Task execution system, autonomous mobile terminal, and server

Abstract

To reduce the burden on managers required to assign tasks to a plurality of autonomous mobile terminals.SOLUTION: A task execution system includes a server 10 and a plurality of autonomous mobile terminals 20, 201-20N and executes tasks. The autonomous mobile terminal 20 receives task information in which an area in which a task should be executed is associated with requirements of the task, executes the task based on the received task information, and sends evaluation-related information regarding evaluation of the executed task to the server 10. The server 10 refers to storage means that stores allocation information in which identification information on the autonomous mobile terminals is associated with the task information, sends the task information to the plurality of autonomous mobile terminals 20, 201-20N, and updates the allocation information by predetermined updating means using the evaluation-related information received from the plurality of autonomous mobile terminals 20, 201-20N.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a task execution system including a server and a plurality of autonomous mobile terminals, and to the autonomous mobile terminals and the server. [Background technology]

[0002] Conventionally, various systems have been proposed for making an autonomous mobile terminal execute a task (i.e., a job). For example, one such system makes an autonomous mobile terminal clean a predetermined location (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-508812 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, there are cases where a task is divided into multiple tasks and assigned to multiple autonomous mobile terminals because it is difficult to execute as a single task (for example, because the area to be cleaned is large). In this case, for example, a method can be adopted in which the area to be executed for the tasks before division is divided into multiple areas, and tasks corresponding to the divided areas are assigned to multiple autonomous mobile terminals. Here, when it is desired to improve the assignment of tasks to multiple autonomous mobile terminals, the system administrator will review the results of the tasks executed by each autonomous mobile terminal (for example, the success or failure of the task and the time required to complete it) and consider a more appropriate assignment. For this reason, the greater the number of autonomous mobile terminals, the greater the burden on the administrator may become.

[0005] The present invention has been made in consideration of the above-mentioned points, and has an object to reduce the burden on an administrator required to assign tasks to a plurality of autonomous mobile terminals. [Means for solving the problem]

[0006] The task execution system of the present invention is a task execution system that comprises a server and a plurality of autonomous mobile terminals and executes a task, wherein the autonomous mobile terminal comprises a terminal-side receiving unit that receives task information in which an area in which the task is to be executed is associated with the requirements of the task, an execution unit that executes the task based on the received task information, and a terminal-side transmitting unit that transmits evaluation-related information regarding an evaluation of an executed task to the server, and the server comprises a server-side transmitting unit that refers to a storage means that stores identification information of the autonomous mobile terminal and allocation information in which the task information is associated, and transmits the task information to each autonomous mobile terminal, and an updating unit that updates the allocation information by a predetermined updating means that uses the evaluation-related information received from each autonomous mobile terminal.

[0007] The autonomous mobile terminal of the present invention is an autonomous mobile terminal that executes a specified task, and is equipped with a terminal-side receiving unit that receives task information that corresponds to the area in which the task is to be executed and the requirements of the task, an execution unit that executes the task based on the received task information, and a terminal-side transmitting unit that transmits evaluation-related information regarding the evaluation of the executed task to a server, and is characterized in that the evaluation-related information is used by the server to update, by a specified update means, allocation information that corresponds to identification information of the autonomous mobile terminal and the task information.

[0008] The server in the present invention is a server for causing a plurality of autonomous mobile terminals to execute specified tasks, and is equipped with a server-side transmitting unit that refers to a storage means that stores allocation information in which identification information of the autonomous mobile terminal and task information are associated with each other, and transmits the task information to each autonomous mobile terminal, and an updating unit that updates the allocation information by a specified updating means that uses evaluation-related information regarding the evaluation of an executed task received from each autonomous mobile terminal, and is characterized in that the task information is information in which the area in which a task should be executed is associated with the requirements of the task. Effect of the Invention

[0009] According to the present invention, it is possible to provide a task execution system, an autonomous mobile terminal, and a server that are capable of reducing the burden on an administrator required to assign tasks to a plurality of autonomous mobile terminals. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing an example of a configuration of a task execution system 100 according to the present invention. [Diagram 2] 1 is a block diagram showing an example of a configuration of a server 10 corresponding to at least one of the embodiments of the present invention. [Diagram 3] 1 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20 corresponding to at least one of the embodiments of the present invention. [Figure 4] 4 is a flowchart showing an example of a task execution process and an assignment information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Diagram 5] FIG. 11 is an explanatory diagram for explaining an example of updating allocation information according to at least one of the embodiments of the present invention. [Figure 6] FIG. 2 is a block diagram showing an example of a configuration of a server 10B corresponding to at least one of the embodiments of the present invention. [Figure 7] FIG. 2 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20B corresponding to at least one of the embodiments of the present invention. [Figure 8] 10 is a flowchart showing an example of a task information generation process for a new task in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Figure 9] 4 is a flowchart showing an example of a process for determining whether a new task has occurred and a process for executing the new task in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Figure 10]4 is a flowchart showing an example of a process for determining whether a new task has occurred and a process for executing the new task in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Figure 11] 11 is an explanatory diagram for explaining an example of updating allocation information regarding the occurrence of a new task according to at least one of the embodiments of the present invention. FIG. [Figure 12] FIG. 2 is a block diagram showing an example of a configuration of a server 10C corresponding to at least one of the embodiments of the present invention. [Figure 13] FIG. 2 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20C corresponding to at least one of the embodiments of the present invention. [Figure 14] 10 is a flowchart showing an example of a divided task information generation process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Figure 15] 10 is a flowchart showing an example of a rescue request process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. [Figure 16] 11 is an explanatory diagram for explaining an example of updating allocation information regarding generation of divided task information according to at least one of the embodiments of the present invention. FIG. [Figure 17] 11 is an explanatory diagram for explaining an example of updating allocation information regarding generation of divided task information according to at least one of the embodiments of the present invention. FIG. [Figure 18] FIG. 11 is an explanatory diagram for explaining an example of function information corresponding to at least one of the embodiments of the present invention. [Figure 19] FIG. 2 is a block diagram showing an example of a configuration of a server 10D corresponding to at least one of the embodiments of the present invention. [Figure 20] FIG. 2 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20D corresponding to at least one of the embodiments of the present invention. [Figure 21] 10 is a flowchart showing an example of a map information update process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, examples of embodiments of the present invention will be described with reference to the drawings. Note that the various components in the examples of the embodiments described below can be appropriately combined to the extent that no inconsistencies or the like arise. In addition, the contents described as an example of one embodiment may be omitted in other embodiments. In addition, the contents of operations and processes that are not related to the characteristic parts of each embodiment may be omitted. Furthermore, the order of various processes that make up the various flows described below is random to the extent that no inconsistencies or the like arise in the process contents.

[0012] [First embodiment] An example of a task execution system according to an embodiment of the present invention will now be described with reference to the drawings. Fig. 1 is a block diagram showing an example of a configuration of a task execution system 100 according to the present invention. The task execution system 100 includes at least a server 10 and a plurality of autonomous mobile terminals 20, 201 to 20N (N is any integer). The server 10 and the plurality of autonomous mobile terminals 20, 201 to 20N are connected to each other via a communication network 30 such as the Internet.

[0013] The server 10 is a device for making a plurality of autonomous mobile terminals 20, 201 to 20N execute a predetermined task. Here, a task means an action for which at least requirements to be satisfied are defined. The content of the requirements is not particularly limited, but it is preferable that the success or failure of execution (or completion or incompletion) can be determined by a machine. An example of a requirement is a requirement "wipe the target with water" for the task "wipe with water", and the action in this case is "move to the target and wipe with water". Another example of a requirement is a requirement "irradiate the target with ultraviolet rays" for the task "irradiate ultraviolet rays", and the action in this case is "move to the target and irradiate ultraviolet rays". Still another example of a requirement is a requirement "move or photograph the target area or target route" and the action "move or photograph" for the task "patrol".

[0014] The server 10 has at least a function of transmitting task information to the autonomous mobile terminals 20, 201 to 20N by referring to a storage means that stores allocation information in which the identification information of the autonomous mobile terminal 20 and task information are associated with each other, and a function of updating the allocation information by a predetermined update means that uses evaluation-related information received from the autonomous mobile terminals 20, 201 to 20N. The functional configuration of the server 10 will be described in detail later.

[0015] The server 10 is managed by an administrator of the task execution system 100, and has various functions for providing information on various processes to the autonomous mobile terminals 20, 201 to 20N. In this example, the server 10 is configured by an information processing device such as a WWW server, and includes a storage medium for storing various information. The configuration of the server 10 is not particularly limited as long as it includes general components for performing various processes as a computer, such as a control unit and a communication unit. An example of the hardware configuration of the server 10 will be briefly described below.

[0016] As shown in FIG. 1, the server 10 includes at least a CPU (Central Processing Unit) 101, a memory 102, and a storage device 103.

[0017] The CPU 101 is a central processing unit that performs various calculations and control. In addition, if the server 10 is equipped with a GPU (Graphics Processing Unit), some of the various calculations and control may be performed by the GPU. The server 10 executes various information processes required for task allocation update processing by the CPU 101 using data appropriately read into the memory 102, and stores the obtained processing results in the storage device 103 as necessary.

[0018] The storage device 103 has a function as a storage medium for storing various information. The configuration of the storage device 103 is not particularly limited, but may be configured to store all of the various information required for the autonomous mobile terminal 20 to execute a task from the viewpoint of reducing the processing load on each of the autonomous mobile terminals 20, 201 to 20N. Examples of such a configuration include an HDD and an SSD. However, the storage unit for storing the various information only needs to have a storage area accessible by the server 10, and may be configured to have a dedicated storage area outside the server 10, for example.

[0019] The autonomous mobile terminal 20 is a terminal capable of autonomous movement and executes a predetermined task. The autonomous mobile terminal 20 has at least a function of receiving task information in which an area in which the task should be executed is associated with the requirements of the task, a function of executing the task based on the received task information, and a function of transmitting evaluation-related information regarding the evaluation of the executed task to the server 10. In this example, the autonomous mobile terminal 20 is placed in a medical facility and executes tasks such as ultraviolet irradiation, wiping with water, and removing vomit. The autonomous mobile terminal 20 and the autonomous mobile terminals 201 to 20N may be terminals having the same functions or may be terminals having different functions. Hereinafter, when the autonomous mobile terminals are not distinguished from each other based on the difference in the functions they have, they may be simply referred to as "plural autonomous mobile terminals 20". The configuration of the autonomous mobile terminal 20 will be described in detail later.

[0020] The autonomous mobile terminal 20 is assumed to be equipped with a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), memory, a hard disk drive, and other storage devices that would normally be equipped in a general computer or server device (not shown). Needless to say, various processes are executed by programs to make the autonomous mobile terminal 20 function.

[0021] In addition, the autonomous mobile terminal 20 executes information processing required for various processes using the data appropriately read into the memory in the CPU, and stores the obtained processing results in the storage device as necessary. The storage device functions as a storage medium for storing various information. The configuration of the storage device is not particularly limited, but examples include HDD and SSD.

[0022] 2 is a block diagram showing an example of a configuration of the server 10 according to at least one of the embodiments of the present invention. As shown in FIG. 2, the server 10 includes at least a server-side transmitting unit 11 and an updating unit 12.

[0023] The server side transmitting unit 11 has a function of referring to a storage means that stores allocation information in which the identification information of the autonomous mobile terminals 20, 201 to 20N and task information are associated with each other, and transmitting task information to each of the autonomous mobile terminals 20, 201 to 20N.

[0024] Here, the identification information of the autonomous mobile terminal 20 means information for uniquely identifying the autonomous mobile terminal 20 in the task execution system 100. The identification information is not particularly limited as long as it is information that enables the task execution system 100 to distinguish between the autonomous mobile terminal 20 and other terminals. An example of the identification information is a unique identification number assigned to each of the multiple autonomous mobile terminals 20, 201 to 20N controlled by the task execution system 100.

[0025] Moreover, the task information means information in which the area in which the task should be performed is associated with the requirements of the task. The area in which the task should be performed means a range in which the target in which the task should be performed is determined. The configuration for identifying the area in which the task should be performed is not particularly limited, and may be a configuration in which the target and range are specified by the task manager, or a configuration in which the target is set for a plurality of ranges according to a specific criterion. Examples of such a configuration may include a configuration in which the manager specifies floors and doorknobs in hospital rooms and corridors that constitute a single hospital as targets, and a configuration in which targets (e.g., the floor including under the bed) are automatically set based on information on objects installed in hospital rooms that constitute a single hospital (e.g., the number and arrangement of beds).

[0026] The content of the information representing the area in which the task is to be performed is not particularly limited as long as it is content that the autonomous mobile terminal 20 can use to move to the area in which the task is to be performed, and may be an area shown on a map or coordinates representing the area in which the task is to be performed.

[0027] Moreover, the task requirement means a condition necessary for determining that the task is completed. The task requirement is not particularly limited, but is preferably a requirement that can be satisfied by a function possessed by at least one of the autonomous mobile terminals 20, 201 to 20N. Examples of the task requirement include a requirement "irradiating an object with ultraviolet rays" that can be satisfied by a function "irradiating ultraviolet rays" and a requirement "wiping an object with water" that can be satisfied by a function "wiping with water". However, the task requirement may be a requirement that cannot be satisfied by any of the functions possessed by the autonomous mobile terminals 20, 201 to 20N. Even if a task with a requirement exists, the server 10 is configured to notify the administrator that the task requirement is not satisfied, thereby eliminating the burden of the administrator himself to determine whether or not the requirement of each task is satisfied. The administrator can use the notification from the server 10 as a basis for determining whether to introduce an autonomous mobile terminal having a new function.

[0028] An example of a configuration for identifying a function capable of satisfying the requirements of a task is a configuration that uses function information in which the requirements of a task are associated with functions necessary for executing the task.

[0029] Examples of configurations for identifying the type of object (e.g., a floor or a handrail) on which a task is to be performed include a configuration in which the type is identified by at least a portion of the information representing the requirements of the task, and a configuration in which the type is identified by at least a portion of the information representing the area in which the task is to be performed. Examples of information configurations used in such configurations include a configuration in which the type of object on which a task is to be performed is associated with the work content for satisfying the requirements of the task, and a configuration in which the type of object on which a task is to be performed is associated with a map including the area in which the task is to be performed.

[0030] Moreover, transmitting task information to a plurality of autonomous mobile terminals 20 means transmitting task information associated with the identification information of the autonomous mobile terminal to each autonomous mobile terminal 20. The timing of transmitting task information to each autonomous mobile terminal 20 is not particularly limited, and may be every time a predetermined time has elapsed, or may be the timing when the execution status of the task by the plurality of autonomous mobile terminals 20, 201 to 20N satisfies a predetermined condition. If the server-side transmitting unit 11 is configured to transmit task information to each autonomous mobile terminal 20 every time a predetermined time has elapsed, the plurality of autonomous mobile terminals 20, 201 to 20N will be made to periodically execute the task. Note that, like the transmission of task information, the timing of updating allocation information, which will be described later, is not particularly limited. That is, for example, after all tasks have been executed, the allocation information may be updated based on various information received up to that point, or may be updated every predetermined period.

[0031] Furthermore, the configuration for transmitting task information to each of the multiple autonomous mobile terminals 20, 201-20N is not particularly limited, and may be configured to transmit task information to all of the multiple autonomous mobile terminals 20, 201-20N equipped in the task execution system 100 at the same time, or may be configured to transmit task information in response to any one of the multiple autonomous mobile terminals 20, 201-20N transmitting evaluation-related information to the server 10.

[0032] The update unit 12 has a function of updating the allocation information by a predetermined update means that uses evaluation-related information regarding evaluations of executed tasks received from the plurality of autonomous mobile terminals 20, 201 to 20N.

[0033] Here, an executed task means a task that has started once and has stopped. An executed task is not particularly limited as long as it is a task that has started once and has stopped, and may be a task whose requirements have been met (hereinafter also referred to as a "completed task"), or a task whose execution has stopped because the requirements have not been met (hereinafter also referred to as an "incomplete task"). An example of a completed task is a task whose execution has stopped when the requirements have been met in an area that is equal to or greater than a predetermined percentage of the entire area in which the task should be executed, or in all areas. An example of an incomplete task is a task whose execution has stopped when the requirements have been met in an area that is less than a predetermined percentage of the entire area in which the task should be executed.

[0034] Moreover, the evaluation of the completed task means determining the value of the task being marked as completed. The evaluation criteria for the completed task are not particularly limited as long as the evaluation given to the completed task is high or low, and may be a criterion in which the evaluation given to the completed task becomes higher as the execution time of the completed task becomes shorter, or a criterion in which the evaluation given to the completed task becomes higher as the degree of satisfaction of the requirements of the completed task becomes higher, or a criterion in which an evaluation is given according to the direct evaluation content of the execution of the completed task. Examples of the execution time of the completed task include the total time during which the completed task was being executed, and the time from when the execution of the completed task started to when it stopped (i.e., the time including the interruption time). Examples of the degree of satisfaction of the requirements of the completed task include the degree to which the requirements of the completed task are satisfied (including two options of satisfied and unsatisfied) and the degree to which the requirements of the task are satisfied among the areas in which the completed task should be executed (satisfaction ratio). Examples of direct evaluations of the completed task include the evaluation of the completed task by the user (e.g., "good", "average", or "bad").

[0035] Moreover, the evaluation-related information means information related to the evaluation of the executed task. The configuration of the evaluation-related information is not particularly limited, and may be a configuration that represents evaluation materials for the executed task, or a configuration that represents a direct evaluation of the executed task. Examples of evaluation materials for the executed task include the execution time of the executed task and the degree of satisfaction of the requirements of the executed task. Moreover, the evaluation-related information is preferably configured to be capable of identifying the autonomous mobile terminal 20 that executed the executed task. An example of such a configuration is a configuration in which the evaluation-related information and the identification information of the autonomous mobile terminal 20 are associated with each other and transmitted to the server 10. With such a configuration, the evaluation-related information can be handled as information related to the evaluation of the executed task of each of the autonomous mobile terminals 20, 201 to 20N.

[0036] Further, updating the allocation information by a predetermined update means changing the association between the identification information of the autonomous mobile terminal 20 and the task information in the allocation information by using a predetermined update means. The predetermined update means will be described after describing the functional configuration of the autonomous mobile terminal 20.

[0037] 3 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20 corresponding to at least one of the embodiments of the present invention. As shown in FIG. 3, the autonomous mobile terminal 20 includes at least a terminal side receiving unit 21, an execution unit 22, and a terminal side transmitting unit 23.

[0038] The terminal-side receiving unit 21 has a function of receiving task information in which an area in which a task should be executed is associated with a task requirement. The task information transmitted by the server-side transmitting unit 11 is received by the terminal-side receiving unit 21.

[0039] The execution unit 22 has a function of executing a task based on the received task information.

[0040] Here, executing a task based on task information means controlling the autonomous mobile terminal 20 so that the requirements included in the task information are satisfied in the area included in the task information. The configuration for executing a task based on task information is not particularly limited as long as it is a configuration related to the area and requirements included in the task information. An example of a configuration for executing a task based on task information is a configuration for controlling the autonomous mobile terminal 20 to move to the area included in the task information and to use a function capable of satisfying the requirements included in the task information. In this example, when the area included in the task information is "first floor" and the requirement included in the task information is "irradiating the floor with ultraviolet rays", the execution unit 22 controls the autonomous mobile terminal 20 to move to the first floor of the hospital and irradiate the floor with ultraviolet rays using the function "ultraviolet irradiation" capable of satisfying the requirement. Examples of places where ultraviolet rays are irradiated include stairs and corridors in medical facilities and nursing facilities, and floors and handrails in hospital rooms. Other examples of places where ultraviolet rays are irradiated include the inside of public vehicles (for example, inside a train, bus, or hovercraft) and floors and walls of toilets (including private rooms). In addition, in public facilities with private rooms, such as buses with toilets, and in means of transportation (e.g., stations and trains), area information may be provided so that it is possible to identify whether or not there are areas requiring sterilization (or the priority of the need for sterilization).

[0041] In addition, the timing for starting execution of a task based on the task information is not particularly limited, and may be the timing when the task information is received from the server 10, or the timing when a specified execution condition is satisfied after the task information is received from the server 10.

[0042] When the terminal-side receiving unit 21 receives a plurality of pieces of task information, the executing unit 22 may be configured to, for example, select any one of the received pieces of task information and execute a task based on the selected task information. Here, the executing unit 22 may be configured to start execution of a task of the unselected task information after the task of the selected task information has been executed. In other words, the executing unit 22 may be configured to determine an execution order for the tasks of the plurality of pieces of task information and execute the tasks in the execution order.

[0043] The terminal-side transmitting unit 23 has a function of transmitting, to the server 10, evaluation-related information regarding the evaluation of the executed task.

[0044] Here, the evaluation-related information transmitted to the server 10 by the terminal-side transmitting unit 23 is information acquired by the autonomous mobile terminal 20. The configuration for the autonomous mobile terminal 20 to acquire the evaluation-related information is not particularly limited, and may be a configuration in which the evaluation-related information is generated based on the execution status of the task by the executing unit 22, or a configuration in which the evaluation-related information is received from a device other than the server 10 and the autonomous mobile terminal 20 that can communicate with the server 10 and / or the autonomous mobile terminal 20 (hereinafter referred to as an "external device"). An example of a configuration in which the autonomous mobile terminal 20 generates evaluation-related information is a configuration in which information representing the execution time of a task is generated as evaluation-related information based on the time when the execution of the task is started and the time when the execution of the task is stopped. Also, an example of a configuration in which the evaluation-related information is received from an external device is a configuration in which information representing the evaluation of an executed task input by a user is received from a mobile terminal. Other examples of external devices include a surveillance camera and a nurse call.

[0045] Examples of the timing for transmitting the review-related information to the server 10 include the timing when the review-related information is acquired and the timing at which a predetermined time elapses. When the review-related information is transmitted to the server 10 at the predetermined time elapses, the review-related information for multiple executed tasks may be transmitted to the server 10 collectively.

[0046] Next, there will be described a predetermined updating means used in the above-mentioned allocation information updating process by the update unit 12. The updating means refers to a means for updating the allocation information using the evaluation related information received from the plurality of autonomous mobile terminals 20, 201 to 20N.

[0047] Here, the updating means is not particularly limited, but a means for updating the allocation information is preferable so that the evaluation of the evaluation-related information received from the plurality of autonomous mobile terminals 20, 201 to 20N becomes higher after the allocation information is updated compared to before the allocation information is updated. An example of such a means is a means for updating the allocation information so that the total execution time of the executed tasks represented by the evaluation-related information received from the plurality of autonomous mobile terminals 20, 201 to 20N becomes shorter compared to before the update. Also, there is a means for updating the allocation information so that the degree of satisfaction of the requirements of the executed tasks represented by the evaluation-related information received from the plurality of autonomous mobile terminals 20, 201 to 20N becomes higher compared to before the update (or exceeds a predetermined standard). Note that the configuration for updating the allocation information to shorten the execution time of the executed tasks or to increase the degree of satisfaction of the requirements of the executed tasks includes a configuration for changing the autonomous mobile terminal to which the task is assigned, a configuration for updating the function of the autonomous mobile terminal that executes the task, a configuration for introducing a new autonomous mobile terminal into the task execution system 100, and the like, and detailed description thereof is omitted here because known technology is used.

[0048] Examples of the total execution time of executed tasks represented by the evaluation-related information received from the multiple autonomous mobile terminals 20, 201 to 20N include the total execution time of multiple executed tasks, and the time from when any one of the multiple tasks starts to when a predetermined number or more of the tasks (e.g., all of the tasks) have been executed.

[0049] Further, examples of the degree of satisfaction of task requirements represented by the evaluation-related information received from each autonomous mobile terminal 20 include the percentage of executed tasks whose requirements are satisfied among multiple executed tasks, and the percentage of tasks whose requirements are satisfied among multiple tasks.

[0050] An example of the functional configuration of the server 10 and the autonomous mobile terminal 20 corresponding to at least one of the embodiments of the present invention has been described above.

[0051] 4 is a flowchart showing an example of a task execution process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The task execution process and the allocation information update process are started when a task execution start condition is satisfied (for example, face authentication process of an administrator is performed) in a terminal capable of communicating with the server 10.

[0052] First, the server 10 transmits task information to the autonomous mobile terminal 20 (step S101). In this example, the server 10 transmits to the autonomous mobile terminal 20 task information associated with the identification information of the autonomous mobile terminal 20 in the allocation information.

[0053] Next, the autonomous mobile terminal 20 receives the task information (step S102). In this example, the autonomous mobile terminal 20 receives the task information from the server 10.

[0054] When the autonomous mobile terminal 20 receives the task information, it executes the task based on the task information (step S103). In this example, the autonomous mobile terminal 20 irradiates ultraviolet rays onto the floor and handrails while autonomously moving on the first floor of the medical facility, so as to satisfy the requirement "irradiate ultraviolet rays onto the floor and handrails" in the area "first floor" based on the task information.

[0055] When the autonomous mobile terminal 20 executes a task, it transmits evaluation-related information regarding the evaluation of the executed task to the server 10 (step S104). In this example, the autonomous mobile terminal 20 transmits evaluation-related information to the server 10, the evaluation-related information including information indicating the time from the start to the completion of ultraviolet irradiation of the floor and handrails on the first floor of the medical facility.

[0056] When the server 10 receives the evaluation-related information from the autonomous mobile terminal 20, it updates the allocation information by a predetermined update means that uses the evaluation-related information (step S105), and the task execution process and the allocation information update process are terminated. In this example, the server 10 updates the allocation information using the evaluation-related information received from the autonomous mobile terminals 20, 201 to 20N so that the time from when the execution of any one of the multiple tasks is started to when all the tasks are completed is shorter than before the update.

[0057] 5 is an explanatory diagram for explaining an example of updating the allocation information according to at least one of the embodiments of the present invention. The allocation information in FIG. 5 includes a task number, task information, and identification information.

[0058] The task number means a number for identifying a task. Furthermore, the task information means information in which the area in which the task should be executed is associated with the requirements of the task. Furthermore, the identification information means the identification information of the autonomous mobile terminals A and B. The "identification information" column stores information indicating that the task information is associated with the identification information of each of the autonomous mobile terminals A and B (in this example, identification information RA and RB). In this example, the task execution status is managed in the "identification information" column for each task, thereby indicating that the task information and the identification information are associated with each other.

[0059] Fig. 5(a) is a diagram showing the state of allocation information before task information is transmitted to autonomous mobile terminals A and B. In Fig. 5(a), task information of task numbers 1 and 2 is associated with identification information RA, and task numbers 1 and 2 are assigned to autonomous mobile terminal A (specifically, a situation in which task execution has not yet started). Also, task information of task numbers 3 and 4 is associated with identification information RB, and task numbers 3 and 4 are assigned to autonomous mobile terminal B.

[0060] FIG. 5(b) is a diagram showing the state of the allocation information after task information is transmitted to autonomous mobile terminals A and B and task execution is started. In FIG. 5(b), the "identification information" columns for task numbers 1 and 3 show a state in which the tasks are being executed after task information is transmitted to autonomous mobile terminals A and B. Here, the "identification information" columns for task numbers 1 and 3 also manage information indicating the time when each task was started. Furthermore, the "identification information" columns for task numbers 2 and 4 show a state in which the tasks are scheduled to be executed. Here, "scheduled to be executed" means a state in which the execution of a task has not been started but is scheduled to be executed later.

[0061] Fig. 5(c) is a diagram showing the state of the allocation information after all tasks have been executed. Fig. 5(c) shows a state in which tasks with task numbers 1 to 4 have been executed in the "identification information" column. Here, the "identification information" column also manages information indicating the time when tasks with task numbers 1 to 4 became executed. The autonomous mobile terminals A and B transmit information indicating the execution time of the tasks that have been executed to the server 10 as evaluation-related information.

[0062] FIG. 5(d) is a diagram showing the state of the allocation information after being updated by a predetermined update means using evaluation-related information. FIG. 5(d) shows that, for task number 3, the identification information associated with the task information has been changed from the state shown in FIG. 5(a). That is, for task number 3, the allocation information has been updated from a state in which it is assigned to identification information RA to a state in which it is assigned to RB. The allocation information has been updated based on the execution time of the tasks by the autonomous mobile terminals A and B, and has been performed so as to shorten the task execution time of task numbers 1 to 4. "Next allocation" means a situation in which it has been determined that each task information will be transmitted to the autonomous mobile terminal A or B next time. Then, the task information is transmitted to the autonomous mobile terminals A and B based on the allocation information, and the task is executed again.

[0063] As described above, the task execution system 100 in the first embodiment is a system that includes a server 10 and a plurality of autonomous mobile terminals 20, 201-20N, and executes tasks. The autonomous mobile terminal 20 receives task information that associates the area in which the task should be executed with the requirements of the task, executes the task based on the received task information, and transmits evaluation-related information regarding the evaluation of the executed task to the server 10. The server 10 refers to a storage means that stores assignment information in which the identification information of the autonomous mobile terminal 20 and the task information are associated with each other, transmits the task information to each autonomous mobile terminal 20, and updates the assignment information by a predetermined update means that uses the evaluation-related information received from the plurality of autonomous mobile terminals 20, 201-20N, thereby making it possible to reduce the burden on the administrator required to assign tasks to the plurality of autonomous mobile terminals 20, 201-20N.

[0064] In other words, the task allocation for the plurality of autonomous mobile terminals 20, 201 to 20N is updated by referring to the evaluation of the executed tasks without the administrator having to perform the work of updating the task allocation, so that the burden on the administrator can be reduced. It is considered that such an effect becomes greater as the number of autonomous mobile terminals to be managed increases.

[0065] [Second embodiment] 6 is a block diagram showing an example of a configuration of a server 10B according to at least one embodiment of the present invention. As shown in FIG. 6, the server 10B includes at least a server-side transmitting unit 11, an updating unit 12B, a server-side determining unit 13, a server-side generating unit 14B, and an identifying unit 15.

[0066] When the server-side determination unit 13 acquires determination information including location information as a determination request as to whether a task has occurred, the server-side determination unit 13 has a function of determining whether a new task has occurred according to the determination information and predetermined determination criteria.

[0067] Here, the information for determination means information including location information, which is information for determining whether or not a new task has occurred. The configuration of the information for determination is not particularly limited as long as the server 10B can recognize that the information requests a determination of whether or not a task has occurred, and may be a configuration including information notifying the occurrence of a task, or a configuration including information that is a material for determining whether or not a task has occurred. Examples of the configuration of the information for determination include a configuration including information indicating an area in which the task should be executed and / or a requirement of the task, and a configuration including predetermined information acquired by the autonomous mobile terminal 20B or an external device. Examples of the predetermined information include a photographed image photographed by a photographing means provided in the autonomous mobile terminal 20B, detection information by a human presence sensor installed at a predetermined location in a medical facility, and entrance and exit information of a patient room in a medical facility. An example of a configuration in which the server acquires information notifying the occurrence of a task is a configuration in which the server receives information indicating the occurrence location of the task from a mobile terminal to which the user has input the information.

[0068] In addition, the content represented by the location information included in the information for determination is not particularly limited, and may be the location of a device that transmitted information notifying the occurrence of a task, or the location of a sensor that generated the sensor information included in the information for determination. Examples of the content of the location information included in the information for determination include the location where the patient vomited, the hospital room number where the patient vomited, and the shooting location of a captured image including the vomit or the patient who has fallen.

[0069] In addition, the configuration for acquiring the information for judgment is not particularly limited, and may be a configuration for referencing a storage means for storing information for judgment that is accessible from the server 10B, a configuration for receiving information for judgment from the autonomous mobile terminal 20B, or a configuration for receiving information for judgment from an external device.

[0070] The judgment criterion means a criterion for judging that a new task has occurred based on the judgment information. The judgment criterion is a criterion different from the tentative judgment criterion in the terminal side judgment unit 27. The judgment criterion is not particularly limited, and may be a criterion that is satisfied when the judgment information includes information notifying the occurrence of a task, or a criterion that is satisfied according to an analysis result of the sensor information included in the judgment information. Examples of such a criterion include a criterion that the judgment information includes information indicating the room number where the patient vomited, and a criterion that the captured image included in the judgment information includes a predetermined object or person. In this example, the judgment criterion is a criterion that is satisfied when an image analysis result indicates that the captured image received from the autonomous mobile terminal 20B includes vomit or a fallen patient.

[0071] Furthermore, a new task refers to a task for which task information has not been generated at the time of the determination process by the server-side determination unit 13. In other words, a new task refers to a task that has newly occurred in relation to a task for which task information has been generated. There are no particular limitations on the new task, and it may be a task that is scheduled to be executed repeatedly, or a task that is scheduled to be executed only once without being repeated. An example of a new task that is scheduled to be executed only once without being repeated is the removal of vomit from a patient in a medical facility.

[0072] When it is determined that a new task has occurred, the server-side generation unit 14B has the function of generating task information in which an area identified based on the location information included in the determination information is associated with the requirements of the new task identified based on the determination information.

[0073] Here, the specified area means an area where a new task should be executed. The configuration for specifying the area is not particularly limited as long as it is based on the position information included in the information for determination, and may be a configuration for specifying an area including a position represented by the position information included in the information for determination, or may be a configuration for specifying an area by further using position information not included in the information for determination that corresponds to a position represented by the position information included in the information for determination. Examples of the configuration for specifying an area include a configuration for specifying a hospital room as an area when the position information included in the information for determination represents a position within the hospital room, and a configuration for specifying an area of ​​a predetermined area centered on a position represented by the position information included in the information for determination. In addition, there is a configuration for specifying a combination of an area including a patient's position represented by the position information included in the information for determination and an area including a patient's position represented by position information different from the position information included in the information for determination. Note that the configuration for acquiring position information other than the information for determination is not particularly limited, and may be a configuration for referring to a storage means accessible to the server 10B, or a configuration for receiving the information from an external device that can communicate with the server 10B.

[0074] Furthermore, the configuration for identifying the requirements of a new task based on the information for judgment is not particularly limited, and may be based on objects or people included in the captured image included in the information for judgment, or based on the position information included in the information for judgment. An example of such a configuration is a configuration for identifying the requirement "removing vomit" based on vomit or the posture of a vomiting patient included in the captured image included in the information for judgment. Another example is a configuration for identifying the requirement "irradiating the floor and handrails with ultraviolet rays" or the requirement "wiping the floor with water" according to the room number or room type represented by the position information included in the information for judgment. Examples of room types include a hospital room, a dining room, and a toilet.

[0075] The update unit 12B has a function of updating the allocation information so that the task information generated by the server-side generation unit 14B is associated with identification information of at least one of the plurality of autonomous mobile terminals 20B, 201B to 20NB.

[0076] Here, the configuration for updating the allocation information is not particularly limited, but if the new task is to be executed with priority, it is preferable to associate the task information with the identification information of at least one of the autonomous mobile terminals 20B, 201B to 20NB so that the new task is executed with priority over other tasks. The configuration for determining whether the new task is to be executed with priority is not particularly limited, and may be a configuration in which the determination result corresponds to the position represented by the position information included in the determination information, or a configuration in which the determination result corresponds to the requirements of the new task. An example of such a configuration is a configuration in which the presence or absence of priority associated with the position represented by the position information or the requirements of the new task is specified by referring to information in which the presence or absence of priority of the execution of the task is associated. Here, examples of the location in which the execution of the task is prioritized include a location in an area where many people are present in a medical facility and a hospital room in which a specific patient is accommodated. Also, an example of the requirements of the task in which the execution of the task is prioritized is a requirement of the task of removing vomit, which is not preferable to be left unattended, "remove vomit". With this configuration, it becomes possible to cause the autonomous mobile terminal 20B to execute the new task with priority according to the priority of the new task.

[0077] In addition, when the autonomous mobile terminal 20B is executing a new task with priority, the update unit 12B may be configured to update the allocation information so that at least one of the autonomous mobile terminals 201B to 20NB executes another task that the autonomous mobile terminal 20B has suspended or is scheduled to execute. An example of such a configuration is a configuration in which at least one of the autonomous mobile terminals 201B to 20NB is selected based on the distance from the autonomous mobile terminal 20B (for example, a configuration in which the nearest terminal having the same function as the autonomous mobile terminal 20B is selected). With such a configuration, it becomes possible to make adjustments between the autonomous mobile terminals 20B, 201B to 20NB in ​​order to deal with the influence of the priority execution of the new task on the execution of other tasks.

[0078] The update unit 12B may be configured to update the allocation information so that a position that satisfies a predetermined condition is given priority over other positions. An example of such a configuration is a configuration in which, when a new task occurs at a position instructed by a person (e.g., a nurse in a hospital) or a position determined by an AI to be a fall or vomiting from image analysis, the allocation information is updated so that the new task is given priority over new tasks that occur at other positions (e.g., so that the task is executed quickly or a terminal with superior functions is assigned). By marking such a position or an area including the position, the area to be given priority may be recorded and used for updating the allocation information thereafter. That is, when there are multiple areas in which a task should be executed, the allocation information may be updated using the priority set for each area.

[0079] The identification unit 15 has a function of identifying a trained model capable of acquiring control information used to satisfy requirements included in task information. The identification unit 15 will be described in detail later.

[0080] 7 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20B corresponding to at least one of the embodiments of the present invention. As shown in this Fig. 7, the autonomous mobile terminal 20B includes at least a terminal side receiving unit 21, an executing unit 22B, a terminal side transmitting unit 23B, a terminal side acquiring unit 24, a terminal side tentative determining unit 25, and a terminal side generating unit 26.

[0081] The terminal side acquisition unit 24 has a function of acquiring determination information including position information as a request for determining whether or not a task has occurred.

[0082] Here, the configuration for acquiring the determination information is not particularly limited, but it is preferable to acquire the determination information without going through the server 10B. An example of such a configuration is a configuration in which sensor information generated by a sensor included in the autonomous mobile terminal 20B is acquired as the determination information. By adopting a configuration in which the determination information is acquired without going through the server 10B, it is possible to save communication time for requesting and acquiring the determination information from the server 10B.

[0083] The terminal-side provisional judgment unit 25 has a function of provisionally judging whether or not a new task has occurred in accordance with the judgment information acquired by the terminal-side acquisition unit 24 and a predetermined provisional judgment criterion.

[0084] Here, the provisional judgment criterion is a criterion different from the judgment criterion in the server-side judgment unit 13, and means a criterion for provisionally judging whether or not a new task has occurred based on judgment information. The provisional judgment criterion is not particularly limited, but is preferably a criterion that can reduce the processing load required for judgment compared to the judgment process according to the judgment criterion in the server-side judgment unit 13. Examples of the provisional judgment criterion include a criterion for provisional judgment based only on information possessed by the autonomous mobile terminal 20B, and a criterion for reducing the amount of information processing for provisional judgment based on a judgment criterion composed of the same elements as some of the multiple elements included in the judgment criterion in the server-side judgment unit 13.

[0085] Further, making a provisional judgment means making a temporary judgment as to whether or not a new task has occurred. When the terminal side provisional judgment unit 25 provisionally judges that a new task has occurred, it specifies the area in which the provisionally judged new task should be executed and the requirements of the new task. Then, the execution unit 22B starts executing the new task without waiting for the result of the main judgment by the server 10B.

[0086] The terminal-side transmitting unit 23B has a function of transmitting the determination information acquired by the terminal-side acquiring unit 24 to the server 10B.

[0087] Here, the condition for transmitting the judgment information to the server 10B is not particularly limited, and may be a condition that is satisfied only when the terminal side provisional judgment unit 25 provisionally judges that a new task has occurred, or may be a condition that is satisfied regardless of the result of the provisional judgment by the terminal side provisional judgment unit 25.

[0088] The execution unit 22B has a function of canceling the execution of the new task when the new task is being executed or is scheduled to be executed with priority over other tasks and the server 10B determines that no new task has been generated.

[0089] Here, giving priority to the new task over other tasks means that the execution order of the new task that has been provisionally determined to have occurred is set before the execution order of the other tasks. There are no particular limitations on the configuration for giving priority to the new task over other tasks, but a configuration in which the execution order is set based on a priority determined according to the requirements of the new task is preferable. An example of such a configuration is a configuration in which the priority of the new task, which is the requirement "removing vomit", is determined to be "high", and the execution order of the new task is set to be first (i.e., interrupting the execution of the task).

[0090] Furthermore, the server 10B determining that a new task has not occurred means that a determination that a new task has not occurred is made by the determination process by the server-side determination unit 13. When the server-side determination unit 13 determines that a new task has not occurred, the server 10B transmits information representing the determination result by the server-side determination unit 13 to the autonomous mobile terminal 20, whereby the autonomous mobile terminal 20B can recognize that the provisional determination result by the terminal-side provisional determination unit 25 is incorrect.

[0091] Furthermore, a new task is scheduled to be executed means that a task other than the new task tentatively determined to have occurred is currently being executed, or that no task is currently being executed.

[0092] Also, stopping the execution of a new task means stopping the execution of the new task and not restarting it, or not starting the execution of a new task that has not yet started. The configuration for stopping the execution of the new task is not particularly limited, but a configuration for stopping the execution of the new task and starting or restarting the execution of a task other than the new task is preferable. Examples of the configuration for selecting a task to start or restart include a configuration for selecting a task in an area closest to the current position of the autonomous mobile terminal 20B, and a configuration for selecting a task whose execution has been suspended in order to execute the new task. Examples of such configurations include a configuration in which the execution unit 22B stops the execution of a new task "vomit removal" that has been provisionally determined to have occurred and is being executed by the autonomous mobile terminal 20B, and selects the execution of another task "ultraviolet ray irradiation" whose area is closest to the current position of the autonomous mobile terminal 20B. Another configuration includes a configuration in which the execution unit 22B selects another task "wet wiping" whose execution has been suspended in order to execute the new task "vomit removal".

[0093] When the server-side generation unit 14B generates task information for a new task, the terminal-side reception unit 21 receives the task information generated by the server-side generation unit 14B from the server 10B. Then, the execution unit 22B executes the new task based on the task information. With this configuration, it is possible to cause the autonomous mobile terminal 20B to execute the new task based on the task information included in the allocation information managed by the server 10B. In other words, the server 10B can also manage the new task in the allocation information. Therefore, it is possible to reduce the burden on the administrator required to allocate tasks including the new task to the multiple autonomous mobile terminals 20B, 201B to 20NB.

[0094] The terminal side generation unit 26 has a function of generating a learned model that has been trained to acquire control information for more appropriately executing a task by executing a learning process based on sensor information acquired from a sensor equipped in the autonomous mobile terminal 20B during execution of a task.

[0095] Here, the sensor equipped in the autonomous mobile terminal 20B is not particularly limited as long as it is a sensor capable of acquiring sensor information used for executing a task. Examples of the sensor equipped in the autonomous mobile terminal 20B include a camera and a microphone.

[0096] In addition, performing a learning process based on sensor information means inputting the sensor information into a model and performing a process of updating the model parameters according to the output control information and a specified criterion until the specified criterion is satisfied.

[0097] The type of the trained model is not particularly limited as long as the terminal side generation unit 26 can acquire control information for more appropriately executing a task by inputting sensor information. An example of the type of trained model is a model using a neural network. As the teacher data used for learning, data representing the execution result of the task based on the sensor information and control information acquired by the autonomous mobile terminal 20B during the execution of the task can be adopted. The teacher data used for learning may be data prepared by an administrator. The trained model may be determined as information to be input, such as the type of sensor, the number of sensors, and the number of motors provided to the autonomous mobile terminal 20B.

[0098] Furthermore, executing a task more appropriately means executing the task so that the evaluation of the executed task becomes higher compared to before the learning process. The configuration for executing a task more appropriately is not particularly limited, but a configuration in which the task is executed so that the evaluation represented by the evaluation-related information transmitted to the server 10B becomes higher compared to before the learning process is preferable. An example of such a configuration is a configuration in which the evaluation represented by the evaluation-related information transmitted to the server 10B becomes higher as the time from the start of task execution to the completion of task execution becomes shorter, and the task is executed so that the time becomes shorter compared to before the learning process.

[0099] Moreover, the control information means information for controlling the autonomous mobile terminal 20B. The content of the control information is not particularly limited as long as it is information capable of controlling the autonomous mobile terminal 20B. Examples of the content of the control information include content representing control of the direction and number of rotations of a roller provided on the bottom surface of the autonomous mobile terminal 20B, and content representing on / off control and irradiation direction control of an ultraviolet ray irradiation device provided on the front surface of the autonomous mobile terminal 20B.

[0100] The execution unit 22B has a function of inputting sensor information into the learned model generated by the terminal side generation unit 26 to obtain control information for executing a task, and executing the task based on the obtained control information.

[0101] Here, the trained model into which the sensor information is input is a trained model capable of acquiring control information that can satisfy the requirements of the task being executed by the autonomous mobile terminal 20B.

[0102] The terminal side transmission unit 23B has a function of transmitting the generated trained model to the server 10B.

[0103] Here, the configuration for determining the trained model to be transmitted to the server 10B is not particularly limited, and a configuration based on an evaluation of an executed task executed based on control information acquired from the trained model is preferable. An example of such a configuration is a configuration in which a trained model in which the execution time of the executed task is shortened by the learning process by the terminal side generation unit 26 is determined.

[0104] Next, a description will be given of the above-mentioned specification unit 15. The specification unit 15 has a function of specifying a trained model capable of acquiring control information used to satisfy the requirements of a task included in the task information.

[0105] The task information here means the task information received from the autonomous mobile terminal 20B. In addition, the trained model to be identified is any one of the trained models received by the server 10B from the autonomous mobile terminal 20B.

[0106] Moreover, the control information used to satisfy the requirements of a task means information for controlling the autonomous mobile terminal 20B so as to satisfy the requirements of the task. The contents of the control information are not particularly limited, but it is preferable that the control information corresponds to a function for satisfying the requirements of the task. An example of the control information used to satisfy the requirements of a task is information for controlling the on / off and irradiation direction of an ultraviolet irradiation device provided on the front surface of the autonomous mobile terminal 20B when the requirement of the task is "irradiating the floor with ultraviolet rays."

[0107] In addition, the configuration for identifying the trained model is not particularly limited as long as it can identify a model capable of acquiring control information for satisfying the requirements of the task included in the task information, but a configuration for identifying a trained model capable of acquiring control information for more appropriately executing the task is preferable. An example of such a configuration is a configuration for referring to storage information that stores information in which the trained model and the evaluation of the execution of the task are associated with each other, and identifying a trained model that has a relatively high evaluation of the executed task in the evaluation-related information and can acquire control information capable of executing the task.

[0108] The server-side transmission unit 11 has a function of transmitting the learned model identified by the identification unit 15 to the autonomous mobile terminal 20B of the identification information associated with the task information used in the identification process by the identification unit 15.

[0109] Here, the trained model transmitted to the autonomous mobile terminal 20B by the server-side transmission unit 11 is used to obtain control information for the execution of a task by the execution unit 22B.

[0110] An example of the functional configuration of the server 10B and the autonomous mobile terminal 20B corresponding to at least one of the embodiments of the present invention has been described above.

[0111] 8 is a flowchart showing an example of a task information generation process for a new task in the task execution system 100 according to at least one of the embodiments of the present invention. The task information generation process for a new task is started, for example, when the server 10B receives a captured image from an external device.

[0112] First, the server 10B judges whether a new task has occurred according to the judgment information including the position information as a judgment request for whether a task has occurred and a predetermined judgment criterion (step S201). In this example, the server 10B provisionally judges that a new task "vomit removal" has occurred when the captured image contains vomit, and judges that a new task has not occurred when the captured image does not contain vomit.

[0113] When the server 10B determines that a new task has occurred, it identifies the area of ​​the new task (step S202). In this example, the server 10B identifies the area identified from the determination information as the area of ​​the new task. On the other hand, in this example, when it is determined that a new task has not occurred, the server 10B ends the process here.

[0114] When the server 10B specifies the area in which the new task should be executed, the server 10B generates task information (step S203). In this example, the server 10B generates task information in which the specified area is associated with the requirements of the new task specified based on the determination information.

[0115] When the server 10B generates the task information, it updates the allocation information (step S204). In this example, the server 10B updates the allocation information so that the task information and the identification information of the autonomous mobile terminal 20B are associated with each other. However, since steps S205 to S208 are the same as steps S102 to S105 in FIG. 4, the description thereof will be omitted.

[0116] 9 is a flowchart showing an example of a process for determining whether a new task has occurred and a process for executing a new task in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The process for determining and the process for executing a new task are started, for example, when the automated mobile terminal 20B determines that a condition for starting the process for determining is satisfied. Hereinafter, an example will be described in which the process for determining is started when an obstacle to a task to be executed (for example, newly generated vomit for a cleaning task) is recognized by a camera or a sensor provided in the automated mobile terminal 20B.

[0117] First, the autonomous mobile terminal 20B acquires determination information including location information as a request for determining whether a task has occurred (step S301). In this example, the autonomous mobile terminal 20B acquires determination information including an image captured by a camera provided therein and location information indicating the location where the image was captured.

[0118] When the autonomous mobile terminal 20B acquires the determination information, it provisionally determines whether or not a new task has occurred (step S302). In this example, the autonomous mobile terminal 20B provisionally determines whether or not a new task has occurred according to the acquired captured image and position information, and the provisional determination criterion "if the captured image contains vomit, a new task "remove vomit" has occurred."

[0119] Here, if it is provisionally determined that a new task has occurred, the autonomous mobile terminal 20B transmits determination information that satisfies the provisional determination criterion to the server 10B (step S303). In this example, the autonomous mobile terminal 20B transmits determination information that satisfies the provisional determination criterion to the server 10B. On the other hand, if it is provisionally determined that a new task has not occurred, the autonomous mobile terminal 20B ends the process here (not shown). Note that in this example, the autonomous mobile terminal 20B starts executing the new task without waiting for a response from the server 10B. However, if the condition for starting the execution of the new task is not satisfied (or the condition for scheduled start is satisfied), the autonomous mobile terminal 20B schedules the execution of the new task. An example of such a configuration is a configuration in which, if a task with a higher priority than the new task is being executed or scheduled to be executed, the new task is registered in a predetermined storage area as a task scheduled for execution.

[0120] When the server 10B receives the determination information from the autonomous mobile terminal 20B, the server 10B determines whether a new task has occurred according to the received determination information and a predetermined determination criterion (step S304). In this example, the server 10B determines whether a new task has occurred according to the determination information including a captured image and location information indicating the location where the captured image was captured, and the determination criterion "if the captured image contains vomit, a new task "vomit removal" has occurred." The server 10B transmits determination result information indicating the determination result here to the autonomous mobile terminal 20B. In this example, the server 10B determines that a new task has not occurred based on the fact that the captured image does not contain vomit, and transmits the determination result information to the autonomous mobile terminal 20B. An example of a case where it is determined that a new task has occurred will be described later.

[0121] When the autonomous mobile terminal 20B receives the determination result information from the server 10B, if the new task is being executed or is scheduled to be executed with priority over other tasks and the server 10 has determined that no new task has been generated, the autonomous mobile terminal 20B stops execution of the new task (step S305) and ends the determination process and new task execution process. In this example, when the autonomous mobile terminal 20B receives the determination result information from the server 10B that no new task has been generated, the autonomous mobile terminal 20B stops execution of the new task "vomit removal" that is being executed.

[0122] Fig. 10 is a flowchart showing an example of a process for determining whether a new task has occurred and a process for executing a new task in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The process for determining whether a new task has occurred and the process for executing a new task are started when, for example, the automated mobile terminal 20B determines that a condition for starting the process for determining whether the new task has occurred is satisfied. Hereinafter, an example will be described in which the process for determining whether an obstacle to a task to be executed (e.g., newly generated vomit for a cleaning task) is recognized from a camera or a sensor provided in the automated mobile terminal 20B. However, since steps S401 to S404 are the same as steps S301 to S304 in Fig. 9, a description thereof will be omitted.

[0123] When the server 10B determines that a new task has occurred, it identifies the area in which the new task should be executed (step S405). In this example, when the server 10B determines that a new task "vomit removal" has occurred, it identifies the person who vomited based on the image captured by the external device, the position and time of the image, and an image captured at a time close to the current time, and identifies the person's movement path as the area in which the new task "vomit removal" should be executed. Hereinafter, steps S406 to S411 are the same as steps S203 to S208 in FIG. 8, so the explanation will be omitted.

[0124] 11 is an explanatory diagram for explaining an example of updating allocation information regarding the occurrence of a new task according to at least one of the embodiments of the present invention. The allocation information in FIG. 11 includes a task number, task information, and identification information.

[0125] Fig. 11(a) is a diagram showing the state of the allocation information before task information of a new task is generated The allocation information in Fig. 11(a) is in the same state as the allocation information in Fig. 5(a).

[0126] FIG. 11(b) is a diagram showing the state of allocation information when task information of a new task is generated. As shown in FIG. 11(b), task information of a new task with task number 5 is added. Then, for task number 5, identification information RA is associated with the task information. Also, the new task with task number 5 is in a state where task execution has been interrupted. Here, a state where task execution has been interrupted means a state where the autonomous mobile terminal 20B stops (interrupts or stops) the execution of a task that is being executed and prioritizes the execution of a new task. The autonomous mobile terminal A prioritizes the execution of the task with task number 5.

[0127] Fig. 11(c) is a diagram showing the state of the allocation information when a new task is being executed with priority. Fig. 11(c) shows that the autonomous mobile terminal A has stopped executing the task with task number 1 and started executing a new task with task number 5. When the task with task number 5 has been executed, the autonomous mobile terminal A resumes executing the task with task number 1.

[0128] As described above, in the task execution system 100 of the second embodiment, when the server 10B acquires judgment information including location information as a judgment request as to whether a task has occurred, the task execution system 100 judges whether a new task has occurred according to the judgment information and a predetermined judgment criterion, and if it is judged that a new task has occurred, generates task information in which an area identified based on the location information is associated with the requirements of the new task identified based on the judgment information, and updates the assignment information so that the generated task information is associated with the identification information of the autonomous mobile terminal 20B, thereby making it possible to prevent an increase in the burden on the administrator required for allocating new tasks.

[0129] In the task execution system 100 in the second embodiment, the autonomous mobile terminal 20B acquires information for determination including position information as a request for determining whether a task has occurred, provisionally determines whether a new task has occurred according to the acquired information for determination and a predetermined provisional determination criterion, transmits the information for determination to the server 10B, and when it is determined that the new task is being executed or is scheduled to be executed with priority over other tasks and that the server 10B has determined that a new task has not occurred, the execution of the new task is stopped, so that a two-stage determination is performed in which the autonomous mobile terminal 20B (for example, an edge AI) makes a provisional determination and the server 10B (for example, a cloud AI) makes a final determination (determination based on a criterion different from that of the autonomous mobile terminal 20B). Therefore, it is possible to improve the accuracy of the determination of whether a new task has occurred as a whole in the task execution system 100, while quickly starting a task in the autonomous mobile terminal 20B. Therefore, it is possible to prevent a situation in which the autonomous mobile terminal 20B continues a useless operation.

[0130] In addition, the task execution system 100 in the second embodiment generates a trained model that is trained to acquire control information for more appropriately executing a task by performing a learning process based on sensor information acquired from a sensor equipped in the autonomous mobile terminal 20B during task execution, inputs sensor information into the generated trained model to acquire control information for executing the task, executes the task based on the acquired control information, transmits the generated trained model to the server 10B, and the server 10B identifies a trained model that can acquire control information used to satisfy requirements included in the task information, and transmits the identified trained model to the autonomous mobile terminal 20B of the identification information associated with the task information. Therefore, when the autonomous mobile terminal 20B is introduced into a place where the autonomous mobile terminal 20B has no experience of executing a task, the autonomous mobile terminal 20B can execute the task using a trained model generated by any of the autonomous mobile terminals 201B to 20NB. Therefore, it is possible to flexibly operate the autonomous mobile terminals 20B, 201B to 20NB. That is, flexible operation of terminals is possible, as if a clone of any of the autonomous mobile terminals 201B-20NB is copied to the autonomous mobile terminal 20B. For example, the learned model generated by the autonomous mobile terminal 20B can be used by at least any of the autonomous mobile terminals 201B-20NB without being lost even if the autonomous mobile terminal 20B breaks down, is destroyed, or is burned down. If a program for realizing the functions of the server 10B is stored (backed up) in a predetermined storage means, it is possible to reproduce the functions of the server 10B using another server even if the server 10B breaks down, is destroyed, or is burned down.

[0131] Although not specifically mentioned in the above-mentioned second embodiment, the server 10B may be configured to notify the administrator of notification information when it receives determination information from at least one of the plurality of autonomous mobile terminals 20B, 201B to 20NB. Here, the content of the notification information is not particularly limited, and may be the determination information itself received by the server 10B, or may be content notifying that the server 10B has received the determination information (for example, issuing an alert). In addition, the configuration of the notification information is not particularly limited, and may be image information or audio information. With such a configuration, the administrator can know that the server 10B is determining whether or not a new task has been generated.

[0132] Although not specifically mentioned in the above-described second embodiment, the task execution system 100 may be provided with a guide device that guides a person whose temperature has been measured to a predetermined location according to the result of the person's temperature measurement by a predetermined temperature measuring device. An example of such a configuration is an output device that guides a person whose temperature has been measured in a hospital to a different room depending on whether the person's body temperature is normal or feverish. By providing the task execution system 100 with such a guide device, it becomes possible to move a person who is likely to be infected with an infectious disease to a predetermined location, and it is expected that, for example, the area in which the task "ultraviolet light irradiation" should be performed in a medical facility can be prevented from expanding.

[0133] Although not specifically mentioned in the second embodiment described above, the autonomous mobile terminal 20B may be configured to measure the temperature of a person passing around the autonomous mobile terminal 20B using a temperature measuring device provided therein while executing a task, and notify a predetermined notification target of the temperature measurement result when a predetermined notification condition is met. Here, an example of the notification condition is that the body temperature of the person whose temperature is measured is equal to or higher than a threshold. Examples of the notification target include a person whose body temperature is equal to or higher than the threshold (feverish state) and the manager of the task execution system 100. An example of a configuration for notifying the notification target of the temperature measurement result (or notification information defined according to the purpose of the notification, such as the body temperature being an abnormal value) is a configuration for sending an email containing a predetermined message to a mobile terminal owned by the person who is the notification target or the manager. With such a configuration, it is possible to quickly identify a person who is in a feverish state, and to prompt the person or the system to take appropriate action.

[0134] Although not specifically mentioned in the above-described second embodiment, the task execution system 100 may be configured such that the server-side generation unit 14B identifies an area in which a new task should be executed according to a route identified from the location information, time information, and person information included in the determination information and in accordance with predetermined area identification rules.

[0135] Here, the time information means information used to specify a route and indicating a time. The configuration of the time information is not particularly limited, and may include information indicating the time when the occurrence of a task was notified, may include information indicating the time when sensor information (for example, a captured image or detection information by a human sensor) that detects a specific object or a specific person was generated, or may include information indicating the time when a specific person was present at a position indicated by the position information included in the information for determination. An example of the configuration of the time information included in the information for determination is a configuration including information indicating the time when a user notifies the server 10B of the discovery of vomit. Other examples of the configuration of the time information include a configuration including information indicating the time when a captured image including vomit was captured, and a configuration including information indicating the entry and exit times included in the stay history information of a patient in a hospital room or a dining room.

[0136] Moreover, the personal information means information used to identify a route and representing a person. The configuration of the personal information is not particularly limited as long as it is a configuration for identifying a person, and may be a configuration including content for identifying a person, or a configuration that makes it possible to identify a person by analysis processing. Examples of personal information include information representing a patient's name, a patient's ward number, and a history of a patient's entry and exit from a ward. Other examples of personal information include information representing a photographed image from which a patient can be identified by image analysis. An example of a configuration for identifying a patient from an image is a configuration for identifying a patient whose location information indicates that the patient was present near vomit included in the photographed image. Furthermore, when the time information included in the determination information is "the shooting time of a photographed image including a person," information representing a person included in the photographed image may be used as personal information.

[0137] Furthermore, the path identified from the position information, time information, and person information included in the information for determination means the movement path (route) of the person who is the cause of the occurrence of the new task. Although the configuration for identifying the path is not particularly limited, a configuration for identifying the movement history of the person using the position information, time information, and person information included in the information for determination is preferable. An example of a configuration for identifying the path is a means for identifying a change in the position of the patient represented by the person information based on the position represented by the position information at the time represented by the time information, and identifying the movement history of the patient based on the identified change in position. An example of the movement path of the patient is a combination of rooms and / or corridors visited by the patient in order. An example of a combination of rooms and / or corridors is a combination of the dining room visited first, the corridor visited second, and the hospital room visited third.

[0138] It should be noted that there is no particular limitation on how far back the movement path is specified from the time when the path is specified, and a configuration may be used in which a time period for specifying the path is specified based on the task occurrence time, or a configuration may be used in which a time period for specifying the path is specified based on the time when the path is specified. In other words, a configuration may be used in which a movement path of the patient before (or after, or before and after) the task occurrence time is specified, or a configuration may be used in which a movement path of the patient is specified from the time when the path is specified to the task occurrence time. Examples of the task occurrence time include the time when the occurrence of the task "removal of vomit" is notified to the server 10B, or the time when an image containing vomit is captured. It should be noted that there is no particular limitation on the configuration for acquiring information representing a change in the position of a person, and a configuration may be used in which an image including the patient captured by the autonomous mobile terminal 20B or a surveillance camera is received, or a configuration may be used in which location information of a mobile terminal held by the patient or medical facility staff is received as information representing the position of the patient or medical facility staff.

[0139] Also, the server-side generating unit 14B may be configured to estimate the moving path of the person. That is, the server-side generating unit 14B may be configured to estimate the moving path of the person until a predetermined time has passed based on the current time (when the identification of the path is started) or the last time the position of the person could be identified from the information held by the server. The configuration for estimating the moving path is not particularly limited, and for example, there is a configuration in which the moving path of the patient after a predetermined time is estimated from the moving tendency of the patient. Examples of elements that indicate the moving tendency of the patient include the moving speed of the patient, the moving direction of the patient, and the entry and exit history of the patient. Examples of the entry and exit history of the patient include the history of the moving path of the patient and the history of the rooms visited by the patient. With such a configuration, it is possible to specify a wider area in which a desired result will be produced by executing a new task compared to a case in which the area is not estimated. The end period for estimating the moving path is not particularly limited, and may be configured to estimate a predetermined time (for example, one hour), or may be configured to specify the end period according to an end condition (for example, until closing time).

[0140] The configuration for specifying the route may be a configuration in which position information, time information, and person information not included in the information for determination are used for the above-mentioned route specification and / or route estimation. The position information, time information, and person information not included in the information for determination are not particularly limited as long as they contribute to route specification, but are preferably a combination that represents the situation of an object or person. Examples of the configuration for acquiring the position information, time information, and person information not included in the information for determination include a configuration in which the information is received from at least one of the autonomous mobile terminals 201B to 20NB, and a configuration in which the information is received from an external device. With such a configuration, it becomes possible to specify an area that cannot be specified by the information for determination, so that it becomes possible to specify a wider area in which a desirable result will be obtained by executing a new task compared to a case in which the position information, time information, and person information not included in the information for determination are not used for route specification and / or route estimation. That is, for example, when the information for determination represents patient A, the movement route of patient B, whose relationship with patient A satisfies a predetermined condition (for example, being in the same room), can also be set as the execution area of ​​the task.

[0141] Furthermore, the configuration for identifying an area where a new task should be executed according to the area identification rule is not particularly limited, and may be a configuration for identifying a combination of a plurality of areas identified based on a route, or a configuration for identifying an object (e.g., a floor, a doorknob, a handrail) based on a route and identifying an area including the identified object. An example of an area identification rule is a rule for identifying a combination of a hospital room and a corridor included in a patient's movement route as an area. Another example of an area identification rule is a rule for identifying a floor, a doorknob, and a handrail that are presumed to have been touched by a patient based on the patient's movement route.

[0142] The server 10B may be configured to receive captured images from multiple cameras capturing images of the monitoring target, and identify the area in which a new task should be executed according to the movement path of the monitoring target identified using the received captured images and a predetermined area identification rule. Here, the monitoring target means an object used to identify the path. The monitoring target is not particularly limited, and may be a person or an object. With such a configuration, the amount of movement and the direction of movement of the monitoring target can be identified more accurately, and therefore the movement path of the monitoring target can be identified more accurately.

[0143] As described above, the server-side generating unit 14B is configured to specify the area where the new task should be executed according to the route specified from the position information, time information, and person information included in the determination information and the predetermined area specification rule, so that the area where the desired result will be obtained by executing the new task can be specified more widely, and at least one of the autonomous mobile terminals 20B, 201B to 20NB can execute the new task in the specified area. For example, there is a possibility that bacteria or viruses may adhere to the floor or handrails on the path of a patient who is thought to be infected with an infectious disease by droplets, contact, or aerosol. Therefore, by specifying the area to be irradiated with ultraviolet light based on the path of the patient's movement (for example, the place where the patient was before and after the patient vomited) and the path of the patient's expected movement in the future, more effective sterilization can be realized, and the risk of infection of the patient, medical facility staff, etc. can be reduced.

[0144] Although not specifically mentioned in the above-described second embodiment, the autonomous mobile terminal 20B may be configured to determine whether or not the autonomous mobile terminal 20B is a user that may operate the autonomous mobile terminal 20B by its own face authentication means. An example of a case where the autonomous mobile terminal 20B is operated by a user is an operation to make the autonomous mobile terminal 20B execute the task "irradiate ultraviolet rays". By configuring in this way, it is possible to prevent the autonomous mobile terminal 20B from being operated by a person not expected by the administrator, and it is possible to reduce the burden of managing the autonomous mobile terminal 20B on the administrator.

[0145] Although not specifically mentioned in the above-described second embodiment, the task execution system 100 may be configured to suspend the execution of the task using the predetermined function when the autonomous mobile terminal 20B is executing a task using the predetermined function and detects a person by a sensor. Furthermore, the autonomous mobile terminal 20B may be configured to resume the execution of the task using the predetermined function when a person is no longer detected by the sensor provided therein after suspending the task using the predetermined function. With such a configuration, safety can be ensured even when a function that may have an effect on the human body (for example, a function for irradiating ultraviolet light (UV-C) for disinfection) is used in the execution of the task.

[0146] [Third embodiment] Fig. 12 is a block diagram showing an example of a configuration of a server 10C according to at least one of the embodiments of the present invention. As shown in Fig. 12, the server 10C includes at least a server-side transmitting unit 11, an updating unit 12C, and a server-side generating unit 14C.

[0147] The server-side generating unit 14C has a function of generating a plurality of pieces of divided task information in accordance with task information associated with identification information included in the execution status information received from the autonomous mobile terminal 20C and with a predetermined division rule.

[0148] Here, the execution status information received from the autonomous mobile terminal 20C means information in which the execution status of a task by the autonomous mobile terminal 20C is associated with the identification information of the autonomous mobile terminal 20C. The execution status of a task is not particularly limited, and may be the progress status (advancement) of one task or the progress status of multiple tasks. Examples of the progress status of a task include the progress rate to completion, whether the task has been completed, whether it has been executed, or whether it is scheduled to be executed.

[0149] The division rule means a rule for dividing the area in which the task should be executed and / or the task requirements included in the task information based on the execution status information, and generating divided task information based on the divided area and / or requirements. The division rule is not particularly limited, but it is preferable that the task is divided when a division condition related to the execution status of the task (hereinafter referred to as the "first division condition") is satisfied. An example of the first division condition is that the progress of the task is behind schedule. Another example of the first division condition is that the ratio of tasks that have been executed is smaller than scheduled. Examples of configurations for determining whether the first division condition is satisfied include those that use information that associates the start time of the task, the execution time of the task, and the progress of the task, and those that use information that associates the number of tasks that have been executed with the number of tasks to be executed.

[0150] Here, the configuration for dividing the area in which the task is to be executed is not particularly limited, and if the area in which the task is to be executed is a building (e.g., a medical facility), the configuration may be such that the area is divided into predetermined units in the building (e.g., floors or rooms), or if the area in which the task is to be executed is defined by area, the configuration may be such that the area is divided into predetermined areas.

[0151] Furthermore, the configuration for dividing the requirements of a task is not particularly limited as long as it is for a task that can be divided into multiple requirements necessary for the task to be determined to be completed. An example of such a configuration is a configuration in which the requirement "removing vomit" of the task "removing vomit" is divided into the requirements "sucking up the vomit" and "wiping the floor with water." An example of a configuration for dividing the requirements of a task into multiple requirements is a configuration in which a storage means that stores information in which the requirements before division and the multiple requirements after division are associated with each other is referenced, and the requirement to be divided is divided into the multiple corresponding requirements.

[0152] Another example of a division rule is to divide a task when a division condition (hereinafter referred to as a "second division condition") regarding the relative positions between at least two of the plurality of autonomous mobile terminals 20C, 201C to 20NC (hereinafter referred to as "two or more terminals") is satisfied.

[0153] Here, the relative position between two or more terminals means the position of the other terminal specified based on the position of one of the two or more terminals. The configuration for specifying the relative position between two or more terminals is not particularly limited, and may be a configuration for specifying the relative distance and / or direction of the other terminal based on one of the two or more terminals, or a configuration for specifying the same or different positions of the two or more terminals when the positions are identified for each predetermined unit in a building (for example, floor or room). An example of a configuration for specifying the relative position between two or more terminals is a configuration for specifying the distance and / or direction of at least one of the autonomous mobile terminals 201C to 20NC based on the position of the autonomous mobile terminal 20C. Another example of a configuration for specifying the relative position between two or more terminals is a configuration for specifying the relationship of the position of at least one of the autonomous mobile terminals 201C to 20NC to the position of the autonomous mobile terminal 20C in a building (for example, the same floor, the floor one floor up, or the room two doors down) when the positions of the autonomous mobile terminals 20C, 201C to 20NC are identified for each predetermined unit in a building.

[0154] The second division condition is not particularly limited, and may be a condition related to the relative distance and / or direction between two or more terminals, or a condition related to the positions of two or more terminals. Examples of the second division condition include two terminals being separated by less than a predetermined distance, two terminals being separated by a predetermined distance or more and being in an area in which the task before division should be executed, or at least one of the autonomous mobile terminals 201C to 20NC being in a predetermined direction based on the position of the autonomous mobile terminal 20C. Other examples of the second division condition include, when the positions of the autonomous mobile terminals 20C, 201C to 20NC are identified for each predetermined unit in a building, at least one of the autonomous mobile terminals 201C to 20NC in the building being in the same position as the autonomous mobile terminal 20C, or being in a different position. By including a rule that sets the relative positions between two or more terminals as a condition in the division rule, it becomes possible to generate divided task information that takes into consideration an element related to the movement of at least one of the autonomous mobile terminals 20C, 201C to 20NC (for example, movement time).

[0155] The update unit 12C has a function of updating the allocation information so that the divided task information is newly associated with identification information of at least one of the plurality of autonomous mobile terminals 20C, 201C to 20NC.

[0156] Here, the configuration for associating the identification information with the divided task information is not particularly limited, but when the identification information of the autonomous mobile terminal 20C is associated with the task information of the original task, a configuration is preferable in which the divided task information is associated with at least one of the identification information of the autonomous mobile terminals 201C to 20NC different from the autonomous mobile terminal 20C. An example of a configuration for associating the identification information with the divided task information is a configuration in which, when the identification information of the autonomous mobile terminal 20C is associated with the task information of the original task, one piece of the generated divided task information is associated with the identification information of the autonomous mobile terminal 20C, and the remaining pieces of information are associated with the identification information of one of the autonomous mobile terminals 201C to 20NC.

[0157] In addition, when split task information is generated according to a division rule that uses the relative positions between two or more terminals as a condition, the configuration for associating the split task information with identification information is not particularly limited, but a configuration in which the split task information is associated with identification information of two or more terminals whose relative positions are specified when it is determined whether the second division condition is satisfied among the plurality of autonomous mobile terminals 20C, 201C to 20NC. An example of such a configuration is a configuration in which the split task information is associated with identification information of a terminal whose area in which the task should be executed is closest among two or more terminals whose relative positions are specified when it is determined whether the second division condition is satisfied, for the plurality of generated split task information.

[0158] 13 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20C corresponding to at least one of the embodiments of the present invention. As shown in FIG. 13, the autonomous mobile terminal 20C includes at least a terminal side receiving unit 21, an executing unit 22C, a terminal side transmitting unit 23C, and a terminal side determining unit 27.

[0159] The terminal side transmitting unit 23C has a function of transmitting execution status information in which the execution status of the task by the executing unit 22C is associated with the identification information of the autonomous mobile terminal 20C to the server 10C.

[0160] Here, the timing for transmitting the execution status information is not particularly limited, and may be every time a predetermined time has elapsed, or may be when the task has been completed.

[0161] The terminal side determination unit 27 has a function of referring to a storage means that stores function information in which the requirements of a task are associated with the functions of the autonomous mobile terminal 20C required to execute the task, and determining whether the autonomous mobile terminal 20C is capable of executing the task.

[0162] Here, the configuration of the function information is not particularly limited as long as the function of the autonomous mobile terminal 20C is specified from the requirements of the task. An example of the configuration of the function information is a configuration in which the requirement "irradiate the floor and handrail with ultraviolet rays" is associated with the function "irradiate ultraviolet rays."

[0163] In addition, determining whether the autonomous mobile terminal 20C is capable of executing a task means determining whether the autonomous mobile terminal 20C has a function associated with the same requirements as the task requirements contained in the task information received by the terminal side receiving unit 21.

[0164] The request unit 28 has a function of, when the terminal side determination unit 27 determines that the autonomous mobile terminal 20C cannot execute the task, requesting assistance from at least one of the autonomous mobile terminals 201C to 20NC that can execute the task.

[0165] Here, the configuration for identifying at least one of the plurality of autonomous mobile terminals 201C to 20NC capable of executing the task is not particularly limited, and may be a configuration in which the identification information of the autonomous mobile terminal is associated with information on the autonomous mobile terminal and the function of the autonomous mobile terminal, a configuration in which the identification is performed by communicating with the plurality of autonomous mobile terminals 201C to 20NC, or a configuration in which the server 10C identifies the autonomous mobile terminal.

[0166] Furthermore, the configuration for requesting assistance from at least one of the autonomous mobile terminals 201C to 20NC is not particularly limited as long as the terminal identified as capable of executing the task can recognize the area in which the task should be executed and the requirements of the task. An example of such a configuration is a configuration in which assistance request information in which task information and information indicating that it is a assistance request are associated with each other is transmitted to the identified terminal.

[0167] Therefore, for example, when the autonomous mobile terminal 20C is an autonomous mobile terminal (hereinafter referred to as the "first autonomous mobile terminal") that does not have an ultraviolet ray irradiation function and task information including a requirement to irradiate ultraviolet ray is associated with the identification information of the autonomous mobile terminal 20C, the request unit 28 requests rescue from an autonomous mobile terminal (hereinafter referred to as the "second autonomous mobile terminal") that has an ultraviolet ray irradiation function.

[0168] The execution unit 22C has a function of executing a task based on a request for help from any one of the autonomous mobile terminals 201C to 20NC.

[0169] Here, the configuration for executing a task based on a request for rescue is not particularly limited, and may be a configuration in which the execution of a task in progress is interrupted and the task for which rescue is requested is executed, or a configuration in which the task for which rescue is requested is executed after the task in progress has been completed.

[0170] The terminal side transmitting unit 23C has a function of transmitting evaluation related information, including information indicating that the task was executed based on a request for help from any one of the autonomous mobile terminals 201C to 20NC, to the server 10C.

[0171] Here, the configuration of the evaluation related information transmitted by the terminal side transmitting unit 23C is not particularly limited as long as it indicates that the information is a task executed based on requests for help from the plurality of autonomous mobile terminals 201C to 20NC.

[0172] In the server 10C, the update unit 12C updates the allocation information by an update means that uses the evaluation-related information including the fact that the task was executed based on a request for help.

[0173] Here, the updating means is not particularly limited as long as it is a means for updating the allocation information based on a request for help, but it is preferable to use a means for updating the allocation information so that the identification information of a terminal that has completed a task based on a request for help among the autonomous mobile terminals 201C to 20NC is associated with the task information of the task. An example of such a configuration is a configuration in which a terminal suitable for each task is selected or the introduction (or activation) of a new terminal is determined based on the execution status of the task and the purpose of the autonomous mobile terminal. Here, the server 10C may be configured to use the fact that it is efficient to increase the number of autonomous mobile terminals to execute all tasks as a trigger for introducing a new terminal. In this case, for example, the server 10C may be configured to have a function for simulating the execution of a task based on the number and functions of the autonomous mobile terminals.

[0174] 14 is a flowchart showing an example of a divided task information generation process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The divided task information generation process and the allocation information update process are started when, for example, the server 10C satisfies a task execution start condition in a terminal with which it can communicate (for example, face authentication process of an administrator is performed). However, since steps S501 to S503 are the same processes as steps S101 to S103 in FIG. 4, a description thereof will be omitted.

[0175] When the autonomous mobile terminal 20C starts executing the task, it transmits execution status information to the server 10C (step S504). In this example, the autonomous mobile terminal 20C transmits to the server 10C execution status information in which information indicating the progress of the currently executing task "ultraviolet ray irradiation" is associated with its own identification information.

[0176] When the server 10C receives the execution status information, the server 10C generates divided task information (step S505). In this example, the server 10C generates a plurality of divided task information according to task information associated with identification information included in the execution status information received from the autonomous mobile terminal 20C and a predetermined division rule.

[0177] When the server 10C generates the divided task information, it updates the allocation information (step S506). In this example, the server 10C updates the allocation information so that at least one of the divided task information is associated with the identification information of the autonomous mobile terminal 201C that is not executing a task. The server 10C also updates the allocation information so that the divided task information that was not associated with the autonomous mobile terminal 201C is associated with the identification information of the autonomous mobile terminal 20C.

[0178] After updating the allocation information, the server 10C transmits divided task information to the autonomous mobile terminals 20C, 201C (step S507). In this example, the server 10C transmits divided task information of the task "UV irradiation" associated with the autonomous mobile terminals 20C, 201C in the allocation information to the autonomous mobile terminals 20C, 201C. Note that, in this example, the task information is transmitted to the autonomous mobile terminals 20C, 201C at the same timing, but the transmission timing may be different.

[0179] The autonomous mobile terminal 20C receives the divided task information (step S508). In this example, the autonomous mobile terminal 20C receives the divided task information from the server 10C.

[0180] The autonomous mobile terminal 201C receives the divided task information (step S509). In this example, the autonomous mobile terminal 201C receives the divided task information from the server 10C.

[0181] When the autonomous mobile terminal 20C receives the divided task information, it executes the task based on the divided task information (step S510). In this example, the autonomous mobile terminal 20C stops the pre-division task "UV irradiation" that was being executed, and executes the task "UV irradiation" based on the divided task information.

[0182] When the autonomous mobile terminal 20C executes a task, it transmits evaluation-related information regarding the evaluation of the executed task to the server 10C (step S511). In this example, the autonomous mobile terminal 20C transmits the evaluation-related information including information indicating the execution time of the task based on the divided task information to the server 10C.

[0183] When the autonomous mobile terminal 201C receives the divided task information, it executes the task based on the divided task information (step S512). In this example, the autonomous mobile terminal 201C executes the task "irradiate ultraviolet rays" based on the divided task information.

[0184] When the autonomous mobile terminal 201C executes the task, it transmits the evaluation-related information to the server 10C (step S513). In this example, the autonomous mobile terminal 201C transmits the evaluation-related information including information indicating the execution time of the executed task based on the divided task information to the server 10C.

[0185] When the server 10C receives the evaluation-related information from the autonomous mobile terminals 20C and 201C, it updates the allocation information based on each evaluation-related information (step S514), and the divided task information generation process and the allocation information update process are terminated. In this example, the server 10C updates the allocation information using the evaluation-related information received from the autonomous mobile terminals 20C and 201C so that the time from when the execution of any one of the multiple tasks including the pre-split task is started to when all the tasks are completed is shorter than before the update.

[0186] 15 is a flowchart showing an example of a rescue request process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The rescue request process and the allocation information update process are started when, for example, a task execution start condition is satisfied in a terminal capable of communicating with the server 10C (for example, face authentication process of the administrator is performed). However, since steps S601 and S602 are the same as steps S101 to S102 in FIG. 4, description thereof will be omitted.

[0187] When the autonomous mobile terminal 20C receives the task information, it judges whether or not it can execute the task (step S603). In this example, the autonomous mobile terminal 20C refers to a storage means that stores function information in which the task requirement "irradiate the floor with ultraviolet rays" and the function "irradiate ultraviolet rays" are associated with each other, and judges whether or not it can execute the task "irradiate ultraviolet rays".

[0188] When the autonomous mobile terminal 20C determines that it is not capable of executing the task, it requests help from the autonomous mobile terminal 201C capable of executing the task (step S604). In this example, the autonomous mobile terminal 20C uses information in which the identification information 201C of the autonomous mobile terminal and the function of the autonomous mobile terminal 201C are associated with each other to determine whether or not it has the function "ultraviolet ray irradiation" required for executing the task "ultraviolet ray irradiation". Then, in this example, the autonomous mobile terminal 20C transmits help request information in which the task information is associated with a request for help to the autonomous mobile terminal 201C. On the other hand, in this example, when the autonomous mobile terminal 20C determines that it is capable of executing the task, it executes the same processes as those in steps S103 to S105 in FIG. 4, and the process here ends.

[0189] When the autonomous mobile terminal 201C receives the rescue request information, it executes a task based on the rescue request (step S605). In this example, the autonomous mobile terminal 201C executes the task "irradiate ultraviolet rays" based on the rescue request from the autonomous mobile terminal 20C.

[0190] When the autonomous mobile terminal 201C executes the task, it transmits evaluation-related information including that the task was executed based on a request for help to the server 10C (step S606). In this example, the autonomous mobile terminal 201C transmits evaluation-related information including that the task "ultraviolet ray irradiation" was executed based on a request for help to the server 10C.

[0191] When the server 10C receives the evaluation-related information, the server 10C updates the allocation information by an update means using the evaluation-related information (step S606), and the rescue request process and the allocation information update process are terminated. In this example, the server 10C updates the allocation information by an update means using the evaluation-related information including the fact that the task "ultraviolet ray irradiation" is a task executed based on a rescue request, so that the task information of the task "ultraviolet ray irradiation" is associated with the identification information of the autonomous mobile terminal 201C.

[0192] 16 is an explanatory diagram for explaining an example of updating allocation information related to generation of split task information corresponding to at least one of the embodiments of the present invention. The allocation information shown in FIG. 16 includes a task number, an execution status split task number, a relative position split task number, task information, and identification information.

[0193] The execution status split task number means a number for identifying a task generated according to execution status information and a predetermined split rule. The relative position split task number means a number for identifying a task generated according to a split rule including a rule that uses the relative position between two or more terminals as a condition. The task information means information that associates an area in which a task should be executed with a task requirement, and includes information that associates an area in which split task information should be executed with a split task requirement.

[0194] Fig. 16(a) is a diagram showing the state of allocation information before divided task information is generated. In Fig. 16(a), autonomous mobile terminal A is executing a task with task number 1, and autonomous mobile terminal B is executing a task with task number 3. Autonomous mobile terminals C and D do not have task information associated with their own identification information.

[0195] FIG. 16(b) is a diagram showing the state of the allocation information after the split task information is generated according to the execution status information and a predetermined split rule. As shown in FIG. 16(b), three pieces of split task information are generated based on the fact that the progress of the task with task number 1 is below a predetermined standard (in other words, the progress of the task with task number 1 is slow). The execution status split task numbers of the three pieces of split task information are 1-1, 1-2, and 1-3. For the execution status split task number 1-1, the split task information is associated with the identification information RA. Then, the autonomous mobile terminal A starts executing the task with the execution status split task number 1-1. Also, for the execution status split task number 1-2, the split task information is associated with the identification information RC. Therefore, the autonomous mobile terminal C executes the task with the execution status split task number 1-2.

[0196] Fig. 17 is an explanatory diagram for explaining an example of updating allocation information related to generation of split task information corresponding to at least one of the embodiments of the present invention. The allocation information in Fig. 17 includes a task number, an execution status split task number, a relative position split task number, task information, and identification information. The description of the same parts as in Fig. 16 will be omitted.

[0197] FIG. 17 is a diagram showing the state of the allocation information after the split task information is generated according to a split rule including a rule that sets the relative position between two or more terminals as a condition. In FIG. 17, two pieces of split task information are generated from the split task information for task number 1-3. The two pieces of split task information are generated based on the fact that the positions of the autonomous mobile terminal A and the autonomous mobile terminal D are close to each other. The relative position split task numbers of the two pieces of split task information are 1-3-1 and 1-3-2. Here, the task information associated with the identification information RA is changed from the task information for task number 1-3 to the task for relative position split task number 1-3-1. Therefore, the autonomous mobile terminal A is scheduled to start executing the task for relative position split task number 1-3-1 after the task for task number 1-1 has been executed. In addition, the identification information RD is associated with the split task information for the relative position split task number 1-3-2. Therefore, the autonomous mobile terminal D executes the task for relative position split task number 1-3-2.

[0198] 18 is an explanatory diagram for explaining an example of function information corresponding to at least one of the embodiments of the present invention. The function information in this example includes a requirement number, a requirement, and a function.

[0199] The requirement number means a number for identifying the requirement of the task. The requirement included in the function information is the requirement of the task. The function included in the function information is at least any function among the plurality of autonomous mobile terminals 20C, 201C to 20NC that can satisfy the requirement. In this example, the function information associates the requirement "irradiate the floor and handrail with ultraviolet light" with the function "irradiate ultraviolet light", and the requirement "mop the floor with water" with the function "mop with water". The requirement "remove vomit" with the functions "suction" and "mop with water".

[0200] As described above, in the task execution system 100 in the third embodiment, the autonomous mobile terminal 20C transmits execution status information (for example, information representing a common ledger) in which the execution status of a task is associated with its own identification information to the server 10C, and the server 10C generates a plurality of divided task information according to the task information associated with the identification information included in the received execution status information and a predetermined division rule, and updates the allocation information so that the identification information is newly associated with the divided task information, so that the allocation of the subdivided task can be updated. Therefore, for example, it is possible to update the allocation information so that the execution of the task before division is shared among the plurality of autonomous mobile terminals 20C, 201C to 20NC according to the execution status of the task. That is, it is possible to update the allocation information so that the plurality of autonomous mobile terminals 20C, 201C to 20NC cooperate with each other in the execution of the task. Therefore, it is possible to reduce the burden on the administrator without the administrator having to update the allocation of the task according to the execution status of the task.

[0201] Furthermore, in the task execution system 100 in the third embodiment, the autonomous mobile terminal 20C refers to a storage means that stores function information in which the requirements of a task are associated with the functions of the autonomous mobile terminal 20C required to execute the task, and determines whether or not the autonomous mobile terminal 20C itself can execute the task. If the terminal side determination unit 27 determines that the autonomous mobile terminal 20C itself cannot execute the task, the autonomous mobile terminal 20C requests help from another autonomous mobile terminal 201C that can execute the task, and the other autonomous mobile terminal 201C executes the task based on the request and transmits evaluation-related information including the fact that the task was executed based on the request to the server 10C, and the server 10C updates the allocation information by an update means that uses the evaluation-related information. Therefore, even if the autonomous mobile terminal 20C cannot execute a task, the task of the autonomous mobile terminal 20C is handled among the multiple autonomous mobile terminals 201C to 20NC without the administrator having to perform the work of updating the task allocation, and it is possible to prevent an increase in the burden on the administrator.

[0202] In the task execution system 100 according to the third embodiment, the task requirement includes irradiating ultraviolet light, and the autonomous mobile terminals 20C, 201C to 20NC include a first autonomous mobile terminal that does not have an ultraviolet light irradiation function and a second autonomous mobile terminal that has an ultraviolet light irradiation function, and when the autonomous mobile terminal 20C is the first autonomous mobile terminal and task information including the requirement of irradiating ultraviolet light is associated with its own identification information, the autonomous mobile terminal 20C requests assistance from the second autonomous mobile terminal, so that the task requirement of irradiating ultraviolet light is satisfied without the administrator checking whether the autonomous mobile terminal 20C has an ultraviolet light irradiation function. Therefore, it is possible to prevent a situation where ultraviolet light is not irradiated in an area where ultraviolet light irradiation should be performed, and it is possible to reduce the risk of bacteria or viruses infecting people in that area.

[0203] Although not particularly mentioned in the above-mentioned third embodiment, the task execution system 100 may be configured such that the autonomous mobile terminal 20C transmits information indicating its own remaining battery power to the server 10C, and when the remaining battery power of the autonomous mobile terminal 20C becomes equal to or less than a predetermined power, the server 10C updates the allocation information based on the remaining battery power of at least one of the autonomous mobile terminals 201C to 20NC so that the identification information of at least one of the autonomous mobile terminals 201C to 20NC is associated with the task information of the task being executed or scheduled to be executed by the autonomous mobile terminal 20C. Here, the configuration for updating the allocation information based on the remaining battery power is not particularly limited, but a configuration in which the task information of the task being executed or scheduled to be executed by the autonomous mobile terminal 20C is associated with the identification information of a terminal having a larger remaining battery power among the autonomous mobile terminals 201C to 20NC compared to other terminals is preferable. With such a configuration, it is possible to avoid a situation in which the autonomous mobile terminal 20C runs out of battery power while executing a task.

[0204] Although not specifically mentioned in the above-described third embodiment, the task execution system 100 may be configured to request the manager to handle the task when the autonomous mobile terminal 20C is determined by the terminal side determination unit 27 to be unable to execute the task. The condition for requesting the manager is not particularly limited, and may be that the multiple autonomous mobile terminals 201C-20NC capable of executing the task have not been identified, or that the requirements of the task are not met by the functions of the multiple autonomous mobile terminals 20C, 201C-20NC. With such a configuration, for example, even when a situation occurs that cannot be handled by the multiple autonomous mobile terminals 20C, 201C-20NC, it is possible to expect the manager to handle the situation.

[0205] Although not specifically mentioned in the above-described third embodiment, the task execution system 100 may be configured such that the server 10C displays the task execution status of each of the autonomous mobile terminals 20C, 201C to 20NC on a display means. Here, the configuration for displaying the task execution status is not particularly limited as long as the manager can visually confirm the task execution status, but a configuration in which an image with a color according to the task execution status is displayed is preferable. An example of such a configuration is a configuration in which an image with a color according to the task execution speed and indicating the task execution time is displayed for each autonomous mobile terminal. By configuring the task execution status to be displayed on a display means, the manager can visually confirm the task execution status for each autonomous mobile terminal, thereby reducing the burden on the manager in checking the task execution status.

[0206] Although not specifically mentioned in the above-described third embodiment, the task execution system 100 may be configured such that the server 10C transmits execution status information (for example, information representing a common ledger) to the autonomous mobile terminals 20C, 201C to 20NC. The task execution system 100 may be configured such that the autonomous mobile terminals 20C, 201C to 20NC check the execution status information of the other terminals and assist in the execution of tasks that are being executed or are scheduled to be executed by the other terminals.

[0207] [Fourth embodiment] Fig. 19 is a block diagram showing an example of a configuration of a server 10D corresponding to at least one of the embodiments of the present invention. As shown in Fig. 19, the server 10D includes at least a server-side transmitting unit 11 and an updating unit 12D.

[0208] The update unit 12D has a function of referring to a storage means that stores server-side map information in which a map of a location including an area in which an autonomous mobile terminal can execute a task is associated with the position of an object in that location, and updating the server-side map information based on the terminal-side map information received from the plurality of autonomous mobile terminals 20D, 201D to 20ND so that the position of the object is associated with the map of the location.

[0209] Here, the location where the task can be executed is not particularly limited as long as the autonomous mobile terminals 20D, 201D to 20ND can move autonomously. Examples of the location where the task can be executed include medical facilities, nursing homes, and trains.

[0210] Further, the map of the location means a map in which the area in which the task should be executed is specified. The configuration for specifying the area in which the task should be executed from the map of the location is not particularly limited, and may be a configuration in which the map of the location includes the area in which the task should be executed, or a configuration in which the server 10D or the autonomous mobile terminal 20D specifies the area in which the task should be executed from the information included in the map of the location. An example of the information included in the map of the location is information indicating the positions of walls and steps existing in the location. That is, for example, there is a map of a medical facility that can specify an area in which autonomous movement is possible based on the positions of walls and steps that separate the patient rooms and corridors of the medical facility. Note that the type of map is not particularly limited, and may be a two-dimensional map that represents the location in two dimensions, or a three-dimensional map that represents the location in three dimensions (for example, a map in which height is added to a so-called floor map).

[0211] Moreover, the server-side map information means information for the server 10D to recognize the position of an object in a place. The configuration of the server-side map information is not particularly limited, but a configuration that can specify an area in which a task can be executed by a plurality of autonomous mobile terminals 20D, 201D to 20ND is preferable. An example of the server-side map information is information that associates a map of a medical facility with the positions of beds and chairs in the medical facility and the area in which a plurality of autonomous mobile terminals 20D, 201D to 20ND can move autonomously.

[0212] Furthermore, the configuration for updating the server-side map information so that the position of the object corresponds to the map of the location is not particularly limited, and may be a configuration in which the position of the object included in the terminal-side map information received by the server 10D is added as a point to the map of the location, or a configuration in which the area occupied by the object including the position of the object is added to the map of the location. Examples of such configurations include a configuration in which, when the terminal-side map information received by the server 10D includes the position of a bed or chair, a point representing the position of the bed or chair is added to the map of the medical facility, or a configuration in which the area occupied by the bed or chair is added to the map of the medical facility. The terminal-side map information will be described later.

[0213] The update unit 12D has a function of updating the allocation information based on the evaluation related information received from the plurality of autonomous mobile terminals 20D, 201D to 20ND and the updated server-side map information.

[0214] Here, the configuration for updating the allocation information is not particularly limited, but it is preferable to update the allocation information so that the influence of the position of the object included in the updated server-side map information on the execution of the task is reflected. An example of the configuration for updating the allocation information is a configuration in which, when the movable route of the autonomous mobile terminal is changed by a chair added by updating the server-side map information, the assignment of the task is changed based on the movable route after the change. An example of such a configuration is a configuration in which, when an object is placed on the movement route from hospital room A to hospital room B, a terminal that can move to hospital room B faster than the autonomous mobile terminal 20D compared to before the object was placed is searched for, and if a corresponding terminal is found, the task related to hospital room B that was assigned to the autonomous mobile terminal 20D is assigned to the corresponding terminal. In addition, when a shelf is placed in the hospital room by updating the server-side map information, it may be determined that the area of ​​the floor part where the task "mopping with water" should be performed has become smaller, and therefore the work time required to perform the task has decreased, and the terminal to which the task "mopping with water" is assigned may be changed. Another example of updating allocation information is when an autonomous mobile terminal is to be used to perform cleaning activities in a hospital at night, and the task that must be completed by 6 a.m. cannot be completed in time, and an autonomous mobile terminal is deployed. That is, before or during the execution of the task, the AI ​​provided in the server determines whether the task can be executed (or completed) by 6 a.m., and if it determines that the task cannot be executed, it calculates backwards to calculate the necessary measures (adding a robot, assigning a task, deleting a task) to enable the task to be executed. Note that, for autonomous mobile terminals on standby, the server may refer to the charging status of the autonomous mobile terminal, and deploy an autonomous mobile terminal that satisfies the addition possible condition to the site.

[0215] Fig. 20 is a block diagram showing an example of a configuration of an autonomous mobile terminal 20D corresponding to at least one of the embodiments of the present invention. As shown in Fig. 20, the autonomous mobile terminal 20D includes at least a terminal side receiving unit 21, an executing unit 22, a terminal side transmitting unit 23D, a detecting unit 29, and a map updating unit 210.

[0216] The detection unit 29 has a function of detecting the positions of objects existing around the autonomous mobile terminal 20D.

[0217] Here, the configuration for determining whether or not an object exists around the autonomous mobile terminal 20D is not particularly limited, but a configuration using sensor information acquired by a sensor device included in the autonomous mobile terminal 20D is preferable. An example of such a configuration is a configuration for determining whether or not an object is included in an image captured by a camera included in the autonomous mobile terminal 20D.

[0218] In addition, the configuration for detecting the position of an object is not particularly limited, but a configuration is preferable in which a relative positional relationship between the position of the autonomous mobile terminal 20D and the position of the object is specified based on sensor information acquired by a sensor equipped in the autonomous mobile terminal 20D, and the position of the object is detected based on the specified relative position. The method for specifying the position of the autonomous mobile terminal 20D is not particularly limited, and for example, there is a method using the type and position of a marker (e.g., a department or division in the medical facility, a room number, or a plate indicating the floor name hung on a wall) included in a captured image captured by the autonomous mobile terminal 20D among a plurality of markers installed in a medical facility. In addition, other examples of the configuration for specifying the self-location of the autonomous mobile terminal 20D include a configuration in which the autonomous mobile terminal 20D receives a plurality of beacon radio waves transmitted from a plurality of transmitting devices installed in the medical facility and uses the reception strength of the beacon radio waves, and a configuration in which the position of a device emitting a predetermined radio wave (e.g., an RFID (Radio Frequency Identification) tag) is used. Other examples of configurations for determining the autonomous mobile terminal 20D's own position include a configuration in which the autonomous mobile terminal 20D receives and uses a GPS signal, or, if the autonomous mobile terminal 20D is equipped with a microphone, a configuration in which the microphone is used to pick up sound of a specific amplitude or frequency and determine the source of the sound.

[0219] Furthermore, the condition for detecting the position of an object is not particularly limited, and may be that the autonomous mobile terminal 20D is executing a task, or that the autonomous mobile terminal 20D is not executing a task.

[0220] The map update unit 210 has a function of referring to a storage means that stores terminal-side map information in which a map of a location including an area in which the autonomous mobile terminal 20D can perform a task is associated with the position of an object in that location, and updating the terminal-side map information so as to associate the position of the object detected by the detection unit 29 with the map of the location.

[0221] Here, the terminal side map information means information for the autonomous mobile terminal 20D to detect and recognize the position of an object in a place. The configuration of the terminal side map information is not particularly limited, but a configuration that can specify an area in which the autonomous mobile terminal 20D can execute a task is preferable.

[0222] Furthermore, the configuration for updating the terminal-side map information to associate the position of the object with the location map is not particularly limited, and may be a configuration in which the position of the object detected by the detection unit 29 is added as a point to the location map, or a configuration in which an area occupied by the object including the position of the object detected by the detection unit 29 is added to the location map. Examples of such configurations include a configuration in which, when a bed or chair is detected by the detection unit 29, a point representing the position of the bed or chair is added to the map of the medical facility, or a configuration in which the area occupied by the bed or chair is added to the map of the medical facility.

[0223] The terminal-side transmitting unit 23D has a function of transmitting the terminal-side map information updated by the map updating unit 210 to the server 10D.

[0224] Here, the timing for transmitting the updated terminal-side map information to the server 10D is not particularly limited, and may be every time the terminal-side map information is updated, or every time a predetermined time has elapsed.

[0225] 21 is a flowchart showing an example of a map information update process and an allocation information update process in the task execution system 100 corresponding to at least one of the embodiments of the present invention. The map information update process is started, for example, when the autonomous mobile terminal 20D moves autonomously to execute a task.

[0226] First, the autonomous mobile terminal 20D detects the position of an object existing around itself (step S701). In this example, the autonomous mobile terminal 20D identifies the relative positional relationship between its own position and the position of the object, and detects the position of the object based on the identified relative position.

[0227] When the autonomous mobile terminal 20D detects the position of an object, it updates the terminal-side map information so as to associate the detected object position with the location map (step S702). In this example, the autonomous mobile terminal 20D refers to a storage means that stores terminal-side map information in which the map of the medical facility is associated with the positions of beds and chairs in the medical facility, and updates the terminal-side map information so as to add the area occupied by the detected bed or chair to the map of the medical facility.

[0228] When the autonomous mobile terminal 20D updates the terminal-side map information, it transmits the updated terminal-side map information to the server 10D (step S703). In this example, the autonomous mobile terminal 20D transmits the terminal-side map information including the updated medical facility map to the server 10D.

[0229] When the server 10D receives the terminal-side map information, the server 10D updates the server-side map information based on the terminal-side map information so that the position of the object is associated with the map (step S704). In this example, the server 10D refers to a storage means that stores server-side map information in which the map of the medical facility is associated with the positions of the beds and chairs, and updates the server-side map information so as to add the area occupied by the beds and chairs to the map of the medical facility.

[0230] After updating the server-side map information, the server 10D updates the allocation information based on the evaluation-related information received from the autonomous mobile terminals 20D, 201D-20ND and the updated server-side map information (step S705), and the map information update process and the allocation information update process are terminated. In this example, the server 10D updates the allocation information so as to reflect the evaluation-related information received from the autonomous mobile terminals 20D, 201D-20ND and the influence of the positions of beds and chairs included in the updated server-side map information on the execution of the tasks.

[0231] As described above, in the task execution system 100 in the fourth embodiment, the autonomous mobile terminal 20D detects the position of an object present around itself, refers to a storage means in which a map of a location including an area in which the autonomous mobile terminals 20D, 201D to 20ND can execute a task is stored as terminal-side map information in which the map of the location is associated with the position of the object in the location, updates the terminal-side map information so as to associate the position of the detected object with the map, and transmits the updated terminal-side map information to the server 10D, and the server 10D refers to a storage means in which the map of the location is stored as server-side map information in which the map of the location is associated with the position of the object in the location, and updates the server-side map information based on the terminal-side map information received from the autonomous mobile terminals 20D, 201D to 20ND so that the position of the object is associated with the map of the location, and updates the allocation information based on the evaluation-related information and the updated server-side map information. Therefore, the map information is updated and the allocation information is updated based on the map information without the administrator having to check the position of the object and reflect it in the map, which makes it possible to reduce the burden on the administrator.

[0232] Although not specifically mentioned in the above-described fourth embodiment, the task execution system 100 may be configured such that the server 10D transmits server-side map information to a plurality of autonomous mobile terminals 20D, 201D to 20ND, and the autonomous mobile terminal 20D identifies an area where object position detection has not been completed based on the server-side map information received from the server 10D, and detects the positions of objects present around itself in the identified area.

[0233] Here, the area where the detection of the object position is not completed is not particularly limited, but may be an area where the object position is not detected, or an area where the detection accuracy of the object satisfies a predetermined redetection condition. An example of an area where the detection of the object position is not completed is an area belonging to a cube where the object position is not detected or a cube where the detection accuracy of the object satisfies a predetermined redetection condition, among a plurality of cubes of a predetermined volume set in the space. In addition, an example of a redetection condition is that an object of an unexpected shape is detected in a place. With such a configuration, the plurality of autonomous mobile terminals 20D, 201D to 20ND can specify an area where the object position is detected by sharing the same map among the plurality of autonomous mobile terminals 20D, 201D to 20ND in a place where the details of the topography are not known and GPS cannot be used, such as the surface of the moon, so that it is possible to reduce waste in the work of detecting the object position by the plurality of autonomous mobile terminals 20D, 201D to 20ND.

[0234] The task execution system 100 may be configured to process multiple tasks with a defined execution order. That is, for example, if the tasks "mopping with water" and "ultraviolet rays" are set in the same or nearby area, the allocation information may be created or updated so that the task "ultraviolet rays" is executed after the task "mopping with water". It is expected that such a configuration will improve work efficiency.

[0235] The task execution system 100 may also be configured to acquire information indicating the sterilization effect and update the allocation information so that the sterilization effect is enhanced. That is, for example, it is known that if water remains on the floor after wiping with water, the effectiveness of the subsequent sterilization work (including so-called spray sterilization and sterilization by ultraviolet irradiation) decreases. Therefore, the task execution system 100 may acquire information (sterilization information) indicating the sterilization status of the task execution target (for example, floor or handrail), and update the allocation information so that another task (dust removal or dry wiping of the floor) is added before the sterilization-related task is executed based on the sterilization information. In this case, the configuration for acquiring the sterilization information is not particularly limited, and may be configured to accept a human input, or may be configured to acquire information automatically generated using a predetermined evaluation criterion (for example, the time when ultraviolet irradiation is executed). The task execution system 100 may also be configured to add a sterilization-related task based on the sterilization information (for example, it is assumed that the sterilization effect is enhanced by a hybrid method by adding an alcohol spray to the area where ultraviolet irradiation is performed).

[0236] The present invention is not limited to the above-described embodiment, and various configurations or embodiments can be adopted without departing from the gist of the present invention.

[0237] [Note] The above-mentioned embodiment has been described so as to enable at least one person having ordinary skill in the art to which the invention pertains to practice the invention. [1] A task execution system that includes a server and a plurality of autonomous mobile terminals and executes a task, The autonomous mobile terminal comprises: a terminal side receiving unit that receives task information in which an area in which a task should be executed is associated with a requirement of the task; an execution unit that executes the task based on the received task information; a terminal-side transmitting unit configured to transmit evaluation-related information regarding an evaluation of an executed task to the server; The server, a server-side transmitting unit that refers to a storage means that stores assignment information in which the identification information of the autonomous mobile terminal and the task information are associated with each other, and transmits the task information to each autonomous mobile terminal; and an update unit that updates the allocation information by a predetermined update means that uses the evaluation-related information received from each autonomous mobile terminal. A task execution system comprising: [2] The server, a server-side determination unit that, when acquiring determination information including location information as a determination request as to whether a task has occurred, determines whether a new task has occurred according to the determination information and a predetermined determination criterion; a server-side generation unit that generates task information in which an area specified based on the position information is associated with a requirement of the new task specified based on the determination information when it is determined that the new task has occurred; The update unit updates the allocation information so that the generated task information is associated with identification information of the autonomous mobile terminal. [1] A task execution system as described above. [3] The server-side generation unit identifies an area in which the new task should be executed according to a route identified from position information, time information, and person information included in the determination information and a predetermined area identification rule. [2] The task execution system described herein. [4] The autonomous mobile terminal comprises: a terminal side acquisition unit that acquires determination information including location information as a request for determining whether a task has occurred; a terminal-side provisional judgment unit that provisionally judges whether or not a new task has occurred according to the acquired judgment information and a predetermined provisional judgment criterion; The terminal side transmission unit transmits the determination information to the server, When the execution unit determines that the new task is being executed or is scheduled to be executed with priority over other tasks and that the new task has not been generated by the server, the execution unit stops the execution of the new task. A task execution system according to any one of [1] to [3]. [5] the autonomous mobile terminal includes a terminal-side generation unit that executes a learning process based on sensor information acquired from a sensor included in the autonomous mobile terminal during execution of the task, thereby generating a trained model that has been trained to acquire control information for more appropriately executing the task; The execution unit is inputting the sensor information into the generated trained model to obtain the control information for executing the task; Executing the task based on the acquired control information; The terminal side transmission unit transmits the generated trained model to the server, The server includes an identification unit that identifies the trained model from which the control information used to satisfy the requirements included in the task information can be obtained, The server-side transmission unit transmits the identified trained model to the autonomous mobile terminal having identification information associated with the task information. A task execution system according to any one of [1] to [4]. [6] the terminal side transmission unit transmits to the server execution status information in which the execution status of the task by the execution unit is associated with the identification information of the terminal side transmission unit; the server includes a server-side generation unit that generates a plurality of pieces of divided task information in accordance with task information associated with identification information included in the received execution status information and a predetermined division rule; The update unit updates the allocation information so that the identification information is newly associated with the divided task information. A task execution system according to any one of [1] to [5]. [6-1] The predetermined division rule includes a rule that is based on a relative position between the plurality of autonomous mobile terminals. [6] The task execution system described herein. [7] The autonomous mobile terminal comprises: a terminal side determination unit that refers to a storage means that stores function information in which the requirements of the task are associated with functions of the autonomous mobile terminal required for executing the task, and determines whether the task can be executed by the terminal side determination unit; a request unit that requests assistance from another autonomous mobile terminal capable of executing the task when the terminal side determination unit determines that the autonomous mobile terminal itself is not capable of executing the task, The execution unit executes the task based on the request; the terminal side transmitting unit transmits the evaluation-related information, including information indicating that the task was executed based on the request, to the server; The update unit updates the allocation information by the update means using the evaluation-related information. A task execution system according to any one of [1] to [6]. [8] The task requirements include irradiating ultraviolet light; the plurality of autonomous mobile terminals include a first autonomous mobile terminal that does not have an ultraviolet ray irradiation function and a second autonomous mobile terminal that has an ultraviolet ray irradiation function; The request unit requests assistance from the second autonomous mobile terminal when the first autonomous mobile terminal is the first autonomous mobile terminal and the task information including the requirement of irradiating ultraviolet light is associated with the identification information of the first autonomous mobile terminal. [7] The task execution system described. [9] The autonomous mobile terminal comprises: A detection unit that detects the position of an object present around the device itself; a map update unit that refers to a storage means that stores terminal-side map information in which a map of a location including an area in which the autonomous mobile terminal can execute a task is associated with a position of an object in the location, and updates the terminal-side map information so as to associate the position detected by the detection unit with the map; The terminal-side transmitting unit transmits the updated terminal-side map information to the server; The update unit is referring to a storage means that stores server-side map information in which a map of the location is associated with the position in the location, and updating the server-side map information based on the terminal-side map information received from the plurality of autonomous mobile terminals so that the position is associated with the map; The allocation information is updated based on the evaluation-related information and the updated server-side map information. A task execution system according to any one of [1] to [8].

[10] An autonomous mobile terminal that executes a task, a terminal side receiving unit that receives task information in which an area in which a task should be executed is associated with a requirement of the task; an execution unit that executes the task based on the received task information; a terminal-side transmitting unit configured to transmit evaluation-related information regarding an evaluation of an executed task to a server; The evaluation-related information is used by the server to update, by a predetermined update means, assignment information in which the identification information of the autonomous mobile terminal and the task information are associated with each other. Autonomous mobile terminal.

[11] A server for causing a plurality of autonomous mobile terminals to execute a predetermined task, a server-side transmitting unit that refers to a storage means that stores assignment information in which the identification information of the autonomous mobile terminal and task information are associated with each other, and transmits the task information to each autonomous mobile terminal; an update unit that updates the allocation information by a predetermined update means that uses evaluation-related information regarding evaluations of executed tasks received from each autonomous mobile terminal; The task information is information in which the area in which the task should be executed is associated with the requirements of the task. server.

[12] A task execution program for implementing a function of executing a task in an autonomous mobile terminal, The autonomous mobile terminal, a terminal side receiving function for receiving task information in which an area in which a task should be executed is associated with a task requirement; an execution function for executing the task based on the received task information; A terminal-side transmission function for transmitting evaluation-related information regarding the evaluation of the executed task to the server is realized; The evaluation-related information is used by the server to update, by a predetermined update means, assignment information in which the identification information of the autonomous mobile terminal and the task information are associated with each other. Task executor.

[13] A task execution program for enabling a server to realize a function for causing a plurality of autonomous mobile terminals to execute tasks, The server, a server-side transmission function for referring to a storage means for storing assignment information in which the identification information of the autonomous mobile terminal and task information are associated with each other, and transmitting the task information to each autonomous mobile terminal; and updating the allocation information by a predetermined updating means using evaluation-related information regarding evaluations of executed tasks received from each autonomous mobile terminal, The task information is information in which the area in which the task should be executed is associated with the requirements of the task. Task executor. [Explanation of symbols]

[0238] 100 Task Execution System 10 Server 101 CPU 102 Memory 103 Storage device 11 Server-side transmitter 12 Update section 13 Server-side judgment unit 14 Server-side generation 15 Specific section 20,201~20N Autonomous mobile terminal 21 Terminal side receiving section 22 Executive Department 23 Terminal side transmitter 24 Terminal side acquisition unit 25 Terminal side provisional judgment unit 26 Terminal side generation unit 27 Terminal side judgment unit 28 Request Department 29 Detection unit 210 Map Update Department

Claims

1. An autonomous mobile terminal that executes a task, An acquisition unit that acquires information for determination; a provisional determination unit that provisionally determines whether or not a task has occurred according to the determination information and a predetermined provisional determination criterion, and, when provisionally determining that the task has occurred, identifies an area in which the provisionally determined task should be executed and a requirement for the task; A transmission unit that transmits the determination information to a predetermined determination server; A receiving unit that receives information on a result of the determination by the server; an execution unit that sets an execution order of the task before other tasks based on the priority of the task, so that the task is being executed or is scheduled to be executed with priority over other tasks without waiting for a determination result by the server as to whether or not the task has occurred, and when it is determined by the server that the task has not occurred, stops the execution of the task. An autonomous mobile terminal comprising:

2. A generation unit that generates a trained model that is trained to obtain control information for more appropriately executing the task by executing a learning process based on sensor information acquired from a sensor included in the robot during execution of the task, The execution unit inputs the sensor information into the generated trained model to obtain the control information for executing the task, and executes the task based on the obtained control information. The autonomous mobile terminal according to claim 1 .

3. A determination unit that refers to a storage means that stores function information in which requirements for the task are associated with functions of the autonomous mobile terminal required to execute the task, and determines whether the task can be executed by the autonomous mobile terminal itself; a request unit that requests assistance from another autonomous mobile terminal capable of executing the task when the determination unit determines that the autonomous mobile terminal itself is not capable of executing the task, The execution unit executes the task based on the request.

3. The autonomous mobile terminal according to claim 1 or 2.

4. The task requirements include irradiating ultraviolet light; The request unit requests assistance from another terminal having an ultraviolet irradiation function when the request unit is an autonomous mobile terminal that does not have an ultraviolet irradiation function and the task requirement includes irradiating ultraviolet rays. The autonomous mobile terminal according to claim 3.

5. A task execution program for implementing a function for executing a task in an autonomous mobile terminal, comprising: The autonomous mobile terminal, An acquisition function for acquiring information for judgment; a provisional determination function for provisionally determining whether or not a task has occurred in accordance with the determination information and a predetermined provisional determination criterion, and, if it is provisionally determined that the task has occurred, specifying an area in which the provisionally determined task should be executed and a requirement for the task; A transmission function of transmitting the determination information to a predetermined determination server; A receiving function for receiving information on a result of the determination by the server; and an execution function of setting an execution order of the task before other tasks based on the priority of the task, so that the task is being executed or is scheduled to be executed with priority over other tasks without waiting for a result of a determination by the server as to whether or not the task has occurred, and stopping the execution of the task when the server determines that the task has not occurred. Task executor.

6. A task execution system comprising a server and an autonomous mobile terminal, the task execution system comprising: The autonomous mobile terminal comprises: An acquisition unit that acquires information for determination; a provisional determination unit that provisionally determines whether or not a task has occurred according to the determination information and a predetermined provisional determination criterion, and, when provisionally determining that the task has occurred, identifies an area in which the provisionally determined task should be executed and a requirement for the task; A transmission unit that transmits the determination information to a predetermined determination server; A receiving unit that receives information on a result of the determination by the server; an execution unit that sets an execution order of the task before other tasks based on the priority of the task, so that the task is being executed or is scheduled to be executed with priority over other tasks without waiting for a determination result by the server as to whether or not the task has occurred, and when it is determined by the server that the task has not occurred, stops the execution of the task. Task execution system.

Images