the time change of the charging quantity of each host mobile unit 3 based on information from the autonomous mobile unit control device 2. The information obtained by the charging quantity prediction unit 17 from the autonomous mobile unit control device 2 includes the current charging quantity of each host mobile unit 3.

[0050] The movement path planning unit 16 formulates the movement path for each main mobile body 3. For example, the movement path planning unit 16 formulates the movement path from the departure point to the destination point for each main mobile body 3 based on information from the autonomous mobile body control device 2, information stored in the charger database 13, information stored in the autonomous mobile body database 11, and information stored in the indoor map database 14.

[0051] The action planning unit 15 pre-formulates a service plan that allocates services to each primary mobile unit 3 for a predetermined period (planned period). For example, the action planning unit 15 allocates services to each primary mobile unit 3 in a manner that ensures the charging amount of each primary mobile unit 3 is not less than the required amount during the period. Then, it determines the start and end times of the services for each primary mobile unit 3, as well as the start and end times of movement for each primary mobile unit 3. The planned period for the service plan may be, for example, one day, several hours, or one week. Before the end of the planned period of the currently executed service plan, the action planning unit 15 formulates a service plan for the next planned period (pre-planned service plan). The pre-planned service plan may be formulated, for example, always 10 minutes before the start of the planned period, or when the user of the service plan formulation device 1 requests the formulation of a service plan before the start of the planned period.

[0052] When the plan change judgment unit 18 receives a new service, it instructs the plan change unit 20 to change the service plan. A new service refers to a service that arises during the period when the autonomous mobile unit 3 is implementing its service plan. For example, a user of information terminal 4 requests the implementation of a new service by operating the information terminal 4. Alternatively, for example, the necessity of a service is determined based on information from sensors or cameras installed on the autonomous mobile unit 3 or a building, and the necessary service is requested as a new service. In this case, the determination of the necessity of the service and the request to implement the new service can also be made by the autonomous mobile unit control device 2 or a wireless communication device 5 capable of communicating with sensors or cameras installed on the building.

[0053] The Planning Change Department 20 modifies the service plan of the autonomous mobile unit 3. For example, when the Planning Change Judgment Department 18 receives an instruction to modify the service plan, the Planning Change Department 20 modifies the service plan of the autonomous mobile unit 3. Modifying the service plan means allocating new services and services already allocated to each autonomous mobile unit 3 that the Planning Change Department 20 determines require reassessment and allocation to the autonomous mobile unit 3. The method for allocating such services to the autonomous mobile unit 3 is the same as the method used by the Action Planning Department 15 for service allocation.

[0054] Here, regarding the business plan for Autonomous Mobile Unit 3, the following is used: Figure 5 Please provide an explanation.

[0055] like Figure 5As shown, for example, the service planning device 1 formulates service plans for autonomous mobile body 3 of "R01", autonomous mobile body 3 of "R02", and autonomous mobile body 3 of "R03". Specifically, the service planning device 1 formulates service plans that include the date and time of implementing services such as service "001", service "002", and service "003" selected from services stored in the service database 12, as well as the movement path to the implementation location of the service.

[0056] <1-2. Actions of the Action Planning Department>

[0057] Figure 6 This is a flowchart representing the actions of the Action Planning Department 15, showing the actions taken by the Action Planning Department 15 when it formulates a business plan in advance.

[0058] In step S1, the action planning unit 15 selects the next task to be assigned, i.e., the next task. The action planning unit 15 selects the next task, for example, by the following method.

[0059] • Select the business with the earliest start time from business database 12 as the next business.

[0060] • Select the business with the earliest end time from the business database 12 as the next business.

[0061] • Select the business with the earliest elapsed time from the business database 12 when the required time has elapsed since the business started at the start time as the next business.

[0062] • Select the business with the earliest time from the business database 12 to ensure that the business needs to be terminated at the end time as the next business.

[0063] • Select the business whose implementation location is closest to the implementation location of the next business from the business database 12, or whose travel time to the next implementation location is the shortest, as the next business.

[0064] • Select the business with the highest importance from business database 12 as the next business.

[0065] • Select the business with the highest value of the evaluation function calculated based on importance and required time from the business database 12 as the next business.

[0066] In step S2, the action planning unit 15 selects one autonomous mobile unit 3 from the autonomous mobile unit database 11 that can implement the next service. For example, the action planning unit 15 selects an autonomous mobile unit 3 that is not scheduled to perform a service during the period from the start time to the end time of the next service. Hereinafter, the service that is implemented immediately before the next service in the service plan of the selected autonomous mobile unit 3 will be referred to as the "immediately preceding service," and the service that is implemented immediately after the next service will be referred to as the "immediately following service."

[0067] In step S3, the action planning unit 15 obtains the movement path of the autonomous mobile body 3 selected in step S2 from the movement path planning unit 16. Specifically, the movement path planning unit 16 determines the time when the autonomous mobile body 3 begins to move from the location immediately following the previous service to the location of the next service. For example, if the period from the end of the previous service to the start of the next service includes a time period during which movement is suppressed in areas such as areas with congestion, the movement path planning unit 16 determines the start and end times of the autonomous mobile body 3's movement in a time period that does not include the time period during which movement is suppressed in the area. Similarly, the movement path planning unit 16 determines the movement path from the location of the next service to the location of the immediately following service. The action planning unit 15 obtains the movement path determined by the movement path planning unit 16.

[0068] In step S4, the action planning unit 15 determines whether the autonomous mobile body 3 selected in step S2 can catch the start time of the next service when moving from the location of the service immediately following the previous service to the location of the next service via the movement path determined in step S3. Furthermore, if the service immediately following the next service has already been determined in the service plan of the autonomous mobile body 3, it also determines whether it can catch the start time of the next service when moving from the location of the next service to the location of the next service.

[0069] If the start time of the next service or the immediately following service cannot be reached in step S4, return to step S2. On the other hand, if the start time of the next service or the immediately following service can be reached in step S4, proceed to step S5.

[0070] In step S5, the action planning unit 15 obtains the result of predicting the time change of the charging amount of the autonomous mobile body 3 from the charging amount prediction unit 17.

[0071] In step S6, the action planning unit 15 determines whether the charging capacity of the autonomous mobile unit 3 selected in step S2 is sufficient at any time during the planning period. For example, the action planning unit 15 determines whether the charging capacity of the autonomous mobile unit 3 meets the margin required to reach the installation location of the charger 6 after the next service is implemented. Regarding the charging capacity required for the autonomous mobile unit 3 to implement the service, it can be learned, for example, based on the actual power consumption generated by the service implementation. In addition, regarding the charging capacity required for movement between services, it can be learned, for example, based on the actual performance of past movements.

[0072] If the autonomous mobile body 3 is undercharged in step S6, the process returns to step S2. Conversely, if the autonomous mobile body 3 is undercharged in step S6, the process proceeds to step S7.

[0073] In step S7, the action planning unit 15 plans the charging of the autonomous mobile body 3 selected in step S2.

[0074] In step S8, the action planning unit 15 saves the next business planned up to this point, the movement to the next business implementation location, and the charging schedule as the business plan for the autonomous mobile body 3 selected in step S2.

[0075] In step S9, the action planning unit 15 determines whether a service plan for the autonomous mobility entity 3 has been formulated for all services stored in the service database 12. If no service plan for the autonomous mobility entity 3 has been formulated for all services in step S9, the process returns to step S1. On the other hand, if a service plan for the autonomous mobility entity 3 has been formulated for all services in step S9, the process ends. Figure 6 The actions shown. In addition, in step S9, for example, the judgment condition may be whether a business plan has been formulated in a way that includes the number of business items pre-set from the business database 12, or whether a business plan has been formulated in a way that includes all the business items that should be implemented in the next planning period.

[0076] <1-3. Actions of the Plan Change Judgment Department>

[0077] When the plan change judgment unit 18 receives a new service, it instructs the plan change unit 20 to change the service plan. Specifically, when the plan change judgment unit 18 receives a new service, it calculates the evaluation function value of the new service. The evaluation function is used to calculate the priority of the new service, and can be calculated based on the start time, end time, required time, and importance of the new service. For example, the evaluation function f of the new service x can be represented by the following equation (1). c (x).

[0078] [Number 1]

[0079]

[0080] In equation (1), T now It is the moment when the new service x is received. T st This marks the beginning of new business X. en This is the end point for new business x. T req α represents the time required for the new business x. α represents the importance of the new business x. k is a parameter, an integer greater than or equal to 1.

[0081] In the evaluation function f c In (x), if the start time T of the new business x is... st and the end time T en Approach time T now Then the evaluation function value increases. Additionally, when the importance α is high, or when the required time T... req In cases where the time frame is long, the evaluation function value also increases. Furthermore, when the next planning period is about to begin, the Action Planning Department 15 can allocate new business when formulating the next business plan; therefore, it is also possible to add a term where the evaluation function value decreases if the time before formulating the next business plan is short.

[0082] Next, the plan change judgment unit 18 determines whether to instruct the plan change unit 20 to change the business plan based on the evaluation function value of the new business. For example, the plan change judgment unit 18 classifies the priority of the new business into three levels based on the evaluation function value, setting the highest level as level 3 and the lowest level as level 1.

[0083] When the Plan Change Judgment Department 18 determines that the priority of the new business is level 3, it sends a request to change the business plan and the business information of the new business to the Plan Change Department 20.

[0084] When the plan change judgment unit 18 determines that the priority of a new business is level 2, it stores the business information of the new business in the business buffer 19. Then, when the backlog of businesses with priority level 2 reaches a predetermined amount, the plan change judgment unit 18 sends the business information stored in the business buffer 19 to the action planning unit 15.

[0085] When the plan change judgment unit 18 determines that the priority of a new business is level 1, it stores the business information of the new business in the business buffer 19. Then, when the action planning unit 15 formulates the next business plan, the plan change judgment unit 18 sends the business information stored in the business buffer 19 to the action planning unit 15.

[0086] Furthermore, the service buffer 19 can also be integrated with the service database 12. In this case, services originally existing in the service database 12 can be distinguished from new services acquired by the plan change judgment unit 18 by adding flags or other methods to the services originally existing in the service database 12.

[0087] <1-4. Actions of the Planning Changes Department>

[0088] Figure 7 This is a flowchart illustrating the actions of the Planning Change Department 20, showing the procedures performed when the Planning Change Department 20 modifies the business plan. The Planning Change Department 20 modifies the business plan when a request for modification of the business plan is received from the Planning Change Judgment Department 18.

[0089] In step S11, the planning change unit 20 studies the allocation of new business sent from the planning change judgment unit 18. Furthermore, the method for allocating new business to the business plan follows... Figure 6 The actions of the action plan unit 15 shown are therefore omitted here.

[0090] In step S12, the planning change department 20 determines whether the allocation of the new service was successful. If the allocation of the new service was successful, the process ends. Figure 7 The actions shown. On the other hand, if the allocation of new business is unsuccessful, proceed to step S13.

[0091] In step S13, the planning change unit 20 selects the scope of the change plan from the existing service plans formulated for the autonomous mobile unit 3. The services included in the scope of the change plan are those already allocated in the service plans of the autonomous mobile unit 3 that is the target of the change plan. The autonomous mobile unit 3 that is the target of the change plan has the capability to implement new services; for example, all autonomous mobile units 3 currently implementing service plans can be the target. Furthermore, the services in the change plan can be, for example, all services after the change date of the plan, or services scheduled to be implemented within one hour of the change date. Figure 8 In the example, services “003” and “303” in the service plan of autonomous mobile body 3 of “R03” are within the scope of the change plan (plan change scope) selected by the plan change unit 20 in step S13.

[0092] In step S14, the planning change unit 20 determines the allocation of all services based on the new services sent from the planning change judgment unit 18 and services included in the scope of the change plan selected in step S13. Furthermore, the processing in step S14 follows... Figure 6 The actions of the action plan unit 15 shown are therefore omitted here.

[0093] In step S15, the planning change unit 20 determines whether the allocation of all services in step S14 was successful. If the allocation of all services was successful in step S15, the process ends. Figure 7 The actions shown are as follows. On the other hand, if the allocation of all services fails in step S15, the process returns to step S13.

[0094] As explained above, in step S11, the allocation of new services is studied without changing the services that have already been allocated, thus avoiding changes to the allocation of unnecessary services.

[0095] Furthermore, when selecting the planned scope of change in step S13, initially, for example, a portion of the services of a specific autonomous mobile unit 3 can be selected as the scope of change. Then, if the desired allocation of all services cannot be achieved, the scope of change can be expanded again in step S13, thereby limiting the scope of change to a small range. In this case, as an initial method for selecting the scope of change, for example, the services of the autonomous mobile unit 3 with the longest standby time during the available implementation period of the added new services can be selected as the scope of change. Furthermore, regarding the services included in the scope of change for that autonomous mobile unit 3, for example, the selection can be made in a way that ensures the total implementation time of the changed services exceeds the implementation time of the new services.

[0096] <1-5 Effects>

[0097] Based on the above, when a new service is generated during the implementation of the service plan of the autonomous mobile unit 3, the service plan formulation device 1 of Implementation Method 1 determines whether to change the service plan based on the service information of the new service, and automatically changes the service plan if necessary. Therefore, when service adjustments are required, the service of the autonomous mobile unit 3 can be implemented without interruption.

[0098] In addition, by changing the business plan, the risk of the business plan becoming less efficient can be minimized.

[0099] <Implementation Method 2>

[0100] Implementation 1 describes the situation where the business plan is changed when a new business (service) that did not exist in the prior business plan is generated. Implementation 2 describes the situation where the business plan cannot be implemented due to unexpected events occurring in the autonomous mobile unit 3, such as a malfunction.

[0101] <2-1. Structure>

[0102] Figure 9This is a structural diagram of an autonomous mobile system using the service planning device 1 based on Embodiment 2. The service planning device 1 based on Embodiment 2 is characterized by having a rescue request unit 21. Other structures are the same as those of the service planning device 1 based on Embodiment 1 (see [reference]). Figure 1 Similarly, detailed explanations are omitted here.

[0103] When a disruption occurs in the service plan of the autonomous mobile unit 3 during its implementation, the rescue request unit 21 requests a change to the service plan from the plan modification unit 20 to provide appropriate assistance. Examples of disruptions in the service plan include situations where the autonomous mobile unit 3 fails to complete the service before the scheduled end time or fails to move to the service location before the start time. In other words, when the autonomous mobile unit 3's service implementation fails, the rescue request unit 21 notifies the plan modification unit 20 of the failed service as a rescue request.

[0104] As a method for the rescue request unit 21 to detect confusion in the service plan, one approach is as follows: when the autonomous mobile unit 3 fails to implement a service, the autonomous mobile unit 3 sends a service failure notification to the rescue request unit 21. Another approach is as follows: whenever a service allocated in the service plan is completed, the autonomous mobile unit 3 sends a service completion notification to the rescue request unit 21, and the rescue request unit 21 determines services for which a service completion notification has not been delivered before a predetermined end time as services for which the autonomous mobile unit 3 has failed.

[0105] <2-2. Actions of the Request for Assistance>

[0106] Regarding the actions of Rescue Request Department 21, using... Figure 10 , Figure 11 Please provide an explanation.

[0107] When the rescue request unit 21 receives a service failure notification from the autonomous mobile unit 3, or determines that a service of the autonomous mobile unit 3 has failed, it generates a rescue service. Furthermore, in the event of a service failure of the autonomous mobile unit 3, it is necessary to reassess the subsequent service plans of the autonomous mobile unit 3. Therefore, the rescue request unit 21 cancels the service plans following the failed service, treats the canceled service as a new service, and sends the service information along with the rescue service to the plan change determination unit 18, thereby requesting a change to the service plan. Regarding the scope of the canceled service plans, it can be, for example, all services following the failed service within the planning period, or it can be the closest set of services deemed to have been affected by the service failure.

[0108] For example in Figure 10Service "102" of autonomous mobile unit 3, designated "R01", fails. At this time, the rescue request unit 21 is configured to re-evaluate all service plans following the failed service "102", and services "004" and "204" are sent as new services to the plan change judgment unit 18. Furthermore, if only a portion of the services are cancelled, the rescue request unit 21, for example, estimates the travel time using the mobility route planning unit 16, and determines whether it can catch up with the start time of the closest service to be implemented.

[0109] The rescue operation is used to enable autonomous mobile unit 3 to continue performing the failed operation, or to enable other autonomous mobile units 3 to perform the failed operation. For example, such as... Figure 11 As shown, rescue operations include not only the start time, end time, location, and time required, but also the individuals who can be rescued and the level of urgency.

[0110] An implementable entity refers to an autonomous mobile unit 3 that is capable of or should perform rescue operations. For example, if an autonomous mobile unit 3 fails to terminate a certain service on time and is required to continue performing that service, only that autonomous mobile unit 3 is designated as an implementable entity. On the other hand, if an autonomous mobile unit 3 malfunctions or fails to perform a certain service, and it is determined that the autonomous mobile unit is unable to continue performing the service, another autonomous mobile unit 3 other than that autonomous mobile unit 3 is designated as an implementable entity.

[0111] The urgency level of a rescue operation indicates its urgency. Urgency is, for example, divided into three levels. In this case, if the urgency is highest, implementation is required immediately after the operation plan is reassessed by the Planning Change Department 20. If the urgency is moderate, implementation is required within one hour of the revised operation plan. If the urgency is lowest, implementation is required somewhere within the planned period of the currently implemented operation plan. Furthermore, in the diagram, urgency is indicated as "A or B or C or...", but only one of these is actually shown. For example, it could be set that urgency level A is the highest, with urgency decreasing in the order of urgency levels B, C, etc.

[0112] <2-3. Actions of the Plan Change Judgment Department>

[0113] This explains the actions of the plan change judgment unit 18 when it receives business information about a rescue operation from the rescue request unit 21.

[0114] The service information sent from the rescue request unit 21 includes service information for rescue operations and service information for operations cancelled from the service plan. The plan change determination unit 18 determines, as described in Embodiment 1, whether to instruct the plan change unit 20 to change the service plan for all these services.

[0115] However, in Implementation 2, it is clear that the service plans of some autonomous mobile units 3 have become chaotic due to the failure of certain services. Therefore, regardless of the evaluation function value of the service information, a request to change the service plan is made to the plan change unit 20. At this time, the service information sent to the plan change unit 20 may be, for example, service information of all services stored in the service buffer 19, service information of a portion of services stored in the service buffer 19, or only service information of services sent from the rescue request unit 21.

[0116] <2-4. Actions of the Planning Changes Department>

[0117] When the Planning Change Unit 20 receives an instruction to change the service plan from the Planning Change Judgment Unit 18, it changes the service plan of the autonomous mobile unit 3. At this time, the Planning Change Unit 20 changes the service plan for rescue services based on the urgency of the rescue service. The method for allocating services to the autonomous mobile unit 3 is the same as the method for allocating services by the Action Planning Unit 15.

[0118] <2-5. Effects>

[0119] Based on the above, in the event that an autonomous mobile unit 3 fails to complete its business according to the business plan due to a malfunction or other reasons, the business plan formulation device 1 based on Implementation Method 2 automatically modifies the business plan by considering the urgency of the failed business. Therefore, when adjustments to the business are needed, the autonomous mobile unit 3 can continue to perform its business without interruption.

[0120] <Implementation Method 3>

[0121] Implementation 1 describes a scenario where a business plan is modified based on the priority of a new business when it arises. Implementation 3 describes a scenario where the allocation of predicted business is simplified by predicting the business generated during the implementation of the business plan.

[0122] <3-1. Structure>

[0123] Figure 12 This is a structural diagram of an autonomous mobile system applying the business planning device 1 based on Embodiment 3. The business planning device 1 based on Embodiment 3 is characterized by having a business learning generation unit 22. Other structures are the same as those of the business planning device 1 based on Embodiment 1 (see [reference]). Figure 1 Similarly, detailed explanations are omitted here.

[0124] Whenever a new business is generated during the planning period of a business plan, the Business Learning Unit 22 receives the business information of that new business from the Plan Change Judgment Unit 18. Then, the Business Learning Unit 22 stores and learns the business information of the received new businesses for each planning period, for example, calculating the probability of the new business being generated for each time period or business content.

[0125] Regarding businesses that, based on the learning results from the Business Learning Department 22, are judged to have a probability of, for example, α% or higher during the implementation of the business plan, as such... Figure 13 The high-probability services shown are stored in service database 12. Regarding the high-probability services stored in service database 12, such as... Figure 14 As shown, the allocation will be made when formulating the next business plan.

[0126] Subsequently, when new business arises during the implementation of the business plan, if this new business is included in a business with a high probability of generation, then... Figure 7 In step S11, the high-probability service is replaced with a new service, thereby allocating the high-probability service in the service plan. If the new service is not included in the high-probability services, the new service is allocated in the service plan using the process described in Implementation 1.

[0127] Furthermore, a high-probability business is not necessarily a single business; it can also be a series of consecutive businesses that generate with a high probability.

[0128] <3-2. How to deal with inaccurate predictions>

[0129] To address the issue of inaccurate forecasts of new business generation, use... Figure 15 Please provide an explanation. The explanation is as follows: Figure 15 The case where a high-probability service allocated in the service plan of autonomous mobile body 3, as shown, does not occur at time T1.

[0130] If a service allocated as a high-probability service in the service plan of Autonomous Mobile Unit 3 does not actually occur, Autonomous Mobile Unit 3 will not perform operations for a period of time corresponding to the implementation period of the high-probability service. As a result, the final operational efficiency may deteriorate.

[0131] Therefore, if the predicted business (high-probability business) does not occur, the planning change department 20 automatically changes the business plan. Regarding the conditions for changing the business plan, for example, a condition could be that a high-probability business does not occur even after 50% of the predicted period has elapsed. Alternatively, if a high-probability business comprises multiple businesses, a condition could be that the number of businesses generated during the period predicted to generate that high-probability business is less than half of the predicted number.

[0132] <3-3. Actions When Changing Business Plans>

[0133] Figure 16 This is a flowchart illustrating the operation of the business plan formulation device 1 based on embodiment 3, showing the actions when changing the business plan. Figure 16 The changes to the business plan shown are made when the conditions for changing the business plan described above are met. Furthermore, assume that the conditions for changing the business plan are pre-set.

[0134] In step S21, when changing the service plan, the planning change unit 20 determines whether there are any unassigned services in the service database 12 or the service buffer 19. Unassigned services refer to services that have not been assigned to any autonomous mobile entity 3 in the currently implemented service plan.

[0135] If, in step S21, it is determined that there are no unassigned services in the service database 12 or the service buffer 19, the process proceeds to step S28. Conversely, if, in step S21, it is determined that there are unassigned services in the service database 12 or the service buffer 19, the process proceeds to step S22.

[0136] In step S22, the planning change unit 20 determines the services to be added. For example, the planning change unit 20 selects N services sequentially from those stored in the service buffer 19, starting with the services with the highest evaluation function calculated by the planning change judgment unit 18. Alternatively, the planning change unit 20, for all unallocated services, recalculates the evaluation function value based on the start time, end time, required time, and importance of each service, and selects N services sequentially starting with the service with the highest evaluation function value. Regarding the number of services selected in step S22, it can be preset by the manager, or calculated based on the standby time of the autonomous mobile unit 3 implementing the service plan. Alternatively, the addition of services can be determined not based on the number of services, but based on the sum of the implementation times of the selected services.

[0137] Regarding the actions in steps S23 to S27, if... Figure 7 If "new business" in steps S11 and S12 is replaced with "business to be added", then... Figure 7The actions of steps S11 to S15 are the same, so the explanation is omitted here.

[0138] If, in step S21, it is determined that there are no unallocated services in the service database 12 or the service buffer 19, no new service will be allocated in the service plan. As a change to the plan at this time, for example, services scheduled for later can be executed earlier, or service intervals can be left empty to allow for more flexibility in the actions of the autonomous mobile unit 3. The specific actions of steps S28 to S30 are... Figure 7 The actions in steps S13 to S15 are the same, so the explanation is omitted here.

[0139] <3-4. Effects>

[0140] Based on the above, the business planning device 1 of Embodiment 3 predicts high-probability businesses that will arise during the planning period based on past data, and formulates a business plan in advance taking into account these high-probability businesses. Therefore, if a new business arises during the planning period, and this new business is included among the high-probability businesses, changes to the business plan can be minimized.

[0141] In addition, if the number of new business generated during the planning period is lower than predicted, the efficiency of the business plan can be prevented from deteriorating by automatically reassessing the business plan.

[0142] <Hardware Structure>

[0143] In the service planning device 1 described in Embodiment 1, the functions of the action planning unit 15, movement path planning unit 16, charging volume prediction unit 17, plan change judgment unit 18, and plan change unit 20 are implemented by a processing circuit. That is, the service planning device 1 includes a processing circuit that pre-determines the service plan for each primary mobile unit 3 during a predetermined period, determines the movement path of each primary mobile unit 3, predicts the charging volume of each primary mobile unit 3, determines whether to change the service plan based on the priority of new services, and changes the service plan of the primary mobile unit 3. The processing circuit can be dedicated hardware or a processor (also called a CPU (Central Processing Unit), central processing unit, processing device, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes programs stored in memory.

[0144] When the processing circuit is dedicated hardware, such as Figure 17As shown, the equivalent of processing circuit 23 can be, for example, a single circuit, a composite circuit, a programmable processor, a parallel-programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The functions of the action planning unit 15, the movement path planning unit 16, the charging quantity prediction unit 17, the plan change judgment unit 18, and the plan change unit 20 can be implemented separately by processing circuit 23, or the functions can be combined and implemented by a single processing circuit 23.

[0145] In processing circuit 23 Figure 18 In the case of the processor 24 shown, the functions of the action planning unit 15, the movement path planning unit 16, the charging volume prediction unit 17, the plan change judgment unit 18, and the plan change unit 20 are implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and is stored in the memory 25. The processor 24 implements each function by reading and executing the program stored in the memory 25. That is, the service planning device 1 includes the memory 25, which is used to store programs that result in the execution of the service plan for each main mobile unit 3 during a pre-determined period, the steps of formulating the movement path of each main mobile unit 3, the steps of predicting the charging volume of each main mobile unit 3, the steps of determining whether to change the service plan based on the priority of new services, and the steps of changing the service plan of the autonomous mobile unit 3. In addition, these programs can also be described as programs for causing the computer to execute the process or method of the action planning unit 15, the movement path planning unit 16, the charging volume prediction unit 17, the plan change judgment unit 18, and the plan change unit 20. Here, the memory may be, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disks, floppy disks, optical disks, high-density disks, DVDs (Digital Versatile Discs), or any storage media used in the future.

[0146] Furthermore, regarding the functions of the Action Planning Unit 15, the Movement Route Planning Unit 16, the Charging Prediction Unit 17, the Plan Change Judgment Unit 18, and the Plan Change Unit 20, some functions can be implemented through dedicated hardware, while other functions can be implemented through software or firmware.

[0147] In this way, the processing circuit can implement the above functions through hardware, software, firmware, or a combination thereof.

[0148] Furthermore, the business planning device 1 described in Embodiment 1 above (refer to...) Figure 1 The hardware structure of the business planning device 1 described in Implementation 2 (see Implementation 2) is different. Figure 9 The hardware structure of the business planning device 1 described in Implementation 3 (refer to) Figure 12 The hardware structure is the same.

[0149] Furthermore, within the scope of this disclosure, the various embodiments can be freely combined, or the various embodiments can be appropriately modified or omitted.

[0150] This disclosure has been described in detail, but the foregoing description is illustrative rather than limiting in all respects. It can be understood that numerous variations not illustrated are conceivable.

Claims

1. A business planning device, comprising: The Action Planning Department develops in advance a business plan that allocates tasks to be carried out by at least one autonomous mobile unit during a predetermined period; The plan change judgment unit, when receiving a newly generated service (i.e., a new service) during the period when the autonomous mobile body is implementing the service plan, evaluates the priority of the new service and determines whether to add the new service to the service plan based on the priority. If the plan change determination unit determines that the new service is to be added, the plan change department adds the new service to the service plan while the autonomous mobile body is implementing the service plan, thereby changing the service plan. as well as A business learning department is established to learn the number of new businesses generated during the period specified in the business plan, or the time period for implementing the new businesses. The plan change judgment unit only determines to add the new business to the business plan if the priority is high. The action planning department formulates a business plan that includes high-probability businesses based on the learning results of the business generation learning department. The high-probability businesses are those predicted to be generated during the period. If the newly generated business is included in the high-probability businesses, the plan modification department replaces the high-probability businesses with the new businesses.

2. The business plan formulation apparatus according to claim 1, wherein, The plan change judgment department evaluates the priority based on the implementation period of the new business.

3. The business plan formulation apparatus according to claim 1 or 2, wherein, The plan change judgment department evaluates the priority based on the importance of the business.

4. The business plan formulation apparatus according to claim 1, wherein, The planning change department determines the scope of changes to the business plan based on the business information of the new business.

5. The business plan formulation apparatus according to claim 1, wherein, It also includes a rescue request unit, which, in the event that the autonomous mobile unit's service implementation fails, determines whether the autonomous mobile unit can continue to implement the failed service. If it determines that the service cannot continue, it notifies the planning change unit of the failed service as a rescue service request to other autonomous mobile units. The planning change department changes the business plan in a manner that includes the rescue business.

6. The business plan formulation apparatus according to claim 1, wherein, If, during the implementation of the business plan, the high-probability business does not occur within a fixed period or does not exceed a fixed quantity, the plan change department modifies the business plan.

7. The business plan formulation apparatus according to claim 1, wherein, If the plan change determination unit determines that the priority is low and does not add the new business, the plan change unit adds the new business to the business plan when formulating the next business plan.

8. A business plan development method, wherein, A business plan is developed in advance, allocating tasks to be performed by at least one autonomous mobile unit during a predetermined period. During the implementation of the service plan by the autonomous mobile entity, when a newly generated service (i.e., a new service) is received, the priority of the new service is evaluated, and a decision is made based on the priority to add the new service to the service plan. If it is determined that a new service is to be added, the service plan is modified by adding the new service to the service plan while the autonomous mobile entity is implementing the service plan. The new service will only be added to the business plan if the priority is high. This includes learning the number of new businesses generated during the period specified in the business plan, or the time period for implementing the new businesses. Based on the results of the learning, a business plan is formulated that includes high-probability businesses, which are businesses predicted to be generated during the period. If the newly generated business is included in the high-probability business, the high-probability business is replaced with the new business.

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