Information processing device, information processing method, information processing program, information processing system, and autonomous mobile device

Abstract

To prevent smooth passage of people within a specified area from being hindered by business activities of a robot.SOLUTION: An information processing device 10 according to the present application includes a determination unit 12a and an instruction unit 12b. When receiving a signal transmitted from an autonomous mobile device and requesting an instruction for the autonomous mobile device to enter a specified area, the determination unit 12a determines whether or not a specified number or more of other autonomous mobile devices are present in the specified area. When the determination unit 12a determines that the specified number or more of the other autonomous mobile devices are not present in the specified area, the instruction unit 12b instructs the autonomous mobile device to enter.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, an information processing program, an information processing system, and an autonomous mobile device. [Background technology]

[0002] In recent years, autonomous mobile devices such as cleaning robots, transport robots, and security robots are performing operational activities in office buildings, etc. As a result, there are an increasing number of situations where multiple robots of various types work together on one floor to perform their respective operational activities. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7027603 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there was a problem in that in relatively small spaces such as elevator halls and areas where people tend to congregate, having multiple robots performing their work activities could hinder the smooth passage of people through the space. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems and achieve the object, the information processing device of the present invention is characterized in having a judgment unit that, when an autonomous mobile device receives a signal from the autonomous mobile device requesting an instruction to enter a specified area, judges whether or not there are a predetermined number or more of other autonomous mobile devices in the specified area, and an instruction unit that instructs the autonomous mobile device to enter if the judgment unit determines that there are not the predetermined number or more of other autonomous mobile devices in the specified area. Effect of the Invention

[0006] According to the present invention, even in a relatively small space and in an area where people tend to congregate, the operational activities of a robot can be prevented from interfering with the smooth passage of people. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an overview of an information processing system including an information processing device according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of the information processing device according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing a specific example of a predetermined area in information processing according to the embodiment. [Figure 4] FIG. 4 is a diagram showing a specific example of a predetermined area in the information processing according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing a specific example of information processing according to the embodiment. [Figure 6] FIG. 6 is a diagram showing a specific example of information processing according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a specific example of information processing according to the embodiment. [Figure 8] FIG. 8 is a diagram showing a specific example of information processing according to the embodiment. [Figure 9] FIG. 9 is a diagram showing a specific example of information processing according to the embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of a processing procedure of information processing according to the embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of a hardware configuration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the information processing device, the information processing method, the information processing program, the information processing system, and the autonomous mobile device according to the present application will be described in detail with reference to the drawings. Note that the information processing device, the information processing method, the information processing program, the information processing system, and the autonomous mobile device according to the present application are not limited to the embodiments.

[0009] (Embodiment) 1. Introduction First, an overview of an information processing system including an information processing device according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an overview of an information processing system including an information processing device according to this embodiment. In the information processing system shown in Fig. 1, an information processing device 10 and a plurality of autonomous mobile devices such as a delivery robot 20 and a cleaning robot 30 are connected via a network N.

[0010] 1, the information processing device 10 is a server device that stores position information of autonomous mobile devices and information on a predetermined area, and transmits and receives information to and from a plurality of autonomous mobile devices via a network N. When the information processing device 10 receives a signal transmitted from an autonomous mobile device requesting an instruction for the autonomous mobile device to enter a predetermined area, the information processing device 10 determines whether or not a predetermined number or more of other autonomous mobile devices are present in the predetermined area, and when it is determined that the predetermined number or more of other autonomous mobile devices are not present in the predetermined area, instructs the autonomous mobile device to enter.

[0011] When the information processing device 10 receives a signal from an autonomous mobile device requesting an instruction for the autonomous mobile device to enter a predetermined area, the information processing device 10 first determines whether or not a predetermined number or more of other autonomous mobile devices are present in the predetermined area. For example, when the information processing device 10 receives a door open request signal, which is a signal transmitted from an autonomous mobile device requesting entry into a predetermined area and requests opening of a door installed in the predetermined area, via the network N, the information processing device 10 refers to information about the predetermined area stored in the storage unit and determines whether or not a predetermined number or more of other autonomous mobile devices are present in the predetermined area.

[0012] Then, when the information processing device 10 determines that there are not a predetermined number or more of other autonomous moving devices in the predetermined area, it instructs the autonomous moving device to enter. For example, when the information processing device 10 determines that there are not a predetermined number or more of other autonomous moving devices in the predetermined area, it transmits a signal via the network N to the autonomous moving device that transmitted the above-mentioned door open request signal to instruct it to enter the predetermined area.

[0013] 1, the delivery robot 20 and the cleaning robot 30 are examples of autonomous mobile devices, and transmit and receive information to and from the information processing device 10 via the network N. Here, the autonomous mobile devices are not limited to the delivery robot 20 and the cleaning robot 30 in the example of FIG. 1, but include robots of various industries such as security robots, and are assumed to have a transmitting unit 21 and a responding unit 22, which will be described later.

[0014] The transmitter 21 transmits to the information processing device 10 a signal requesting an instruction to enter a predetermined area set as an area where entry of a predetermined number or more of autonomous mobile devices is not permitted. For example, when the autonomous mobile device arrives at a waiting place for entering the predetermined area, in a predetermined area set as an area where entry of a predetermined number or more of autonomous mobile devices is not permitted, the autonomous mobile device transmits to the information processing device 10 via the network N a door open request signal which is a signal requesting entry into the predetermined area and requests opening of a door installed in the predetermined area.

[0015] The response unit 22 acts in response to an instruction to enter a predetermined area transmitted from the information processing device 10. For example, when the response unit 22 receives an instruction to enter a predetermined area transmitted from the information processing device 10 via the network N, it enters the predetermined area. Note that the autonomous mobile device waits at the waiting location described above from the time it transmits the above-mentioned signal until it receives the instruction to enter.

[0016] 2. Configuration of Information Processing Device 10 Next, the configuration of the information processing device 10 shown in Fig. 1 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the information processing device according to the embodiment. As shown in Fig. 2, the information processing device 10 according to the embodiment includes a communication unit 11, a control unit 12, and a storage unit 13. The information processing device 10 and a network N are connected to each other via wire or wirelessly so as to be able to communicate with each other.

[0017] The communication unit 11 is realized by, for example, a network interface card (NIC) etc. The communication unit 11 is connected to a network N by wire or wirelessly, and transmits and receives information to and from autonomous mobile devices such as a delivery robot 20 and a cleaning robot 30 via the network N.

[0018] The storage unit 13 is realized by a storage device such as a RAM (Random Access Memory) or a hard disk. The storage unit 13 stores data and programs necessary for various processes by the control unit 12, and includes a received information storage unit 13a, a predetermined area information storage unit 13b, an autonomous mobile device information storage unit 13c, and a priority information storage unit 13d as units closely related to the present invention.

[0019] The received information storage unit 13a stores signals transmitted from the autonomous mobile device requesting an instruction for the autonomous mobile device to enter a specified area. For example, the received information storage unit 13a stores a door open request signal that is transmitted when the autonomous mobile device arrives at a waiting place in a specified area, which will be described later, to request an instruction for entering the specified area and that requests the opening of an automatic door installed in the specified area, together with a unique identifier of the autonomous mobile device that transmitted the signal and the time of reception.

[0020] The predetermined area information storage unit 13b stores information about a predetermined area set by a plurality of coordinates, into which a predetermined number or more of autonomous mobile devices are not permitted to enter. For example, the predetermined area information storage unit 13b stores, as a predetermined area, a relatively narrow space in a facility in which the autonomous mobile devices are operating, where people tend to gather and where the activities of the autonomous mobile devices may impede smooth passage of people.

[0021] In addition, the specified area information storage unit 13b stores the unique identifiers of autonomous moving devices stored in association with any specified area by the storage unit 12c described later, and stores a specified number that is the upper limit on the number of autonomous moving devices that are permitted to enter each specified area.

[0022] Here, a specific example of the above-mentioned predetermined area will be described with reference to Fig. 3 and Fig. 4. Fig. 3 and Fig. 4 are diagrams showing a specific example of a predetermined area in information processing according to an embodiment. The example of Fig. 3 shows an elevator hall with multiple elevators, and a rectangular area consisting of four points, which are multiple coordinates, is set as the predetermined area. Also, in the example of Fig. 3, automatic doors are installed on both ends of the predetermined area.

[0023] The above-mentioned predetermined area is not limited to a rectangle consisting of four points, and may be set to a more complicated shape. The above-mentioned predetermined area and the predetermined number may be set from the outside before the information processing device 10 performs information processing, or may be set by the information processing device 10 dynamically based on the crowding of people in each area of ​​the facility. For example, the above-mentioned predetermined area may be set as a predetermined area only during the time period when the event is held, particularly for an event area where crowding of people is predicted, and the above-mentioned predetermined number may be increased or decreased according to the increase or decrease in the flow of people.

[0024] Next, with reference to Fig. 4, a waiting location and an entry completion location when an autonomous mobile device enters a predetermined area, and a waiting location and an exit completion location when an autonomous mobile device exits a predetermined area will be described. In the example of Fig. 4, an area similar to the example of Fig. 3 is set as the predetermined area, and when an autonomous mobile device enters a predetermined area, an arbitrary point outside the predetermined area is set as a waiting location, and an arbitrary point within the predetermined area is set as an entry completion location. Similarly, when an autonomous mobile device exits a predetermined area, an arbitrary point within the predetermined area is set as a waiting location, and an arbitrary point outside the predetermined area is set as an exit completion location.

[0025] The above-mentioned waiting location, entry completion location, and exit completion location are defined, for example, by a label or coordinates that are unique within the facility, and are shared by the information processing device 10 and each autonomous mobile device. Also, each location is set differently depending on the type of autonomous mobile device, and when multiple autonomous mobile devices of the same type are present in the waiting location, the waiting method is determined by each autonomous mobile device.

[0026] The autonomous mobile device information storage unit 13c stores information about the autonomous mobile device, such as the location information of the autonomous mobile device, business status, etc. For example, the autonomous mobile device information storage unit 13c stores the location information of the autonomous mobile device and information about the business status obtained by constantly monitoring the autonomous mobile device using information obtained by a surveillance camera or the like in a facility where the autonomous mobile device is located.

[0027] The priority information storage unit 13d stores priorities regarding the order in which autonomous mobile devices are permitted to enter a certain area when there are multiple autonomous mobile devices at a waiting location in the certain area. For example, the priority information storage unit 13d stores priorities that are preset according to the business type and business status of the autonomous mobile devices and characteristics according to the location in the certain area.

[0028] The control unit 12 is realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like executing various programs stored in a storage device inside the information processing device 10 using a RAM as a working area. The control unit 12 is also realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control unit 12 has a determination unit 12a, an instruction unit 12b, a storage unit 12c, and an erasure unit 12d.

[0029] When the determination unit 12a receives a signal from an autonomous mobile device requesting an instruction to enter a predetermined area, the determination unit 12a determines whether or not a predetermined number of other autonomous mobile devices are present in the predetermined area. Then, the determination unit 12a notifies the instruction unit 12b (described later) of the determination result.

[0030] For example, when the determination unit 12a receives a door open request signal from an autonomous mobile device requesting an instruction to enter a predetermined area, and determines from the position information of the autonomous mobile device stored in the autonomous mobile device information storage unit 13c that the autonomous mobile device is outside the predetermined area, the determination unit 12a refers to the information stored in the predetermined area information storage unit 13b and determines whether or not a predetermined number or more of other autonomous mobile devices are present in the predetermined area. Then, the determination unit 12a notifies the instruction unit 12b of the determination result.

[0031] Here, the predetermined number is an upper limit of the number of autonomous mobile devices that are permitted to enter each predetermined area, and the set number for each predetermined area is stored in the above-mentioned predetermined area information storage unit 13b. Note that the predetermined number may be set to a different number for each business type of the autonomous mobile device.

[0032] Furthermore, the determination unit 12a may determine whether or not a predetermined number or more of other autonomous moving devices are present in a predetermined area, using information stored in the storage unit 13. For example, the determination unit 12a refers to information stored in the predetermined area information storage unit 13b, and compares the number of unique identifiers of other autonomous moving devices stored in association with the predetermined area with a predetermined number set for the predetermined area, thereby determining whether or not a predetermined number or more of other autonomous moving devices are present in the predetermined area. Then, the determination unit 12a notifies the instruction unit 12b of the determination result.

[0033] The instruction unit 12b instructs the autonomous moving device to enter when the determination unit 12a determines that a predetermined number or more of other autonomous moving devices are not present in the predetermined area. For example, when the determination unit 12a notifies the instruction unit 12b that a predetermined number or more of other autonomous moving devices are not present in the predetermined area, the instruction unit 12b instructs the autonomous moving device to enter. Note that, for example, when the determination unit 12a notifies the instruction unit 12b that a predetermined number or more of other autonomous moving devices are present in the predetermined area, the instruction unit 12b reserves the instruction to enter the autonomous moving device.

[0034] Furthermore, the instruction unit 12b may instruct the autonomous mobile device to exit when there is no other autonomous mobile device entering a predetermined area. For example, when the instruction unit 12b receives a door open request signal transmitted when the autonomous mobile device exits a predetermined area, and determines that the autonomous mobile device is present within the predetermined area based on the position information of the autonomous mobile device stored in the autonomous mobile device information storage unit 13c, if there is no other autonomous mobile device installed in the predetermined area and entering through a door that is the target of the door open request signal, the instruction unit 12b instructs the autonomous mobile device to exit.

[0035] For example, the door open request signal transmitted when the autonomous mobile device exits a predetermined area may be the same as a signal requesting entry of the autonomous mobile device into the predetermined area. In addition, when there is another autonomous mobile device that is installed in the predetermined area and entering through a door that is the target of the door open request signal, the instruction unit 12b reserves the exit instruction until the other autonomous mobile device arrives at a place where entry into the predetermined area is completed.

[0036] Furthermore, the instruction unit 12b may instruct the autonomous mobile devices to enter a predetermined area according to the priority regarding the order of entering the predetermined area. For example, when a plurality of autonomous mobile devices are waiting at a waiting place for a certain predetermined area with instructions pending, the instruction unit 12b refers to the information on the business type of the autonomous mobile device that transmitted the signal stored in the received information storage unit 13a and the information on the priority by business type of the autonomous mobile device stored in the priority information storage unit 13d, and instructs an autonomous mobile device with a higher priority among the autonomous mobile devices with instructions pending to enter.

[0037] When an autonomous mobile device instructed by the instruction unit 12b to enter arrives at a location in the predetermined area that is set as a location for determining completion of entry into the predetermined area, the storage unit 12c associates the unique identifier of the autonomous mobile device with the entered predetermined area and stores it in the storage unit. For example, when the storage unit 12c refers to the position information stored in the autonomous mobile device information storage unit 13c and obtains information that the autonomous mobile device instructed to enter has arrived at a location where entry into the predetermined area is completed, the storage unit 12c refers to the unique identifier of the autonomous mobile device stored in the received information storage unit 13a and associates the unique identifier of the autonomous mobile device with the entered predetermined area and stores it in the predetermined area information storage unit 13b.

[0038] When the autonomous moving device moves from a predetermined area, the erasing unit 12d erases the unique identifier of the autonomous moving device that is associated with the predetermined area and stored by the storage unit 12c. For example, when the erasing unit 12d refers to the position information stored in the autonomous moving device information storage unit 13c and acquires information that the autonomous moving device has moved from a predetermined area by an elevator or the like, the erasing unit 12d erases the unique identifier of the autonomous moving device that is associated with the predetermined area and stored in the predetermined area information storage unit 13b.

[0039] [3. Specific examples of information processing] Here, with reference to Fig. 5 to Fig. 9, a process of instructing an autonomous moving device to enter or leave a predetermined area by the information processing device 10, a process of storing a unique identifier of an autonomous moving device associated with the entry of the autonomous moving device, and a process of deleting a unique identifier of an autonomous moving device associated with the movement of the autonomous moving device will be described. Fig. 5 to Fig. 9 are diagrams showing a specific example of information processing according to an embodiment. Note that in the example of Fig. 5 to Fig. 9, the predetermined number set in the predetermined area is "1", and only one autonomous moving device is permitted to enter the predetermined area, so the determination process is performed based on the presence or absence of unique identifiers of other autonomous moving devices stored in the predetermined area.

[0040] First, referring to Fig. 5, a process performed by the information processing device 10 when the delivery robot 20 enters a predetermined area will be described. In the example of Fig. 5, when the delivery robot 20 arrives at a waiting place in "EV Hall 01", which is a predetermined area, the information processing device 10 transmits a signal requesting an instruction to enter. After that, the information processing device 10 determines that the delivery robot 20 is outside the area of ​​"EV Hall 01", and instructs the delivery robot 20 to enter since the unique identifier of another robot linked to "EV Hall 01" is not stored.

[0041] Then, in response to receiving the entry instruction, the delivery robot 20 enters the "EV hall 01." After that, when the delivery robot 20 arrives at the entry completion point of the "EV hall 01," the information processing device 10 stores "robot A," which is the unique identifier of the delivery robot 20, in association with the "EV hall 01."

[0042] Next, referring to Fig. 6, a process performed by the information processing device 10 when the delivery robot 20 enters a predetermined area will be described. In the example of Fig. 6, the process is the same as that performed in Fig. 5 described above until halfway through, but since "robot B", which is the unique identifier of the cleaning robot 30, is stored in "EV hall 01", the information processing device 10 withholds the entry instruction to the delivery robot 20. Then, the delivery robot 20 waits at the waiting area until it receives the entry instruction from the information processing device 10.

[0043] Next, referring to FIG. 7, a process performed by the information processing device 10 when the cleaning robot 30 moves from a predetermined area will be described. In the example of FIG. 7, the cleaning robot 30 uses an EV from "EV Hall 01" to move to another area. When the information processing device 10 acquires information that the cleaning robot 30 has moved from "EV Hall 01" from the position information of the cleaning robot 30 or the like, it erases "Robot B", which is the unique identifier of the cleaning robot 30 that is associated with "EV Hall 01" and stored. As a result, the unique identifier associated with "EV Hall 01" and stored is no longer present, and therefore it is possible to permit the entry of other robots.

[0044] Next, a process of issuing an entry instruction according to priority by the information processing device 10 will be described with reference to Fig. 8 and Fig. 9. In the example of Fig. 8, there are a delivery robot 20 and a cleaning robot 30, and it is set that a robot with a higher task priority is given priority in entering a predetermined area.

[0045] In the example of Fig. 8, the cleaning robot 30 is present in a predetermined area, and a unique identifier of the cleaning robot 30 is stored in the predetermined area. Therefore, the information processing device 10 reserves an entry instruction to the cleaning robot 30 and the delivery robot 20 in the lower part of Fig. 8, and the cleaning robot 30 and the delivery robot 20 in the lower part of Fig. 8 are waiting.

[0046] After that, the cleaning robot 30 that was in the specified area moves to another area, so the information processing device 10 erases the unique identifier, but since the delivery robot 20 has a higher job priority than the cleaning robot 30, the information processing device 10 instructs only the delivery robot 20 to enter, regardless of the order of door opening requests, and stores the unique identifier of the delivery robot 20. This allows the robot with the higher priority to be instructed to enter the specified area and perform its job in preference to other robots.

[0047] Next, in the example of Fig. 9, there are a delivery robot 20 and a cleaning robot 30, and the order in which the robots enter a predetermined area is set to be prioritized according to the characteristics of the location where the robots are waiting. In the example of Fig. 9, the same processing as the example of Fig. 8 is performed until halfway, but after the cleaning robot 30 moves within the predetermined area, the location where the delivery robot 20 is waiting is a location that has the characteristics that people are more likely to gather than the location where the cleaning robot 30 is waiting at the bottom of Fig. 9, so only the delivery robot 20 is instructed to enter and the unique identifier of the delivery robot 20 is stored.

[0048] This allows the robot to enter places where people tend to gather preferentially, preventing the robot from waiting for long periods of time in places where people tend to gather and preventing the robot from interfering with the smooth passage of people.

[0049] 4. Processing Procedure by Information Processing Device Next, an example of a processing procedure by the information processing device 10 according to the embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of a processing procedure of information processing according to the embodiment. Note that, in the example of Fig. 10, the predetermined number in the determination process by the determination unit 12a is "1", so a process of determining whether or not an autonomous mobile device is present within a predetermined area is performed.

[0050] The information processing device 10 receives, for example, a door open request signal from an autonomous mobile device, which is a signal requesting an instruction to enter or exit a predetermined area (step S101). When the information processing device 10 receives a door open request signal from an autonomous mobile device (step S101; Yes), the information processing device 10 determines whether the autonomous mobile device that made the door open request is outside the predetermined area (step S102). On the other hand, when the information processing device 10 has not received a door open request signal from the autonomous mobile device (step S101; No), the information processing device 10 waits until it receives a door open request signal from the autonomous mobile device.

[0051] If the autonomous mobile device that has issued the door open request is outside the predetermined area (step S102; Yes), the determination unit 12a determines whether or not the autonomous mobile device is present within the predetermined area (step S103). If it is determined that the autonomous mobile device is present within the predetermined area (step S103; Yes), the information processing device 10 determines whether or not the autonomous mobile device within the predetermined area has moved outside the predetermined area (step S104).

[0052] If the autonomous mobile device in the predetermined area has moved outside the predetermined area (step S104; Yes), the erasure unit 12d erases the unique identifier of the autonomous mobile device stored in association with the predetermined area (step S105). On the other hand, if the autonomous mobile device in the predetermined area has not moved outside the predetermined area (step S104; No), the information processing device 10 waits until it is determined that the autonomous mobile device in the predetermined area has moved outside the predetermined area.

[0053] Then, after the unique identifier of the autonomous mobile device stored in association with the predetermined area is deleted, or if it is determined that no autonomous mobile device is present within the predetermined area (step S103; No), the instruction unit 12b instructs the autonomous mobile device that made the door open request to enter (step S106). After that, the information processing device 10 determines whether or not the autonomous mobile device that made the door open request has completed entering the predetermined area (step S107).

[0054] When the autonomous mobile device that has issued the door open request has completed entering the predetermined area (step S107; Yes), the storage unit 12c associates the unique identifier of the autonomous mobile device with the predetermined area and stores it (step S108). On the other hand, when the autonomous mobile device that has issued the door open request has not completed entering the predetermined area (step S107; No), the information processing device 10 waits until it is determined that the autonomous mobile device that has issued the door open request has completed entering the predetermined area.

[0055] On the other hand, if the autonomous mobile device that issued the door open request is not outside the predetermined area but is inside the predetermined area (step S102; No), the information processing device 10 determines whether or not there is another autonomous mobile device that is entering through the door that is the target of the door open request of the autonomous mobile device (step S109). If there is another autonomous mobile device that is entering through the door that is the target of the door open request of the autonomous mobile device (step S109; Yes), the information processing device 10 determines whether or not the other autonomous mobile device that is entering has completed its entry (step S110).

[0056] Then, if the other autonomous mobile device currently invading has completed its intrusion (step S110; Yes), or if there is no other autonomous mobile device currently invading through the door that was the target of the door open request from the autonomous mobile device (step S109; No), the instruction unit 12b instructs the autonomous mobile device that made the door open request to exit (step S111). On the other hand, if the other autonomous mobile device currently invading has not completed its intrusion (step S110; No), the information processing device 10 waits until it is determined that the other autonomous mobile device currently invading has completed its intrusion.

[0057] 5. Effects As described above, the information processing device 10 according to the embodiment includes the determination unit 12a and the instruction unit 12b. When the determination unit 12a receives a signal transmitted from the autonomous mobile device requesting an instruction for the autonomous mobile device to enter a predetermined area, the determination unit 12a determines whether or not a predetermined number or more of other autonomous mobile devices are present in the predetermined area. When the determination unit 12a determines that the predetermined number or more of other autonomous mobile devices are not present in the predetermined area, the instruction unit 12b instructs the autonomous mobile device to enter.

[0058] As a result, when the number of autonomous mobile devices within a specified area is less than a specified number, the information processing device 10 instructs the autonomous mobile devices to enter the specified area, so that the number of autonomous mobile devices within the specified area does not exceed the specified number, and it is possible to prevent the business activities of the autonomous mobile devices from impeding the smooth passage of people.

[0059] Furthermore, when the autonomous moving device instructed to enter by the instruction unit 12b arrives at a location set in the predetermined area for determining completion of entry into the predetermined area, the storage unit 12c of the information processing device 10 associates the unique identifier of the autonomous moving device with the entered predetermined area and stores it in the memory unit 13. Then, the determination unit 12a uses the information stored in the memory unit 13 to determine whether or not a predetermined number or more of other autonomous moving devices are present in the predetermined area.

[0060] As a result, the information processing device 10 stores a specific area in association with the unique identifier of an autonomous moving device that has entered the specific area, and when instructing the autonomous moving device to enter the specific area, the information processing device 10 can determine whether the number of autonomous moving devices in the specific area is greater than or equal to a specific number by referring to the memory unit.

[0061] Furthermore, when the autonomous mobile device moves from a predetermined area, the deletion unit 12d of the information processing device 10 deletes the unique identifier of the autonomous mobile device that is associated with the predetermined area and stored by the storage unit 12c. This allows the information processing device 10 to accurately grasp the number and type of autonomous mobile devices present in the predetermined area by deleting the unique identifier of the autonomous mobile device that has moved from the predetermined area.

[0062] Furthermore, when there is no other autonomous mobile device entering the predetermined area, the instruction unit 12b instructs the autonomous mobile device to exit. This enables the information processing device 10 to prevent a plurality of autonomous mobile devices from passing through simultaneously at an entry or exit point of the predetermined area, and to prevent the movement of the autonomous mobile devices from interfering with the smooth passage of people.

[0063] Furthermore, the instruction unit 12b instructs the autonomous mobile devices to enter a predetermined area according to the priority regarding the order of entry into the predetermined area. As a result, when multiple autonomous mobile devices are waiting to enter a predetermined area, the information processing device 10 can preferentially allow an autonomous mobile device with a high priority set according to the business content or the like to enter the predetermined area.

[0064] [6. Hardware Configuration] Moreover, the information processing device 10 according to the embodiment described above is realized by a computer 1000 having a configuration as shown in Fig. 11, for example. Fig. 11 is a diagram showing an example of a hardware configuration. The information processing device 10 according to the embodiment will be described below as an example. The computer 1000 is connected to an output device 1010 and an input device 1020, and a calculation device 1030, a cache 1040, a memory 1050, an output IF (Interface) 1060, an input IF 1070, and a network IF 1080 are connected by a bus 1090.

[0065] The arithmetic device 1030 operates based on programs stored in a cache 1040 or memory 1050, programs read from the input device 1020, etc., and executes various processes. The cache 1040 is a cache such as a RAM that temporarily stores data used by the arithmetic device 1030 for various calculations. The memory 1050 is a storage device in which data used by the arithmetic device 1030 for various calculations and various databases are registered, and is a memory realized by a ROM (Read Only Memory), an HDD (Hard Disk Drive), a flash memory, etc.

[0066] The output IF 1060 is an interface for transmitting information to be output to an output device 1010 that outputs various types of information, such as a monitor or a printer, and may be realized by a connector conforming to a standard such as USB (Universal Serial Bus), DVI (Digital Visual Interface), or HDMI (registered trademark) (High Definition Multimedia Interface). On the other hand, the input IF 1070 is an interface for receiving information from various input devices 1020, such as a mouse, keyboard, scanner, etc., and is realized by, for example, a USB.

[0067] For example, the input device 1020 may be realized by a device that reads information from an optical recording medium such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory, etc. The input device 1020 may also be realized by an external storage medium such as a USB memory.

[0068] The network IF 1080 has a function of receiving data from other devices via the network N and sending it to the arithmetic device 1030, and also has a function of transmitting data generated by the arithmetic device 1030 to other devices via the network N.

[0069] Here, the arithmetic device 1030 controls the output device 1010 and the input device 1020 via the output IF 1060 and the input IF 1070. For example, the arithmetic device 1030 loads a program from the input device 1020 or the memory 1050 onto the cache 1040 and executes the loaded program. For example, when the computer 1000 functions as the information processing device 100, the arithmetic device 1030 of the computer 1000 executes the program loaded onto the cache 1040 to realize the function of the control unit 130.

[0070] The embodiments of the present application have been described in detail above with reference to the drawings. However, these are merely examples, and the embodiments of the present application can be embodied in other forms that include the forms described in the section of the disclosure of the invention, as well as in other forms that include various modifications and improvements based on the knowledge of those skilled in the art.

[0071] [7. Other] In addition, among the processes described in the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically by a known method. In addition, the information including the processing procedures, specific names, various data and parameters shown in the above documents and drawings can be changed arbitrarily unless otherwise specified. For example, the various information shown in each drawing is not limited to the illustrated information.

[0072] In addition, each component of each device shown in the figure is a functional concept, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads and usage conditions. In addition, the above-mentioned embodiments can be appropriately combined within the scope of not causing any contradiction in the processing contents. [Explanation of symbols]

[0073] 10. Information processing device 11 Communications Department 12 Control section 12a Judgment part 12b Instruction part 12c Storage area 12d Erase part 13 Storage section 13a Received information storage unit 13b Predetermined area information storage unit 13c Autonomous mobile device information storage unit 13d Priority information storage unit 20 Delivery Robot 21 Transmitter 22 Response section 30 Cleaning Robot

Claims

1. When an autonomous mobile device receives a signal from the autonomous mobile device requesting an instruction to enter a predetermined area, a determination unit determines whether a predetermined number or more other autonomous mobile devices are present in the predetermined area. If the determination unit determines that there are no other autonomous mobile devices in the predetermined area in the predetermined number or more, the instruction unit instructs the autonomous mobile device to enter the predetermined area, When the autonomous mobile device, instructed to enter by the instruction unit, arrives at a specific location within the predetermined area, which is set as the location for determining the completion of entry into the predetermined area, the storage unit stores the unique identifier of the autonomous mobile device in association with the predetermined area in the storage unit. The system includes an erasure unit that erases the unique identifier of the autonomous mobile device, which is stored in the storage unit in association with the predetermined area, when the autonomous mobile device moves away from the predetermined area. The determination unit determines whether there are more than the predetermined number of other autonomous mobile devices in the predetermined area by comparing the number of unique identifiers associated with the predetermined area in the storage unit with the predetermined number, which is the upper limit of the number of autonomous mobile devices permitted to enter the predetermined area. An information processing device characterized by the following:

2. The storage unit stores a priority set in advance for each autonomous mobile device according to the type of work, When the number of autonomous mobile devices in the predetermined area reaches the predetermined number, and multiple autonomous mobile devices of different types of work are on standby, the instruction unit, when the number of autonomous mobile devices in the predetermined area falls below the predetermined number, instructs the autonomous mobile device with the highest priority among the standby devices to enter the area. The information processing apparatus according to feature 1.

3. When the number of autonomous mobile devices in the predetermined area reaches the predetermined number, and autonomous mobile devices are waiting in both the first waiting area, which is a waiting area for the autonomous mobile devices to enter, and the second waiting area, which is a waiting area different from the first waiting area, the instruction unit instructs only the autonomous mobile devices waiting in the waiting area that has a higher priority in relation to the order in which the autonomous mobile devices enter the predetermined area, as set in association with each of the first and second waiting areas, to enter the predetermined area. The information processing apparatus according to feature 1.

4. The instruction unit further instructs the autonomous mobile device to exit the predetermined area if, when the autonomous mobile device is exiting the predetermined area, there are no other autonomous mobile devices currently invading the predetermined area. The information processing apparatus according to feature 1.

5. The instruction unit receives a door open request signal transmitted when the autonomous mobile device leaves the predetermined area, and if there are no other autonomous mobile devices entering through a door located in the predetermined area that is the target of the door open request signal, it instructs the autonomous mobile device to leave. The information processing apparatus according to feature 4.

6. If there is another autonomous mobile device that is entering through a door that is installed in the predetermined area and is subject to a door open request signal, the instruction unit will withhold the exit instruction until the other autonomous mobile device has reached the location where it has completed entry into the predetermined area. The information processing apparatus according to claim 4 or 5.

7. The priority is set according to the density of people in the waiting area. The information processing apparatus according to claim 3.

8. An information processing system having an autonomous mobile device and an information processing device, The autonomous mobile device is A transmitting unit sends a signal to an information processing device requesting instructions to enter a predetermined area that is set as an area where entry of a predetermined number of autonomous mobile devices is not permitted, A response unit that acts in response to an instruction to enter the predetermined area transmitted from the information processing device, It has, The aforementioned information processing device is When an autonomous mobile device receives a signal from the autonomous mobile device requesting an instruction to enter a predetermined area, a determination unit determines whether a predetermined number or more other autonomous mobile devices are present in the predetermined area. If the determination unit determines that there are no other autonomous mobile devices in the predetermined area in the predetermined number or more, the instruction unit instructs the autonomous mobile device to enter the predetermined area, When the autonomous mobile device, instructed to enter by the instruction unit, arrives at a specific location within the predetermined area, which is set as the location for determining the completion of entry into the predetermined area, the storage unit stores the unique identifier of the autonomous mobile device in association with the predetermined area in the storage unit. The system includes an erasure unit that erases the unique identifier of the autonomous mobile device, which is stored in the storage unit in association with the predetermined area, when the autonomous mobile device moves away from the predetermined area. The determination unit determines whether there are more than the predetermined number of other autonomous mobile devices in the predetermined area by comparing the number of unique identifiers associated with the predetermined area in the storage unit with the predetermined number, which is the upper limit of the number of autonomous mobile devices permitted to enter the predetermined area. An information processing system characterized by the following:

9. An information processing method performed by an information processing device, When an autonomous mobile device receives a signal from the autonomous mobile device requesting an instruction to enter a predetermined area, the process includes determining whether a predetermined number or more other autonomous mobile devices are present in the predetermined area, If the determination step determines that there are no other autonomous mobile devices in the predetermined area in the predetermined number or more, the instruction step instructs the autonomous mobile device to enter the predetermined area, When the autonomous mobile device, which has been instructed to enter by the instruction step, arrives at a specific location within the predetermined area, which is set as the location for determining the completion of entry into the predetermined area, a storage step is performed to store the unique identifier of the autonomous mobile device in a storage unit, linked to the predetermined area. If the autonomous mobile device moves from the predetermined area, the process includes an erasure step of erasing the unique identifier of the autonomous mobile device that was stored in association with the predetermined area during the storage step, The determination step involves comparing the number of unique identifiers associated with the predetermined area in the storage unit with the predetermined number, which is the upper limit of the number of autonomous mobile devices permitted to enter the predetermined area, to determine whether there are more than the predetermined number of other autonomous mobile devices in the predetermined area. An information processing method characterized by the following:

10. When an autonomous mobile device receives a signal from the autonomous mobile device indicating that it is requesting instructions to enter a predetermined area, a determination step is made to determine whether a predetermined number or more other autonomous mobile devices are present in the predetermined area, If the determination step determines that there are no other autonomous mobile devices in the predetermined area in the predetermined number or more, the instruction step instructs the autonomous mobile device to enter the predetermined area, When the autonomous mobile device, which has been instructed to enter by the instruction step, arrives at a specific location within the predetermined area, which is set as the location for determining the completion of entry into the predetermined area, the storage step involves storing the unique identifier of the autonomous mobile device in a storage unit, associated with the predetermined area. If the autonomous mobile device moves from the predetermined area, the system includes an erasure step which erases the unique identifier of the autonomous mobile device that was stored in association with the predetermined area in the storage step, The determination step involves comparing the number of unique identifiers associated with the predetermined area in the storage unit with the predetermined number, which is the upper limit of the number of autonomous mobile devices permitted to enter the predetermined area, to determine whether or not there are more than the predetermined number of other autonomous mobile devices in the predetermined area. An information processing program that causes a computer to execute something.

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