Management device and management system

Abstract

The present application provides a kind of management device and management system, which can be interrupted in certain autonomous mobile body task is quickly taken to another autonomous mobile body regardless of the kind of task.The management device related to the present application has: determining part, which determines the autonomous mobile body that executes task, i.e.the first autonomous mobile body;Indicate part, which indicates the task to the first autonomous mobile body;Acquisition part, which acquires the action state corresponding to the action state of the first autonomous mobile body in the multiple action states available to the first autonomous mobile body during the execution of the task from the start to the end as distinguishing information;And detection part, which detects the interruption of the execution of the task based on the first autonomous mobile body, determining part determines the autonomous mobile body that takes over the task, i.e.the second autonomous mobile body, in the case of detecting the interruption of the execution of the task based on the first autonomous mobile body, indicating part indicates the task to the second autonomous mobile body, and sends the distinguishing information at the time of task interruption.

Description

Technical Field

[0001] This invention relates to a management device and a management system. Background Technology

[0002] In a management system that manages the actions of multiple autonomous mobile entities, it is required that, upon detecting an interruption in the task of one autonomous mobile entity, the interrupted task be quickly taken over to another autonomous mobile entity. Related technology is disclosed, for example, in Patent Document 1.

[0003] In the system disclosed in Patent Document 1, in the event of a failure of the autonomous mobile body performing the task, the autonomous mobile body is assigned to another autonomous mobile body to take over the task.

[0004] Patent Document 1: Japanese Patent No. 6668401 Summary of the Invention In the system disclosed in Patent Document 1, it is assumed that the autonomous mobile body that takes over the task resumes the task from the beginning. Therefore, the system disclosed in Patent Document 1 has the problem that it cannot quickly transfer a task interrupted in one autonomous mobile body to another.

[0005] The present invention was made in view of the above background, and its object is to provide a management device and management system that can quickly take over a task interrupted in one autonomous mobile body from another autonomous mobile body regardless of the type of task.

[0006] The management device according to the present invention includes: a determining unit that determines a first autonomous mobile body among a plurality of autonomous mobile bodies that performs a task; an indicating unit that instructs the first autonomous mobile body on the task; an acquiring unit that acquires an action state corresponding to the action state of the first autonomous mobile body among a plurality of action states that the first autonomous mobile body can take during the period from the start of execution of the task to the end of execution, as differentiation information; and a detection unit that detects an interruption in the execution of the task based on the first autonomous mobile body. When the determining unit detects an interruption in the execution of the task based on the first autonomous mobile body, it determines a second autonomous mobile body among the plurality of autonomous mobile bodies that takes over the task. The indicating unit instructs the second autonomous mobile body to take over the task and sends the differentiation information when the task is interrupted. When a task interrupted in a first autonomous mobile unit is transferred to a second autonomous mobile unit, the management device according to this invention sends differentiation information indicating the action state of the task in the first autonomous mobile unit at the time of the task interruption to the second autonomous mobile unit. This allows for the rapid transfer of tasks interrupted in the first autonomous mobile unit to the second autonomous mobile unit regardless of the task type. Furthermore, the management device according to this invention can be configured to use a pre-trained model built through machine learning to acquire differentiation information or detect task interruptions based on autonomous mobile units.

[0007] Invention Effects The present invention provides a management device and management system that can quickly take over a task interrupted in one autonomous mobile body from another autonomous mobile body, regardless of the type of task. Attached Figure Description

[0008] Figure 1 This is a diagram illustrating an example of the structure of the management system involved in Implementation Method 1.

[0009] Figure 2 This is a block diagram illustrating a structural example of an autonomous mobile body installed in the management system according to Embodiment 1.

[0010] Figure 3 This is a schematic perspective view showing the appearance of the autonomous mobile body installed in the management system according to Embodiment 1.

[0011] Figure 4 This is a flowchart illustrating the operation of the management device involved in Implementation Method 1.

[0012] Figure 5 This is a diagram illustrating the operation of the management device involved in Embodiment 1. Detailed Implementation

[0013] The present invention will now be described through embodiments thereof, but the invention is not limited to these embodiments. Furthermore, not all structures described in the embodiments are necessarily necessary to solve the problem. For clarity, the following descriptions and drawings have been appropriately omitted and simplified. In the drawings, the same symbols are used to denote the same elements, and repeated descriptions are omitted as necessary.

[0014] <Implementation Method 1> Figure 1 This diagram illustrates a structural example of the management system 1 according to Embodiment 1. The management system 1 according to this embodiment is a system for managing multiple autonomous mobile units configured within a defined work area. Here, when the management system 1 according to this embodiment needs to transfer a task interrupted in one autonomous mobile unit A to another autonomous mobile unit B, it sends differentiation information indicating the operational state of autonomous mobile unit A at the time of task interruption to autonomous mobile unit B. This allows the system to quickly transfer a task interrupted in autonomous mobile unit A to autonomous mobile unit B regardless of the type of task. A detailed explanation will follow.

[0015] like Figure 1 As shown, the management system 1 includes a management device 10, autonomous mobile bodies 20_1 to 20_n (n being an integer of 2 or more), a map database (map DB) 30, and a network 50. The management device 10, autonomous mobile bodies 20_1 to 20_n, and the map database 30 are configured to communicate with each other via a wired or wireless network 50. Hereinafter, any one of the autonomous mobile bodies 20_1 to 20_n will be simply referred to as an autonomous mobile body 20.

[0016] Autonomous mobile bodies 20_1 to 20_n are mobile robots that estimate their own position and move autonomously within a designated work area. However, autonomous mobile bodies 20_1 to 20_n are not limited to autonomous mobile robots; they can also be autonomous vehicles, etc. Autonomous vehicles include commercial vehicles, passenger cars, and construction machinery. Alternatively, autonomous mobile bodies 20_1 to 20_n can also be unmanned aerial vehicles (UAVs) or other unmanned aerial vehicles. Satellite communication can be used as a communication method.

[0017] (Structure of management device 10) The management device 10, also referred to as a management server, manages the autonomous mobile bodies 20_1 to 20_n configured in a designated work area. For example, the management device 10 instructs each of the autonomous mobile bodies 20_1 to 20_n to perform a task (work content). Consequently, the autonomous mobile bodies 20_1 to 20_n perform actions according to the tasks instructed by the management device 10. For example, the autonomous mobile bodies 20_1 to 20_n perform parts assembly operations or transport goods to a destination according to the tasks instructed by the management device 10. Furthermore, the management device 10 also takes over the interrupted task from one autonomous mobile body 20 to another in the event that the execution of the task instructed by the autonomous mobile body 20 is interrupted.

[0018] Specifically, the management device 10 includes a task execution object determination unit 11, a task instruction unit 12, an information acquisition unit 13, and a task interruption detection unit 14.

[0019] The task execution target determination unit 11 determines the autonomous mobile body A among the autonomous mobile bodies 20_1 to 20_n that will perform the task. For example, the task execution target determination unit 11 determines the autonomous mobile body A among the autonomous mobile bodies 20_1 to 20_n that is close to the area where the task will be performed as the autonomous mobile body A. Alternatively, the task execution target determination unit 11 determines the autonomous mobile body A among the autonomous mobile bodies 20_1 to 20_n that has sufficient battery capacity required to perform the task as the autonomous mobile body A.

[0020] The task instruction unit 12 instructs the autonomous mobile body 20 to perform the task. The autonomous mobile body 20, instructed to perform the task, executes the instructed task. For example, the autonomous mobile body 20, instructed to perform the task, performs the assembly of parts or transports the object to its destination according to the instructed task.

[0021] The information acquisition unit 13 acquires differentiation information representing the actual operational state of the autonomous mobile body 20 from among multiple possible operational states available to the autonomous mobile body 20 during the period from the start to the end of the task execution. For example, if the task is an assembly operation of specified parts, the information acquisition unit 13 acquires information such as the posture, orientation, position, arm position, and gripping state of the parts based on the gripping part of the autonomous mobile body 20 as differentiation information representing the actual operational state of the autonomous mobile body 20. Furthermore, the information acquisition unit 13 may also acquire information such as the progress of the task based on the autonomous mobile body 20 or errors generated during task execution. Furthermore, if the autonomous mobile body 20 is an unmanned aerial vehicle such as a drone, the information acquisition unit 13 also acquires information such as the flight altitude of the autonomous mobile body 20 as differentiation information. In addition, the information acquisition unit 13 acquires differentiation information at any time. For example, the information acquisition unit 13 may acquire differentiation information periodically or whenever the operational state of the autonomous mobile body 20 changes.

[0022] Furthermore, the information acquisition unit 13 can also acquire information related to the execution environment of the autonomous mobile body 20's mission, namely environmental information. Information related to the execution environment of the autonomous mobile body 20's mission includes, for example, information regarding the presence or absence of obstacles around the autonomous mobile body 20.

[0023] The task interruption detection unit 14 detects interruptions in the execution of a task based on the autonomous mobile unit 20 performing the task. For example, the task interruption detection unit 14 detects that the execution of the task based on the autonomous mobile unit 20 has been interrupted when it receives information from the autonomous mobile unit 20 indicating that the execution of the task has been interrupted. Furthermore, the task interruption detection unit 14 can detect that the execution of the task based on the autonomous mobile unit 20 has been interrupted when the autonomous mobile unit 20 stops operating for an extended period of time or when no information is received from the autonomous mobile unit 20 for an extended period of time.

[0024] Here, when the task execution target determination unit 11 detects that the execution of the task based on the autonomous mobile body 20 is interrupted, it determines another autonomous mobile body B among the autonomous mobile bodies 20_1 to 20_n to take over the task. For example, the task execution target determination unit 11 determines the autonomous mobile body B among the autonomous mobile bodies 20_1 to 20_n that is close to the area where the task is executed as the autonomous mobile body B to take over the task. Alternatively, the task execution target determination unit 11 determines the autonomous mobile body B among the autonomous mobile bodies 20_1 to 20_n that has sufficient battery capacity required to execute the task as the autonomous mobile body B to take over the task.

[0025] At this time, the task instruction unit 12 instructs the autonomous mobile body 20 (autonomous mobile body B) to accept the task, and sends the task interruption differentiation information received from the autonomous mobile body 20 (autonomous mobile body A) that interrupted the execution of the task. More preferably, when instructing the acceptance of the task, the task instruction unit 12 also sends a flag indicating that the task is an accepted task. As a result, the autonomous mobile body 20 (autonomous mobile body B) that accepts the task can quickly execute the instructed task after the task is interrupted, regardless of the type of task.

[0026] In addition to sending differentiation information to the autonomous mobile body 20 (autonomous mobile body B) that undertakes the task, the task instruction unit 12 can also send information related to the execution environment. As a result, the autonomous mobile body 20 (autonomous mobile body B) that undertakes the task can, for example, avoid surrounding obstacles to perform the task, or perform the task after the surrounding obstacles have disappeared.

[0027] (Structure of autonomous mobile body 20) Figure 2 This is a block diagram representing a structural example of the autonomous mobile body 20. For example... Figure 2 As shown, the autonomous mobile body 20 includes an external sensor 201, a self-position estimation unit 202, a control unit 203, a drive unit 204, a differentiation information detection unit 205, a fault detection unit 206, and a communication unit 207.

[0028] External sensors 201, such as cameras and LiDAR (Light Detection and Ranging), detect the surrounding environment (surrounding objects, etc.) of the autonomous moving body 200. Furthermore, the external sensors 201 detect objects (the objects being held) held by a gripping part mounted on the front end of the arm.

[0029] The self-position estimation unit 202 estimates its own position by comparing the detection results (surrounding environment, etc.) of the external sensor 201 with the map information stored in the map database 30.

[0030] The communication unit 207 communicates with other autonomous mobile entities 20, management devices 10, and map database 30 via network 50. For example, the communication unit 207 receives tasks sent from management devices 10. Furthermore, the communication unit 207 sends its own position estimation results, differentiation information indicating the current operational state of the autonomous mobile entity 20, and information indicating that task execution has been interrupted in the event of an interruption.

[0031] The control unit 203 controls the movement of the autonomous mobile body 20 according to the tasks received from the management device 10. For example, according to the tasks received from the management device 10, the control unit 203 estimates its own position using the self-position estimation unit 202 and moves the transported object to the destination by driving the wheels using the drive unit 204. Alternatively, according to the tasks received from the management device 10, the control unit 203 performs parts assembly operations by driving the arm using the drive unit 204. Furthermore, if the control unit 203 is instructed to accept a task assigned to another autonomous mobile body 20 by receiving a flag or the like from the management device 10, it quickly executes the accepted task after the task is interrupted, based on the task and differentiation information received from the management device 10.

[0032] The differentiation information detection unit 205 detects the action state corresponding to the current action state of the autonomous mobile body 20 among multiple action states that the autonomous mobile body 20 can take during the period from the start to the end of the task execution, and uses this as differentiation information. For example, information related to the multiple action states that the autonomous mobile body 20 can take during the period from the start to the end of the task execution is stored in a database (not shown) according to the type of task.

[0033] The fault detection unit 206 detects faults in the autonomous mobile unit 20. If a fault occurs in the autonomous mobile unit 20 during task execution, the autonomous mobile unit 20 suspends task execution. However, the autonomous mobile unit 20 is not limited to suspending task execution upon detecting a fault; it can also suspend task execution when it is predicted that the autonomous mobile unit 20 will stop operating, or when there is significant dirt on the autonomous mobile unit 20. For example, a situation where the autonomous mobile unit 20 is predicted to stop operating could be due to a very low battery level.

[0034] Figure 3 This is a schematic perspective view showing the appearance of the autonomous mobile body 20. Wheels 209 are mounted on the underside of the frame 208 of the autonomous mobile body 20. Furthermore, a camera serving as an external sensor 201 is mounted on the front surface of the frame 208. The external sensor 201 can be mounted not only on the front surface of the frame 208, but also on the rear surface or side surface of the frame 208. An arm 210 is mounted on the side of the frame 208. A gripping part 211, configured to grip an object, is mounted at the front end of the arm 210.

[0035] (Operation of management device 10) Next, use Figure 4 and Figure 5 The operation of the management device 10 will be explained. Figure 4 This is a flowchart illustrating the operation of the management device 10. Figure 5 This is a diagram used to illustrate the operation of the management device 10. Figure 5 In the example, the autonomous mobile body that initially performs the prescribed task among autonomous mobile bodies 20_1 to 20_n is called autonomous mobile body (mobile body) A, and the autonomous mobile body that takes over the task from autonomous mobile body A is called autonomous mobile body (mobile body) B.

[0036] First, the management device 10 determines the autonomous mobile body A among the autonomous mobile bodies 20_1 to 20_n that will perform the task (step S101). For example, among the multiple autonomous mobile bodies 20_1 to 20_n, the management device 10 determines autonomous mobile body 20_1 as the autonomous mobile body A that will perform the task.

[0037] Then, the management device 10 instructs the autonomous mobile body A, which is determined to perform the task, to carry out the task (step S102, refer to...). Figure 5 (a) Thus, the autonomous mobile body A, instructed to perform a task, assembles parts or transports goods to a destination according to the instructed task. Specifically, after deploying a container image constructed by the management device 10, the autonomous mobile body A performs actions according to the tasks defined within the container image.

[0038] If autonomous mobile body A begins to execute a task, the management device 10 obtains from autonomous mobile body A distinguishing information indicating the current action state of autonomous mobile body A and information related to the execution environment of the task of autonomous mobile body A, i.e., environmental information (step S103, refer to...). Figure 5 (b)). In addition, during the period when the autonomous mobile body A performs a task, the management device 10 periodically obtains differentiation information and environmental information from the autonomous mobile body A or whenever the action state changes (step S103 → step S104 "No" → step S107 "No").

[0039] Here, if the management device 10 detects that the execution of the task based on the autonomous mobile body A has been interrupted ("Yes" in step S104, see reference...), Figure 5 If (c) is selected, then another autonomous mobile body B among autonomous mobile bodies 20_1 to 20_n is determined to undertake the task (step S105). For example, among autonomous mobile bodies 20_1 to 20_n, the management device 10 determines autonomous mobile body 20_2 as the autonomous mobile body B that undertakes the task.

[0040] Then, the management device 10 instructs the autonomous mobile body B, which has been determined to accept the task, to accept the task (see reference). Figure 5 (d) and send the task interruption differentiation information and environment information received from the autonomous mobile body A executing the interrupted task (step S106, refer to...). Figure 5 (e) Thus, the autonomous mobile unit B, which undertakes the task, performs the assembly of parts or transports the goods to the destination according to the instructed task. Specifically, after deploying the container image constructed by the management device 10, the autonomous mobile unit B performs actions according to the tasks defined within the container image. Here, based on flags received from the management device 10, and by referring to the differentiation information and environmental information at the time of task interruption of the autonomous mobile unit A, the autonomous mobile unit B can quickly execute the instructed task after the task interruption, regardless of the type of task.

[0041] If autonomous mobile body B begins to execute the assigned task, the management device 10 obtains from autonomous mobile body B distinguishing information indicating the current action state of autonomous mobile body B and information related to the execution environment of the autonomous mobile body B's task, i.e., environmental information (step S107 "No" → step S103, see reference). Figure 5 (f) Additionally, during the period when the autonomous mobile body B performs its tasks, the management device 10 periodically obtains differentiation information and environmental information from the autonomous mobile body B or whenever the action state changes (step S103 → step S104 "No" → step S107 "No").

[0042] Then, if the task based on autonomous mobile body B is completed ("Yes" in step S107), the management device 10 ends the processing related to the task.

[0043] Thus, when the management device 10 of the present invention needs to transfer a task interrupted in one autonomous mobile entity A to another autonomous mobile entity B, it sends distinguishing information indicating the operational state of autonomous mobile entity A at the time of task interruption to autonomous mobile entity B. This allows the task interrupted in autonomous mobile entity A to be quickly transferred to autonomous mobile entity B regardless of the type of task. This minimizes downtime. Furthermore, it enables efficient task transfer with minimal communication. As a result, system reliability is improved, and operating costs are reduced.

[0044] In this invention, the example described is the case where communication occurs between the management device 10 and the autonomous mobile bodies 20_1 to 20_n via the network 50, but the invention is not limited to this. For example, the information communicated between the management device 10 and the autonomous mobile bodies 20_1 to 20_n can be stored in a storage area (not shown) managed on the network 50. This storage area could be, for example, cloud storage managed by an external management server (not shown).

[0045] The present invention enables the management device 10 and its respective main mobile bodies 20_1 to 20_n to perform part or all of the processing by having the central processing unit (CPU) execute computer programs.

[0046] When the above-described program is read into a computer, it includes a set of commands (or software code) for causing the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a physical storage medium. By way of example, and not limitation, a computer-readable medium or a physical storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc (registered trademark) or other optical disc storage, magnetic tape cassette, magnetic tape, disk storage, or other magnetic storage. The program may be transmitted on a temporary computer-readable medium or a communication medium. By way of non-limiting example, a temporary computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagation signals.

[0047] The present invention has been described above with reference to the embodiments described above, but the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the structure or details of the present invention within the scope of the present invention. Furthermore, each embodiment can be appropriately combined with other embodiments.

[0048] Symbol Explanation 1-Management system, 10-Management device, 11-Task execution object determination unit, 12-Task instruction unit, 13-Information acquisition unit, 14-Task interruption detection unit, 20_1~20_n-Autonomous mobile body, 30-Map database, 50-Network, 201-External sensor, 202-Self-position estimation unit, 203-Control unit, 204-Drive unit, 205-Discrimination information detection unit, 206-Fault detection unit, 207-Communication unit, 208-Frame, 209-Wheels, 210-Arm, 211-Holding unit, A-Autonomous mobile body, B-Autonomous mobile body.

Claims

1. A management device, characterized by, have: The determination unit identifies the autonomous mobile body performing the task among multiple autonomous mobile bodies, namely the first autonomous mobile body. An instruction unit that instructs the first autonomous mobile body on the task; The acquisition unit acquires, as distinguishing information, an action state corresponding to the action state of the first autonomous mobile body among multiple action states that the first autonomous mobile body can take during the period from the start of the execution of the task to the end of the execution. and The detection unit detects interruptions in the execution of the task by the first autonomous mobile body. When the determining unit detects an interruption in the execution of the task based on the first autonomous mobile body, it determines the autonomous mobile body among the plurality of autonomous mobile bodies that took over the task, namely the second autonomous mobile body. The instruction unit instructs the second autonomous mobile body to accept the task and sends the differentiation information when the task is interrupted.

2. The management device according to claim 1, characterized in that, The acquisition unit acquires the differentiation information periodically or whenever the action state of the first autonomous mobile body changes.

3. The management device according to claim 1, characterized in that, The acquisition unit also acquires information related to the execution environment of the task of the first autonomous mobile body, namely, environmental information. In addition to sending the differentiation information to the second autonomous mobile body, the instruction unit also sends the environmental information.

4. The management device according to claim 1, characterized in that, The detection unit detects the interruption of the execution of the task based on the first autonomous mobile body when it receives information from the first autonomous mobile body indicating that the execution of the task has been interrupted, or when the operation of the first autonomous mobile body stops for more than the expected time.

5. The management device according to claim 1, characterized in that, When the instruction unit instructs the second autonomous mobile body to accept the task, it also sends a flag to the second autonomous mobile body indicating that the task has been accepted.

6. A management system, characterized by have: The plurality of autonomous mobile bodies; and The management device as claimed in claim 1.

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