Management device, management method, and management program

Abstract

A management server (30) stores map information for each region in which a robot that autonomously travels outdoors and indoors travels. The management server (30) collects external information, receives a current position of the robot or a travel route of the robot from a control device that controls the robot, detects the occurrence of an event and an event occurrence area in which the event has occurred based on the external information, and determines whether the event has occurred based on the current position of the robot or the travel route of the robot. A robot located in an event occurrence area or a robot predicted to be located in the event occurrence area is determined, information related to a new travel route is determined for each robot located in the event occurrence area or each robot predicted to be located in the event occurrence area based on external information and map information, and a new travel route is determined for each robot located in the event occurrence area or each robot predicted to be located in the event occurrence area. And information relating to the new travel route is recommended to the terminal device.

Description

Technical Field

[0001] The present invention relates to a management device, a management method and a management program. Background Art

[0002] In recent years, autonomous robots have been developed to address the shortage of manpower. Autonomous robots can deliver goods, provide security, guide, clean, and transport people by driving indoors or outdoors.

[0003] Through remote operation and simultaneous control of multiple units, the driving area of ​​this autonomous driving robot is not limited to the interior of a facility and the area surrounding the facility, but is also being studied to be expanded to travel between multiple facilities and their surrounding areas, and between multiple areas and the areas.

[0004] Each robot drives autonomously by, for example, having its mission and driving route set by its own robot operator and being controlled by a control server of the robot operator.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-078618

[0008] Patent Document 2: Japanese Patent Application Publication No. 2019-079247 Summary of the invention

[0009] Problems to be solved by the invention

[0010] Here, when a certain event occurs or is predicted to occur in the area where the robot is traveling (for example, all events that interfere or may interfere with the autonomous driving of the robot, such as regional control caused by activities, traffic control, sudden heavy rain and other weather changes, hereinafter referred to as "events"), each robot operator needs to change the driving route of each robot traveling in the area where the event occurs, determine whether to stop driving, and change the timing of driving (for example, advance or delay the timing, etc.). In this case, for example, each robot operator must use external information to collect information related to the event, rewrite the driving route of the robot located in the area where the event occurs to a new driving route (a driving route that avoids the occurrence of the event, hereinafter referred to as "new driving route"), so that the robot avoids the event. On the other hand, when each robot operator determines that the robot is not affected by the occurrence of the event, it is necessary to perform normal operation (normal driving) without changing the driving route.

[0011] As the number of robots and areas expand, the areas and number of robots managed by robot operators continue to increase. In this case, robot operators must quickly change the driving routes of each robot when an event occurs. Therefore, it is also believed that the processing burden on robot operators when an event occurs becomes very high, making it difficult to quickly change the driving routes of robots.

[0012] The present invention is completed in view of the above situation, and its purpose is to provide a management device, management method and management program that can provide information for driving judgment of an autonomous driving robot and can be used to understand the impact on the driving route when an event occurs or is predicted.

[0013] Means for solving problems

[0014] In order to solve the above-mentioned problems and achieve the purpose, the management device of the present invention is characterized in that it has: a storage unit, which stores map information of various areas where the outdoor and indoor autonomously traveling robots travel; a collection unit, which collects external information; an acquisition unit, which receives the current position of the robot or the driving route of the robot from a control device that controls the robot; a detection unit, which detects the occurrence of an event and the event occurrence area where the event occurs based on the external information; a determination unit, which determines the robot located in the event occurrence area or the robot predicted to be located in the event occurrence area based on the current position of the robot or the driving route of the robot; a judgment unit, which determines information related to a new driving route for each of the robots located in the event occurrence area or each of the robots predicted to be located in the event occurrence area based on the external information and the map information; and a recommendation unit, which recommends the information related to the new driving route to the terminal device.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to assist the autonomous traveling robot in rapidly changing its traveling route when an event occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram for explaining the outline of the management system in the embodiment.

[0018] Figure 2 This is a block diagram showing an example of the configuration of the management system in the embodiment.

[0019] Figure 3 Yes means Figure 2 A block diagram of an example of the structure of the control server shown.

[0020] Figure 4 Yes means Figure 2 A block diagram showing an example of the configuration of a management server shown in FIG.

[0021] Figure 5 This is a diagram showing an example of a map image of an area.

[0022] Figure 6 This indicates driving restrictions due to an accident. Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0023] Figure 7 This indicates driving restrictions due to an accident. Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0024] Figure 8 This indicates driving restrictions due to an accident. Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0025] Fig. 9 This indicates driving restrictions due to an accident. Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0026] Fig.10 Indicates driving restrictions based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0027] Fig.11 Indicates driving restrictions based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0028] Fig.12 Indicates driving restrictions based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0029] Fig.13 Indicates driving restrictions based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0030] Fig.14 Indicates when driving restrictions are lifted based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0031] Fig.15 Indicates when driving restrictions are lifted based on weather forecasts Figure 2 FIG. 1 is a diagram showing an example of a screen of a management server shown in FIG.

[0032] Fig.16 It is a sequence diagram showing the processing procedure of the management method of the embodiment.

[0033] Fig.17 A diagram showing a computer that executes a program. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the management device, management method, and management program of the present application will be described in detail based on the drawings. In addition, the management device, management method, and management program of the present application are not limited to the embodiments.

[0035] [Implementation Method]

[0036] In the following embodiments, the processing flow of the management device and the management method of the embodiments is described in sequence, and finally the effect of the embodiments is described.

[0037] Figure 1 This is a diagram for explaining the outline of the management system in the embodiment. Figure 2 This is a block diagram showing an example of the configuration of the management system in the embodiment.

[0038] like Figure 1 , Figure 2 As shown, the management system in the embodiment has: control servers 20A, 20B (control devices), which control robots 10A-1, 10A-2, 10B-1, 10B-2 that travel autonomously outdoors and indoors; and a management server 30 (management device), which provides information related to robot control.

[0039] In the management system of the embodiment, a plurality of control servers 20A and 20B control autonomous traveling robots 10A-1, 10A-2, 10B-1, and 10B-2 using wireless communication or the like.

[0040] also, Figure 1 , Figure 2 The structure shown is only an example, and the specific structure and the number of each device are not particularly limited. In addition, when robots 10A-1, 10A-2, 10B-1, and 10B-2 are collectively referred to, they are recorded as robot 10. When robots 10A-1 and 10A-2 are collectively referred to, they are recorded as robot 10A. When robots 10B-1 and 10B-2 are collectively referred to, they are recorded as robot 10B. In addition, when control servers 20A and 20B are collectively referred to, they are recorded as control server 20.

[0041] The control server 20A controls the autonomous driving of the robot 10A according to the robot control system of the robot operator A. The control server 20B controls the autonomous driving of the robot 10B according to the robot control system of the robot operator B. The control server 20 sets the tasks and driving routes of each robot 10 as a control target through, for example, the operation of the robot operator. In addition, as the operation of the robot operator described above, the robot operator (human) operates a terminal device or the like to set the tasks and driving routes of each robot 10 as a control target.

[0042] The robot 10 travels in multiple areas E1-1 to E1-3 including multiple facilities and their surrounding areas, or between areas E1-1 to E1-3 under the control of the control server 20 to perform tasks such as item delivery, security, guidance, cleaning, and personnel transfer.

[0043] The robot 10, for example, has a communication unit for communicating with the control server 20 and a driving function capable of autonomous driving. In addition, the robot 10 has various sensors for detecting obstacles in the surroundings, and input / output units such as a touch panel, a microphone, and a speaker for accepting user operation input or outputting sound or image information. The robot 10 may also have a camera for capturing images of the surroundings of the robot 10. The robot 10 transmits the detection results of the sensors, the images captured by the camera, and various information input by the user to the control server 20 via the communication unit.

[0044] The robot 10 travels along the travel route set by the control server 20 and executes the task set by the control server 20. In addition, the control server 20 may determine the current position of the robot 10 using a positioning system such as a GPS (Global Positioning System).

[0045] The management server 30 as a platform provides information related to robot control to the terminal device 90. The management server 30 receives information about the current position or travel route of the robot 10 from each control server 20. The travel route is also assigned a travel period of the travel route. In addition, the management server 30 can also receive information about various information sent from the robot 10 to the control server 20 from each control server 20.

[0046] Furthermore, the management server 30 collects external information from various external servers connected via the communication network. Based on the collected information, the management server 30 provides information related to robot control to the terminal device 90 .

[0047] As the external server, there may be, for example, a disaster prediction server 40 , a sensor management server 50 , a crowd flow prediction server 60 , an external server 70 , and a prohibited entry area information server 80 .

[0048] The disaster prediction server 40 is a server installed in the Meteorological Agency, local public groups or private enterprises, etc., and predicts the occurrence of earthquakes, tsunamis, tornadoes, and volcanic eruptions, and issues special alerts / alerts / warnings and disaster prevention information. In addition, the disaster prediction server 40 predicts and issues information on the occurrence of precipitation probability, sudden rainstorms, etc. in the area based on meteorological information (precipitation probability, recorded short-term heavy rain information, etc.) issued by the Meteorological Bureau, etc.

[0049] The sensor management server 50 manages the detection operations of various sensors installed in the robot's driving area and collects the detection results of various sensors. As various sensors, there are surveillance cameras installed in various places, human body sensing sensors, temperature sensors, etc.

[0050] The crowd flow prediction server 60 predicts the crowd flow in the prediction target area during the prediction target period based on movement data, images from surveillance cameras, transportation tool utilization information, detection results of sensors (such as human body sensing sensors), and the like.

[0051] The external server 70 is a server that distributes news reports, blog reports, SNS (Social Networking Service) reports, and the like.

[0052] The prohibited entry area information server 80 is a server that predicts the occurrence of an area that the robot cannot enter as a prohibited entry area and publishes it based on activity information, accident information, construction information, traffic control information, etc. in the corresponding area published by administrative or facility managers, event operators, etc. In addition, the prohibited entry area information server 80 is not limited to the aforementioned information in order to predict the prohibited entry area, and other information can also be used.

[0053] The management server 30 collects external information from various external servers, and when an event is detected, recommends a new driving route of the robot 10 located in the area where the event occurred to the terminal device 90. In addition, the management server 30 may recommend a prohibited entry area or the like to the terminal device 90 instead of a new driving route. In addition, a terminal device 90 that outputs information sent from the management server 30 and accepts operations on the management server 30, and a terminal device 90 that can instruct the control server 20 to change the driving route of the robot 10 are provided. In addition, a plurality of terminal devices 90 may be provided for each robot operator.

[0054] The control server 20 sets a new driving route for each robot based on information input from the terminal device 90 operated by the robot operator. For example, the robot operator rewrites the driving route of each robot 10 to a new driving route recommended by the management server 30, and changes the driving route of the robot 10. In this way, the management server 30 assists in the rapid change of the driving route of the autonomous driving robot when an event occurs. In addition, the terminal device 90 operated by the robot operator can also be set as an independent terminal device for each robot operator.

[0055] [Control Server]

[0056] The control server 20 will be described. Figure 3 Yes means Figure 2 FIG. 2 is a block diagram showing an example of the structure of the control server 20. Figure 3 As shown, the control server 20 may include a communication unit 21, a storage unit 22, and a control unit 23. In addition, the control server 20 may be connected to input devices such as a mouse and a keyboard, and output devices such as a display and a speaker.

[0057] The communication unit 21 can control communications related to various information. For example, the communication unit 21 can control communications with the robot 10 and communications with the management server 30. The communication unit 21 can send setting instructions for tasks and driving routes and driving control information to the robot 10 to control the driving and task execution of the robot 10. In addition, the communication unit 21 can receive information obtained by the robot 10. The communication unit 21 can send the current position of the robot 10 or the driving route of the robot 10 to the management server 30.

[0058] The storage unit 22 can store data and programs required for various processes of the control unit 23. For example, the storage unit 22 can be a semiconductor storage element such as RAM (Random Access Memory) or flash memory, or a storage device such as a hard disk or optical disk. The storage unit 22 can have robot information 221, map information 222, a task storage unit 223, driving route information 224, and robot position information 225.

[0059] The robot information 221 may include identification information, types, and executable tasks of each robot controlled by the control server 20 .

[0060] The map information 222 may be map information of various areas where the robot that autonomously travels outdoors and indoors is stored in the storage unit 22. For example, the map information 222 is map information that includes maps of areas E1-1 to E1-3 and maps of travel between areas E1-1 to E1-3. The map information 222 may be acquired in advance and updated appropriately based on various sensor information, information sent from the robot 10, and the like. The map information 222 may overlap the facilities of each area E1-1 to E1-3, the areas where the robot 10 can travel within and around the facilities, and the areas where the robot 10 can travel between areas E1-1 to E1-3 on the map. In addition, the robot 10 may be able to travel outdoors and indoors.

[0061] The task storage unit 223 can store historical information of tasks executed by each robot 10. In addition, the tasks being executed by each robot 10 can also be registered in the task storage unit 223 by the task setting unit 231 (described later). The tasks include article delivery, security, guidance, cleaning, personnel transfer, etc. The task storage unit 223 can store identification information of the robot 10, identification information of the task, task execution period, etc.

[0062] The driving route information 224 may be information indicating the driving route of the robot 10. Regarding the driving route, for example, a plurality of representative routes may be pre-set according to the area, task and / or type of the robot 10, and may be modified or added as appropriate according to the driving conditions. In the driving route information 224, each driving route for each robot 10 set by the driving route setting unit 232 (described later) may also be registered.

[0063] The robot position information 225 may be information in which identification information of the robot 10 , the position of the robot 10 , and the position detection time are associated with each other.

[0064] The control unit 23 has an internal memory for storing programs and required data that define various processing procedures, and various processing can be performed through them. Here, the control unit 23 can be an electronic circuit such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an integrated circuit such as an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate Array).

[0065] The control unit 23 may include a task setting unit 231 , a travel route setting unit 232 , a robot position acquisition unit 233 , a travel control unit 234 , and a robot information transmission control unit 235 .

[0066] For example, when receiving a request for service provision from a user, the task setting unit 231 can set a task to be executed and select a robot 10 to execute the task.

[0067] The driving route setting unit 232 can set a driving route corresponding to the task for the robot 10 selected by the task setting unit 231. The driving route setting unit 232 can select any route from the pre-set routes as the driving route according to the operation of the robot operator. Alternatively, the driving route setting unit 232 can set a route that is a correction of the pre-set route according to the operation of the robot operator.

[0068] The robot position acquisition unit 233 may acquire the current position of each robot 10 to be controlled using a positioning system such as GPS (Global Positioning System). The robot position acquisition unit 233 may store the position and position detection time of the robot 10 in the storage unit 22 in association with the identification information of the robot 10 .

[0069] The travel control unit 234 can control the travel of the robot 10 as the control target so that the robot 10 as the control target travels along the travel route set by the travel route setting unit 232 .

[0070] The robot information transmission control unit 235 can transmit information related to each robot 10 as a control target to the management server 30 via the communication unit 21. The robot information transmission control unit 235 can transmit the current position of each robot 10 or the travel route of each robot 10 together with the identification information of each robot 10 as a control target to the management server 30. The robot information transmission control unit 235 can also transmit both the current position of each robot 10 as a control target and the travel route of each robot 10 to the management server 30. The robot information transmission control unit 235 can also transmit the task of the robot 10 as a control target and the information received from the robot 10 to the management server 30.

[0071] [Management Server]

[0072] Next, Figure 2 The management server 30 shown will be described. Figure 4 Yes means Figure 2 FIG. 3 is a block diagram showing an example of the structure of the management server 30. Figure 4 As shown, the management server 30 includes a communication unit 31, a storage unit 32, and a control unit 33. In addition, the management server 30 is connected to input devices such as a mouse and a keyboard, and output devices such as a display and a speaker.

[0073] The communication unit 31 controls communication related to various information. For example, the communication unit 31 controls communication with external servers and communication with the management server 30. The communication unit 31 receives the current position of the robot 10 as the control target or the travel route of the robot 10 from the control server 20. In addition, the communication unit 31 receives information obtained by the robot 10 as the control target from the control server 20. In addition, the communication unit 31 receives external information, which is information for predicting and estimating the occurrence of an event, from an external server.

[0074] The storage unit 32 stores data and programs required for various processes of the control unit 33. For example, the storage unit 32 is a semiconductor storage element such as RAM (Random Access Memory) or flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 32 has robot information 321, map information 322, a task storage unit 323, driving route information 324, robot position information 325, disaster information 326, a sensor information group 327, crowd flow prediction information 328, an external information group 329, and a prohibited entry area information group 330.

[0075] The robot information 321 is information that is registered by correspondingly matching the identification information of the control server 20 with the identification information of each robot controlled by the control server 20. When the type and executable tasks of the robot 10 are provided from the control server 20, the type and executable tasks of the robot 10 are registered in the robot information 321 in correspondence with the identification information of each robot.

[0076] The map information 322 is map information including maps of each area E1-1 to E1-3 and maps of travel between the areas E1-1 to E1-3. The map information 322 overlays the facilities of each area E1-1 to E1-3, the areas where the robot 10 can travel in and around the facilities, and the areas where the robot 10 can travel between the areas E1-1 to E1-3 on the map. The map information 322 is provided, for example, from the control server 20.

[0077] When information on the task of the robot 10 is provided from the control server 20 , the task storage unit 323 stores the task and the task execution period, etc. in association with the identification information of the robot 10 .

[0078] The travel route information 324 is information indicating the travel route of the robot 10 provided from the control server 20. The identification information of the robot 10 and the travel route of the robot 10 are associated with the travel route information 324. The travel period of the travel route is also given to the travel route.

[0079] The robot position information 325 is information indicating the current position of the robot 10 provided from the control server 20 . The identification information of the robot 10 , the position of the robot 10 , and the position detection time correspond to the robot position information 325 .

[0080] Disaster information 326 is, for example, special warnings / alarms / warnings and disaster prevention information for disasters, including the type of disaster predicted to occur, the extent of the disaster, the time of occurrence, and the period of occurrence. In addition, disaster information 326 includes information related to the probability of precipitation in the area, the occurrence of sudden heavy rain, etc. Disaster information 326 is, for example, included in the information received from the disaster prediction server 40.

[0081] The sensor information group 327 is an information group received from the sensor management server 50 and indicates the detection results of various sensors installed in the robot driving area. The sensor information group 327 includes, for example, images captured by a monitoring camera, sensing results of a human body sensing sensor, and detected temperatures of a temperature sensor.

[0082] The crowd flow prediction information 328 is information indicating the crowd flow in the prediction target area during the prediction target period, predicted by the crowd flow prediction server 60. When the management server 30 receives information related to an event (such as the holding of an event, etc.), the crowd flow prediction information 328 obtains crowd flow prediction information in the event occurrence area during the event occurrence period according to a prediction request from the management server 30 to the crowd flow prediction server 60.

[0083] The external information group 329 is information related to various reports and SmartCity published by the external server 70. Based on this information, the occurrence status of events held by the administration or local public bodies may be sequentially identified.

[0084] The prohibited entry area information group 330 is information predicted and issued by the prohibited entry area information server 80, and includes event information, accident information, construction information, traffic control information, etc. in the corresponding area announced by administrative or facility managers, event operators, etc.

[0085] The control unit 33 has an internal memory for storing programs defining various processing procedures and necessary data, and executes various processing by using these. Here, the control unit 33 is an electronic circuit such as a CPU or an MPU, or an integrated circuit such as an ASIC or an FPGA.

[0086] The control unit 33 has a robot position acquisition unit 331 (acquisition unit), a driving route acquisition unit 332 (acquisition unit), an information collection unit 333 (collection unit), an event occurrence detection unit 334 (detection unit), an object robot determination unit 335 (determination unit), a new driving route determination unit 336 (determination unit) and a new driving route recommendation unit 337 (recommendation unit).

[0087] The robot position acquisition unit 331 may receive the robot identification information and the current position of the robot 10 from the control server 20 which is a control device for controlling the robot 10 . The robot position acquisition unit 331 registers the acquired current position of the robot 10 in the robot position information 325 .

[0088] The travel route acquisition unit 332 may receive the robot identification information and the travel route of the robot 10 from the control server 20 which is a control device for controlling the robot 10 . The travel route acquisition unit 332 registers the acquired travel route of the robot 10 in the travel route information 324 .

[0089] The information collection unit 333 collects various external information. As external information, the information collection unit 333 collects the following information: special warnings / alarms / caution warnings for disasters, disaster prevention information, and weather-related information received from the disaster prediction server 40; detection results of various sensors installed in the robot driving area received from the sensor management server 50; crowd flow prediction information of the event occurrence area predicted by the crowd flow prediction server 60; various reports issued by the external server 70; and activity information, accident occurrence information, construction information, traffic control information, etc. in the corresponding area published by the event operator and the like issued by the prohibited entry area information server 80.

[0090] In order to determine whether the robot 10 can travel around, the information collecting unit 333 may collect images captured by the robot 10 or detection results detected by sensors of the robot 10 .

[0091] The event occurrence detection unit 334 determines the occurrence of an event or whether the occurrence of an event is predicted based on external information. In addition, the event occurrence detection unit 334 detects the occurrence of an event, the event occurrence area where the event occurs, and the event occurrence period during which the event is predicted to occur based on external information. The event occurrence detection unit 334 can also identify the occurrence of an event and the event occurrence area based on the following information: special alarms / alarms / caution warnings for disasters, disaster prevention information, and weather-related information received from the disaster prediction server 40; detection results of various sensors set in the robot driving area received from the sensor management server 50; crowd flow prediction information of the event occurrence area predicted by the crowd flow prediction server 60; various reports issued by the external server 70; activity information, accident occurrence information, construction information, traffic control information, etc. in the corresponding area published by the activity operator and the like issued by the prohibited entry area information server 80.

[0092] The target robot determination unit 335 determines the robot 10 located in the event occurrence area as the robot to be changed in the travel route based on the current position of the robot 10 or the travel route of the robot 10. The target robot determination unit 335 determines the robot 10 currently located in the event occurrence area detected by the event occurrence detection unit 334 or the robot 10 predicted to be located in the event occurrence area based on the current position of the robot 10 provided from the control server 20. In addition, the target robot determination unit 335 identifies the robot 10 currently traveling in the event occurrence area detected by the event occurrence detection unit 334 or the robot 10 predicted to travel in the area based on the travel route of the robot 10 provided from the control server 20.

[0093] In addition, when the robot 10 does not hold information related to the travel route, the target robot determination unit 335 determines a robot located in the event occurrence area based on the current position of the robot. In addition, when the robot 10 holds information related to the travel route, the target robot determination unit 335 determines the robot 10 holding the travel route included in the event occurrence area.

[0094] The new driving route determination unit 336 determines information related to a new driving route for each robot 10 located in the event occurrence area or each robot 10 predicted to be located in the event occurrence area based on the external information and map information 322 collected by the information collection unit 333. Specifically, the external information includes event occurrence prediction results based on any one or more of information related to disasters in each area, information obtained by the robot 10, information related to human flow, information related to weather, and information related to traffic, and the new driving route determination unit 336 determines information related to a new driving route that avoids the event indicated by the event occurrence prediction results.

[0095] Furthermore, the new driving route determination unit 336 determines a new driving route that is different between robots located in the event occurrence area or between robots predicted to be located in the event occurrence area. The new driving route determination unit 336 may also determine which new driving route to travel on based on the task of the robot 10 or the type of the robot 10. For example, the new driving route determination unit 336 may determine a new driving route by assigning a shady driving location to a robot 10 that is set with a task of delivering refrigerated or frozen items.

[0096] Then, the new travel route determination unit 336 selects or modifies any one of the preset travel routes according to a preset determination rule and sets the travel direction, thereby determining a new travel route of the robot 10 .

[0097] Alternatively, the new driving route determination unit 336 may determine the new driving route using a determination model 3361 for determining the new driving route. The determination model 3361 is a model that has been learned by using various information such as map information of each area, the position of the robot 10, the number of robots 10, the type of robot 10, the predicted flow of people information or historical flow of people information, the type and scale of the event, the period during which the event occurred, and the new driving route corresponding to each condition as learning data to output the new driving route of each robot 10.

[0098] The new travel route recommendation unit 337 recommends information related to the new travel route determined by the new travel route determination unit 336 to the terminal device 90. For example, the new travel route recommendation unit 337 may send the information in a manner that displays the robot 10 to be changed and the new travel route of the robot 10 on the system screen displayed on the terminal device etc. operated by the robot operator. Alternatively, the new travel route recommendation unit 337 may send visual information obtained by superimposing a text etc. recommending the change of the travel route accompanying the event on a map of the event occurrence area and the new travel route of each robot 10 to the terminal device 90. Furthermore, the robot operator may change the travel route of the robot 10 by operating the terminal device etc. based on the recommended information.

[0099] [An example of setting a route]

[0100] An example of the travel route of the robot 10 transmitted from the control server 20 is described below. Figure 5 Hereinafter, the description will be given by taking the area E1-1 among the multiple areas as an example. Figure 5 This is a diagram showing an example of a map image of the area E1 - 1 .

[0101] like Figure 5As shown in the map M1s of FIG. 1 , a plurality of facilities are provided in the area E1-1. The robot 10 can travel inside these facilities or outdoors in areas other than buildings surrounding the facilities. In addition, as shown in the map M1s, two retreat places T1 and T2 can be set in the area E1-1 as retreat places for the robot 10. In addition to avoiding events based on changes in the driving route, the robot 10 can also retreat to the retreat places T1 and T2. In addition, both T1 and T2 can be used for the two robots 10 to retreat.

[0102] For example, the management server 30 receives the travel routes and / or current positions of the two robots 10A-1 and 10B-2 from the control server 20. For example, the travel route of the robot 10A-1 is the travel route R1s, and the travel route of the robot 10B-2 is the travel route R2s.

[0103] [Screen display example]

[0104] Hereinafter, a screen display example of the management server 30 when an event occurs in the area E1 - 1 will be described. Figures 6 to 15 Yes means Figure 2 FIG. 1 is a diagram showing an example of a screen of the management server 30 shown in FIG. Figures 6 to 9 Take the case of "driving restrictions due to accident occurrence" as an example. Figures 10 to 13 Take the case of "driving restrictions based on weather forecasts" as an example. Fig.14 and Fig.15 “Removal of driving restrictions based on weather forecast” is exemplified.

[0105] [Driving restrictions due to accidents]

[0106] The management server 30 may also detect based on external information that a driving restriction due to an accident has occurred in the area E1-1, such as Figure 6 As shown, the map M1s of the area E1-1 shows that the driving restrictions due to the accident have been announced (for example, refer to Figure 6 In addition, it is assumed that the driving restriction occurs at the window W1 in this example. Figure 7 The area E1-1 shown is the restricted driving area A1.

[0107] Then, the management server 30 Figure 8 In the control instruction list L1-2 shown, during the period when the driving restriction occurs, the robot 10 located in the area E1-1 is determined as the robot 10 to be the target of the driving route change. For example, as shown in the columns C1-1 and C1-2 of the control instruction list L1-2, the robots 10A-1 and 10B-2 are determined as the robots 10 located in the area E1-1.

[0108] When the "Notify Robot Operator" button B1-2 is selected by the operator of the management server 30, the management server 30 determines a new driving route R1 for the robot 10A-1. On the other hand, the driving route of the robot 10B-2 is not related to the driving restriction area A1, so the driving route R2s is determined to be the set driving route. Then, the management server 30 recommends the new driving route R1 to the terminal device 90 for the robot 10A-1, and recommends the warning information related to the information of the driving restriction area A1 to the terminal device 90 for the robot 10B-2 (refer to the control instruction list L1-3, L1-4). Then, based on the recommended information, the robot operator can operate the terminal device, etc. to change the driving route of the robot 10.

[0109] Furthermore, the management server 30 may also detect, based on external information, that the handling of the accident is completed and the driving restriction based on the occurrence of the accident is lifted, such as Fig. 9 As shown, the map M1s of the area E1-1 shows that the driving restriction due to the accident has been lifted (for example, refer to Fig. 9 window W2).

[0110] [Driving restrictions based on weather forecasts]

[0111] Next, the management server 30 may also detect based on external information that a driving restriction based on a weather forecast has occurred in the area E1-1, such as Fig.10 As shown, on the map M1s of the area E1-1, it is shown that driving restrictions based on weather forecasts are published (for example, refer to Fig.10 In addition, in this example, as a meteorological phenomenon, it is assumed that a driving restriction occurs due to sudden heavy rain, and the driving restriction occurs at a location Fig.11 The driving restriction area A2 of the area E1-1 is shown.

[0112] Then, the management server 30 Fig.12 In the control instruction list L2-2 shown, during the period when the driving restriction occurs, the robot 10 located in the area E1-1 is determined as the robot 10 to be the target of the driving route change. For example, as shown in the columns C2-1 and C2-2 of the control instruction list L2-2, the robots 10A-1 and 10B-2 are determined as the robots 10 located in the area E1-1.

[0113] When the "Notify Robot Operator" button B2-2 is selected by the operator of the management server 30, the management server 30 determines that the driving of the robots 10A-1 and 10B-2 is stopped due to the sudden rainstorm. Then, the management server 30 recommends new driving routes R3 and R4 to the retreat place T1 to the terminal device 90 (refer to the control instruction list L2-3 and L2-4) for the robots 10A-1 and 10B-2. In addition, the management server 30 may recommend a new driving route to the retreat place T2 or a new driving route outside the driving restriction area to the terminal device 90 instead of the new driving route to the retreat place T1. Then, based on the recommended information, the robot operator can operate the terminal device, etc. to change the driving route of the robot 10.

[0114] Furthermore, the management server 30 may also detect, based on external information, that the sudden rainstorm has ended and the driving restriction has been lifted, such as Fig.13 As shown, the map M1s of the area E1-1 shows that the driving restrictions based on the weather forecast are lifted (for example, refer to Fig.13 window W4).

[0115] [Removal of driving restrictions based on weather forecasts]

[0116] Next, the management server 30 may also detect based on external information that the driving restriction is lifted due to a decrease in the probability of precipitation in the area E1-1, such as Fig.14 As shown, on the map M1s of the area E1-1, it is shown that the lifting of the driving restriction based on the weather forecast (precipitation probability reduction forecast) has been announced (for example, refer to Fig.14 In addition, it is assumed that the driving restriction occurs at the same location as Fig.11 The shown area E1-1 is the same as the restricted travel area A2.

[0117] Then, the management server 30 Fig.15 In the control instruction list L3-2 shown, when the driving restriction is released, the robot 10 located in the area E1-1 is determined as the robot 10 to be changed in the driving route. For example, as shown in the columns C3-1 and C3-2 of the control instruction list L3-2, the robots 10A-1 and 10B-2 are determined as the robots 10 located in the area E1-1.

[0118] When the "Notify Robot Operator" button B3-2 is selected by the operator of the management server 30, the management server 30 determines that the driving restriction based on the weather forecast (precipitation probability reduction forecast) is lifted for the robots 10A-1 and 10B-2. Then, with respect to the robots 10A-1 and 10B-2, the management server 30 recommends to the terminal device 90 an operation in which the driving restriction is lifted (refer to the control instruction list L3-3 and L3-4). At this time, with respect to the robots 10A-1 and 10B-2, the management server 30 can recommend to the terminal device 90 a new driving route or an existing driving route (R1s, R2s) previously set in the robots 10A-1 and 10B-2. Then, based on the recommended information, the robot operator can operate the terminal device, etc. to change the driving route of the robot 10.

[0119] [Management Processing]

[0120] Next, the management process according to the embodiment will be described. Fig.16 It is a sequence diagram showing the processing procedure of the management processing according to the embodiment.

[0121] like Fig.16 As shown, the control servers 20A and 20B communicate with the robots 10A and 10B to set tasks and travel routes for the robots 10A and 10B, and control the autonomous travel of the robots 10A and 10B (steps S1 and S3).

[0122] The management server 30 receives the current position or travel route of each robot 10 from each control server 20 (steps S2 and S4 ), and thereby acquires the current position or travel route of each robot 10 (step S5 ).

[0123] The management server 30 collects external information from an external server or the like (step S6). The management server 30 then determines whether the occurrence of an event is predicted based on the external information (step S7). If the occurrence of an event is not predicted (step S7: No), the management server 30 returns to the beginning.

[0124] When the occurrence of an event is predicted (step S7 : Yes), the management server 30 detects an event occurrence area where the event occurs and an event occurrence period during which the event is predicted to occur (step S8 ).

[0125] The management server 30 identifies the robot 10 that is located or predicted to be located in the event occurrence area based on the current position of the robot 10 or the travel route of the robot 10 (step S9 ).

[0126] Next, the management server 30 determines a new travel route for each robot 10 located in the event occurrence area based on the external information collected by the information collection unit 333 and the map information 322 (step S10 ).

[0127] Then, the management server 30 recommends, for example, information related to the robot located in the event occurrence area or predicted to be located in the event occurrence area determined by the new travel route determination unit 336 and the new travel route of each robot to the terminal device 90 (steps S11, S12). When the control server 20A, 20B sets a new travel route for the robot 10 located in the event occurrence area via the terminal device 90 operated by the robot operator (steps S13, S14, S15, S16), the control server 20A, 20B changes the travel route of the robot 10 located in the event occurrence area according to the set new travel route (steps S17, S18).

[0128] [Effects of Embodiment]

[0129] In this way, information related to the occurrence of the event and information related to the robot 10 located in the event occurrence area are provided from the management server 30 to the terminal device 90. Therefore, the robot operator of the control server 20 does not need to collect information related to the occurrence of the event, detect the occurrence of the event, and identify the robot 10 located in the event occurrence area.

[0130] Furthermore, a new driving route of the robot 10 located in the event occurrence area is recommended from the management server 30 to the terminal device 90. Therefore, when the robot operator of the control server 20 rewrites the driving route of the robot 10 to a new driving route, it is not necessary to create a new driving route from scratch, but only to set the new driving route based on the driving route recommended by the management server 30.

[0131] Therefore, according to the embodiment, the processing burden on the robot operator until the robot's travel route is changed can be reduced, and the travel route of the robot 10 can be changed quickly when an event occurs.

[0132] In addition, if a new driving route is set for each robot operator, the position of robots controlled by other operators cannot be grasped, so there is also a possibility of collision while driving on the new driving route. In contrast, in the embodiment, the management server 30 collects information at once, not limited to the robots 10 of any operator, but each robot 10 located in the event occurrence area, and recommends a new driving route suitable for each robot 10 to the terminal device 90.

[0133] Therefore, according to the embodiment, even when multiple robots are introduced to multiple areas by multiple robot operators, new driving routes can be determined across areas and robot operators. Therefore, according to the embodiment, when an event occurs, it is possible to assist the robot 10 located in the event occurrence area to change its driving route quickly and smoothly.

[0134] [System structure, etc.]

[0135] In addition, the structural elements of each device shown in the figure are conceptual functions and do not necessarily need to be physically constructed as shown in the figure. That is, the specific method of dispersing / merging each device is not limited to the figure, and it can be functionally or physically dispersed / merged in arbitrary units according to various loads and usage conditions. In addition, all or any part of each processing function performed in each device can be implemented by a CPU or GPU (Graphics Processing Unit) and a program analyzed and executed by the CPU or GPU, or as hardware based on wired logic.

[0136] In addition, all or part of the processing described as automatically performed in the various processes described in this embodiment can also be performed manually, or all or part of the processing described as manually performed can also be automatically performed by a known method. In addition, the information on the processing process, control process, specific name, various data and parameters contained in the above-mentioned documents and shown in the drawings can be arbitrarily changed except for special records.

[0137] [program]

[0138] In addition, it is also possible to create a program that describes the processing performed by the management server 30 described in the above embodiment in a language that can be executed by a computer. For example, it is also possible to create a program that describes the processing performed by the management server 30 in the embodiment in a language that can be executed by a computer. In this case, by executing the program by a computer, the same effect as the above embodiment can be obtained. In addition, by recording the program in a computer-readable recording medium, causing the computer to read the program recorded in the recording medium and execute it, the same processing as the above embodiment can also be achieved.

[0139] Fig.17 is a diagram of a computer that executes a program. Fig.17 As illustrated in FIG. 1 , the computer 1000 includes, for example, a memory 1010 , a CPU 1020 , a hard disk drive interface 1030 , a disk drive interface 1040 , a serial port interface 1050 , a video adapter 1060 , and a network interface 1070 , and these components are interconnected via a bus 1080 .

[0140] like Fig.17 As shown in the example, the memory 1010 includes a ROM (Read Only Memory) 1011 and a RAM 1012. The ROM 1011 stores a boot program such as a BIOS (Basic Input Output System). Fig.17 As shown in the example in FIG. 1 , the hard disk drive interface 1030 is connected to the hard disk drive 1090. The disk drive interface 1040 is connected to the disk drive 1100. For example, a pluggable storage medium such as a magnetic disk or an optical disk is inserted into the disk drive 1100. The serial port interface 1050 is connected to, for example, a mouse 1110 and a keyboard 1120. The video adapter 1060 is connected to, for example, a display 1130.

[0141] Here, if Fig.17 As shown in FIG. 1 , the hard disk drive 1090 stores, for example, an OS (Operating System) 1091, an application program 1092, a program module 1093, and program data 1094. That is, the above-mentioned programs are stored in, for example, the hard disk drive 1090 as program modules in which instructions executed by the computer 1000 are described.

[0142] In addition, various data described in the above embodiments are stored as program data in, for example, the memory 1010 or the hard disk drive 1090. Then, the CPU 1020 reads the program module 1093 or the program data 1094 stored in the memory 1010 or the hard disk drive 1090 into the RAM 1012 as needed, and executes various processing procedures.

[0143] In addition, the program module 1093 or program data 1094 related to the program is not limited to being stored in the hard disk drive 1090, and may be stored in, for example, a pluggable storage medium and read out via a disk drive or the like by the CPU 1020. Alternatively, the program module 1093 or program data 1094 related to the program may be stored in another computer connected via a network (LAN (Local Area Network), WAN (Wide Area Network), etc.), and may be read out via the network interface 1070 by the CPU 1020.

[0144] The above-described embodiments and modifications thereof are included in the technology disclosed in the present application, and are also included in the invention described in the claims and their equivalents.

[0145] Description of symbols

[0146] 10, 10A, 10B, 10A-1, 10A-2, 10B-1 to 10B-4: Robot

[0147] 20, 20A, 20B: Control server

[0148] 30: Management Server

[0149] 40: Disaster prediction server

[0150] 50: Sensor Management Server

[0151] 60: Crowd prediction server

[0152] 70: External server

[0153] 80: No access to the regional information server

[0154] 90: Terminal device

[0155] 21, 31: Ministry of Communications

[0156] 22, 32: Storage

[0157] 23, 33: Control Department

[0158] 221, 321: Robot information

[0159] 222, 322: Map information

[0160] 223, 323: Task storage unit

[0161] 224, 324: Driving route information

[0162] 225, 325: Robot position information

[0163] 231: Mission Setting Department

[0164] 232: Driving route setting unit

[0165] 233: Robot position acquisition unit

[0166] 234: Driving control unit

[0167] 235: Robot information sending control unit

[0168] 326: Disaster Information

[0169] 327: Sensor information group

[0170] 328: Crowd forecast information

[0171] 329: External Information Group

[0172] 330: No entry to area information group

[0173] 331: Robot position acquisition unit

[0174] 332: Driving route acquisition unit

[0175] 333: Information Collection Department

[0176] 334: Event Occurrence Detection Department

[0177] 335: Target robot determination unit

[0178] 336: New driving route determination unit

[0179] 337: New driving route recommendation department

[0180] 3361: Determination Model

Claims

1. A management device, characterized in that: The management device has: A storage unit that stores map information of various areas where the outdoor and indoor autonomously traveling robot travels; A collection department, which collects external information; an acquisition unit that receives the current position of the robot or the travel route of the robot from a control device that controls the robot; a detection unit that detects the occurrence of an event and an event occurrence area where the event occurs based on the external information; a determination unit that determines the robot located in the event occurrence area or the robot predicted to be located in the event occurrence area based on the current position of the robot or the travel route of the robot; a determination unit that determines information related to a new travel route for each of the robots located in the event occurrence area or each of the robots predicted to be located in the event occurrence area based on the external information and the map information; as well as A recommendation unit recommends information related to the new travel route to a terminal device.

2. The management device according to claim 1, characterized in that: The determining unit determines, based on the current position, that the robot is located in the event occurrence area when the robot does not hold information related to the travel route. The identification unit identifies the robot that holds the traveling route included in the event occurrence area when the robot holds the information related to the traveling route.

3. The management device according to claim 1, characterized in that: The external information includes an event occurrence prediction result, and the event occurrence prediction result is based on any one or more of information related to disasters in the respective areas, information acquired by the robot, information related to human flow, information related to weather, and information related to traffic, The determination unit determines information related to the new travel route that avoids the event indicated by the event occurrence prediction result.

4. The management device according to claim 1, characterized in that: The determination unit determines information related to a new travel route that is different between robots located in the event occurrence area.

5. A management method, which is executed by a management device, wherein: The following steps are involved: Gather external information; receiving a current position of the robot or a travel route of the robot from a control device controlling the robot; Based on the external information, detecting the occurrence of an event and an event occurrence area where the event occurs; Determine the robot located in the event occurrence area or the robot predicted to be located in the event occurrence area based on the current position of the robot or the driving route of the robot; determining, based on the external information and the map information, information related to a new driving route for each of the robots located in the event occurrence area or each of the robots predicted to be located in the event occurrence area; as well as Information related to the new travel route is recommended to the terminal device.

6. A management program executed by a management device, wherein the management program is characterized in that: The following steps are involved: Gather external information; receiving a current position of the robot or a travel route of the robot from a control device controlling the robot; Based on the external information, detecting the occurrence of an event and an event occurrence area where the event occurs; Determine the robot located in the event occurrence area or the robot predicted to be located in the event occurrence area based on the current position of the robot or the driving route of the robot; determining, based on the external information and the map information, information related to a new driving route for each of the robots located in the event occurrence area or each of the robots predicted to be located in the event occurrence area; as well as Information related to the new travel route is recommended to the terminal device.

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