Robot cooperation management system, robot management system, robot, information processing method, and program

Abstract

To provide a robot cooperation management system capable of reinforcing security when a robot is made to pass through a gate.SOLUTION: A robot cooperation management system 50 includes a first communication unit 51 for receiving first information for permitting a self-propelled robot 30 to pass a gate 21 provided in a facility 90 from a robot management system 40 for managing the robot 30, and a second communication unit 52 for outputting, to an entry / leaving management system 20 for performing control over at least one of unlocking and opening of a door 22 of the gate 21 on the basis of a result of authentication processing performed with the robot 30 in the case of receiving the first information, second information for making the robot 30 a passing permission object in the authentication processing.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot cooperation management system, a robot management system, a robot, an information processing method, and a program.

Background Art

[0002] Robots that autonomously move inside facilities such as buildings and airports to perform work are known. Patent Document 1 discloses a robot management system that can unlock a locked door while ensuring security and allow a robot to pass through.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention provides a robot cooperation management system and the like that can enhance security when a robot passes through a gate.

Means for Solving the Problems

[0005] A robot cooperation management system according to an aspect of the present invention includes a first communication unit that receives first information for permitting a robot to pass through a gate provided in a facility by the robot from a robot management system that manages the self-propelled robot, and when the first information is received, outputs second information for making the robot a target for permission to pass in the authentication process to a control system that performs at least one of unlocking and opening the door of the gate based on the result of an authentication process performed with the robot, and a second communication unit.

[0006] A robot management system according to an aspect of the present invention includes a third communication unit that communicates with the robot, and a fourth communication unit that communicates with the robot cooperation management system.

[0007] A robot management system according to an aspect of the present invention includes a third communication unit that communicates with a self-propelled robot, and a fourth communication unit that, when it is determined based on information received by the third communication unit from the robot that the robot is located within a predetermined range from a gate provided in a facility, transmits first information for permitting the robot to pass through the gate to a robot cooperation management system.

[0008] A robot management system according to an aspect of the present invention includes a third communication unit that communicates with a self-propelled robot, and when it is determined based on information received by the third communication unit from the robot that the robot is located within a predetermined range from a gate provided in a facility, the third communication unit transmits information for causing the robot to start information processing necessary for at least one of unlocking and opening the door to the robot.

[0009] A robot according to an aspect of the present invention includes an information processing unit that measures a current position in a facility and, when it is determined that the measured position is within a predetermined range from a gate provided in the facility, starts information processing necessary for at least one of unlocking and opening the door of the gate.

[0010] An information processing method according to an aspect of the present invention is an information processing method executed by a computer system, the method including: receiving, from a robot management system that manages a self-propelled robot, first information for permitting the robot to pass through a gate provided in a facility; and outputting, to a control system that controls at least one of unlocking and opening the door of the gate based on a result of an authentication process performed between the robot when the first information is received, second information for making the robot a target for permitting passage in the authentication process.

[0011] An information processing method according to an aspect of the present invention is an information processing method executed by a computer system, the method including communicating with a self-propelled robot, and based on the information received from the robot, when it is determined that the robot is located within a predetermined range from a gate provided in a facility, transmitting, to a robot cooperation management system, first information for permitting the robot to pass through the gate.

[0012] An information processing method according to an aspect of the present invention is an information processing method executed by a computer system, the method including communicating with a self-propelled robot, and based on the information received from the robot, when it is determined that the robot is located within a predetermined range from a gate provided in a facility, transmitting, to the robot, information for causing the robot to start information processing necessary for at least one of unlocking and opening the door of the gate.

[0013] An information processing method according to an aspect of the present invention is an information processing method executed by a computer system, the method including measuring a current position in a facility, and when it is determined that the measured position is within a predetermined range from a gate provided in the facility, starting information processing necessary for at least one of unlocking and opening the door of the gate.

[0014] A program according to an aspect of the present invention is a program for causing the computer system to execute the information processing method.

Advantages of the Invention

[0015] The robot cooperation management system and the like of the present invention can enhance security when allowing a robot to pass through a gate.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments will be specifically described with reference to the drawings. Note that each of the embodiments described below shows comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present invention. In addition, among the components in the following embodiments, the components not described in the independent claims are described as optional components.

[0018] Note that each figure is a schematic diagram and is not necessarily drawn precisely. Also, in each figure, the same reference numerals are given to substantially the same configurations, and redundant descriptions may be omitted or simplified.

[0019] (Embodiment) [Configuration] Hereinafter, the configuration of the information processing system according to the embodiment will be described. FIG. 1 is a block diagram showing the functional configuration of the information processing system according to the embodiment.

[0020] The information processing system 10 shown in FIG. 1 includes an entrance / exit management system 20, a plurality of robots 30, a robot management system 40, and a robot cooperation management system 50. It is not essential for the information processing system 10 to include a plurality of robots 30, and the information processing system 10 may include at least one robot 30.

[0021] The entrance / exit management system 20 performs authentication processing on people and controls at least one of unlocking and opening the door 22 of the gate 21 provided in the facility 90 based on the result of the authentication processing (hereinafter also referred to as unlocking etc. of the door 22). That is, the entrance / exit management system 20 controls the passage of people through the gate 21. FIG. 2 is a diagram showing an example of the appearance of the gate 21. Note that the facility 90 is, for example, an office building, but may also be an apartment building, a factory, a research facility, a medical facility, or a lodging facility, etc.

[0022] Also, as will be described later, the entrance / exit management system 20 performs authentication processing on the robot 30 and performs unlocking etc. of the door 22 of the gate 21 based on the result of the authentication processing. That is, the entrance / exit management system 20 controls the passage of the robot 30 through the gate 21. The entrance / exit management system 20 includes a plurality of gates 21 and a gate control device 25. The entrance / exit management system 20 may include at least one gate 21.

[0023] The gate 21 is a device that controls the passage from one area to another area in the facility 90, in other words, a gate device. The gate 21 includes a door 22, a wireless communication unit 23, and an authentication information acquisition unit 24.

[0024] The door 22 is normally locked or closed, but when the authentication by the gate control device 25 is successful, it is unlocked or opened by the gate control device 25 for a certain period of time. That is, the door 22 is unlocked etc. by the gate control device 25. The door 22 is, for example, a flap type, but may also be a slide panel type.

[0025] The wireless communication unit 23 is a communication circuit (in other words, a communication module) for performing wireless communication with the robot 30 through a local communication network so that the access control system 20 (authentication processing unit 27) can perform authentication processing on the robot 30. The wireless communication unit 23 is provided at or near the gate 21. The wireless communication unit 23 is, for example, a communication circuit that performs UWB (Ultra Wide Band) communication. Note that UWB communication is an example of short-range wireless communication, and the wireless communication unit 23 may be a communication circuit that performs other short-range wireless communication such as BLE (Bluetooth (registered trademark) Low Energy).

[0026] The authentication information acquisition unit 24 acquires authentication information so that the access control system 20 (authentication processing unit) can perform authentication processing on a person. The authentication information acquisition unit 24 is, for example, a card reader that reads authentication information from an ID card or a mobile terminal held by a person. The authentication information acquisition unit 24 is provided at the gate 21 (or near the gate 21). The authentication information acquisition unit 24 may be a camera or a microphone that acquires biometric authentication information for a person. The biometric authentication information is a face image, fingerprint information, voiceprint information, iris information, or vein information, etc. Note that when the wireless communication unit 23 can acquire authentication information not only for the robot 30 but also for a person, the authentication information acquisition unit 24 can be omitted.

[0027] The gate control device 25 is electrically connected to a plurality of gates 21 and controls unlocking of the door 22 provided on the gate 21. The gate control device 25 includes a communication unit 26, an authentication processing unit 27, and a storage unit 28.

[0028] The communication unit 26 is a communication circuit (in other words, a communication module) for the gate control device 25 (access control system 20) to communicate with the robot cooperation management system 50 etc. via a wide area communication network. The communication unit 26 performs, for example, wired communication, but may perform wireless communication. There is no particular limitation on the communication standard of the communication performed by the communication unit 26.

[0029] When the authentication processing unit 27 determines that authentication is successful based on the authentication information acquired by the authentication information acquisition unit 24, it unlocks or opens the door 22. The authentication processing unit 27 is realized by, for example, a microcomputer, but may also be realized by a processor.

[0030] The storage unit 28 is a storage device that stores various information necessary for the authentication processing unit 27 to perform authentication processing, as well as computer programs and the like. The storage unit 28 is realized by, for example, a semiconductor memory.

[0031] The robot 30 travels autonomously within the facility 90 and performs cleaning and the like within the facility 90. FIG. 3 is a diagram showing an example of the appearance of the robot. The robot 30 includes a communication unit 31, a wireless communication unit 32, an information processing unit 33, and a storage unit 34.

[0032] The communication unit 31 is a communication circuit (in other words, a communication module) for the robot 30 to communicate with the robot management system 40 via a wide area communication network. The communication unit 31 performs, for example, wireless communication. The communication standard of the communication performed by the communication unit 31 is not particularly limited.

[0033] The wireless communication unit 32 is a communication circuit (in other words, a communication module) for the robot 30 to perform wireless communication with the entrance / exit management system 20 (wireless communication unit 23) through a local communication network. The wireless communication unit 32 is, for example, a communication circuit that performs UWB (Ultra Wide Band) communication. Note that UWB communication is an example of short-range wireless communication, and the wireless communication unit 32 may be a communication circuit that performs other short-range wireless communication. Note that the communication unit 31 and the wireless communication unit 32 may be realized as a single communication circuit.

[0034] The information processing unit 33 performs information processing related to the control of the robot 30. The information processing unit 33 is realized by, for example, a microcomputer, but may also be realized by a processor.

[0035] The storage unit 34 is a storage device that stores various types of information necessary for the information processing unit 33 to perform information processing, as well as computer programs and the like. The storage unit 34 is realized, for example, by a semiconductor memory.

[0036] The robot management system 40 manages the current position of the robot 30 and the like. The robot management system 40 is realized, for example, by one or more server devices provided outside the facility 90. The robot management system 40 includes a third communication unit 41, a fourth communication unit 42, an information processing unit 43, and a storage unit 44.

[0037] The third communication unit 41 is a communication circuit (in other words, a communication module) for the robot management system 40 to communicate with the robot 30 via a wide area communication network. The third communication unit 41 performs, for example, wired communication, but may also perform wireless communication. The communication standard of the communication performed by the third communication unit 41 is not particularly limited.

[0038] The fourth communication unit 42 is a communication circuit (in other words, a communication module) for the robot management system 40 to communicate with the robot cooperation management system 50 via a wide area communication network. The fourth communication unit 42 performs, for example, wired communication, but may also perform wireless communication. The communication standard of the communication performed by the fourth communication unit 42 is not particularly limited. Note that the third communication unit 41 and the fourth communication unit 42 may be realized as a single communication circuit.

[0039] The information processing unit 43 performs information processing related to the management of the current position of the robot 30 and the like. The information processing unit 43 is realized, for example, by a microcomputer, but may also be realized by a processor.

[0040] The storage unit 44 is a storage device that stores various types of information necessary for the information processing unit 43 to perform information processing, as well as computer programs and the like. The storage unit 44 is realized, for example, by an HDD (Hard Disc Drive), but may also be realized by a semiconductor memory.

[0041] The robot cooperation management system 50 performs information processing for coordinating the entrance / exit management system 20 and the robot management system 40. The robot cooperation management system 50 is realized, for example, by one or more server devices provided outside the facility 90. The robot cooperation management system 50 includes a first communication unit 51, a second communication unit 52, an information processing unit 53, and a storage unit 54.

[0042] The first communication unit 51 is a communication circuit (in other words, a communication module) for the robot cooperation management system 50 to communicate with the robot management system 40 via a wide area communication network. The first communication unit 51 performs, for example, wired communication, but may perform wireless communication. The communication standard of the communication performed by the first communication unit 51 is not particularly limited.

[0043] The second communication unit 52 is a communication circuit (in other words, a communication module) for the robot cooperation management system 50 to communicate with the entrance / exit management system 20 (gate control device 25) via a wide area communication network. The second communication unit 52 performs, for example, wired communication, but may perform wireless communication. The communication standard of the communication performed by the second communication unit 52 is not particularly limited. Note that the first communication unit 51 and the second communication unit 52 may be realized as a single communication circuit.

[0044] The information processing unit 53 performs information processing for coordinating the entrance / exit management system 20 and the robot management system 40. The information processing unit 53 is realized, for example, by a microcomputer, but may be realized by a processor.

[0045] The storage unit 54 is a storage device that stores various information necessary for the information processing unit 53 to perform information processing, and computer programs and the like. The storage unit 54 is realized, for example, by an HDD, but may be realized by a semiconductor memory.

[0046] [Operation Example 1] As described above, the access control system 20 is a system that controls the passage through the human gate 21. However, there is room for consideration regarding a method of causing the access control system 20 to control the passage through the robot gate 21. Hereinafter, an operation example 1 when the access control system 20 permits the robot 30 to pass through the gate 21 will be described. FIG. 4 is a sequence diagram of such an operation example 1.

[0047] The map information of the facility 90 is stored in the storage unit 34 of the robot 30. The information processing unit 33 of the robot 30 projects a laser beam from a light emitting unit (not shown), and detects the light reflected by an object such as a wall by a sensor (not shown), thereby measuring the current position of the robot 30 in the map indicated by the map information (S11). Further, the information processing unit 33 uses the communication unit 31 to transmit the position information indicating the measured position (coordinates) to the robot management system 40 (S12). The measurement of the current position and the transmission of the position information are periodically performed at a predetermined time interval.

[0048] The third communication unit 41 of the robot management system 40 receives the position information. Here, the map information of the facility 90 is also stored in the storage unit 44 of the robot management system 40, and the information processing unit 43 can grasp the current position of the robot 30 in the map indicated by the map information based on the position information. Note that the position of the gate 21 is defined in the map information.

[0049] When the information processing unit 43 determines that the robot 30 is located within a predetermined range from the gate 21 (S13), it uses the fourth communication unit 42 to transmit the first information to the robot cooperation management system 50 (S14). The first information is information for permitting the robot 30 to pass through the gate 21.

[0050] Here, the storage unit 44 stores authentication management information in which the identification information of the robot 30 is associated with the authentication information previously stored in the storage unit 34 of the robot 30. Based on the authentication management information and the identification information included in the position information received in step S12, the information processing unit 43 includes the authentication information of the robot 30 that transmitted the position information in step S12 (in other words, the robot 30 located near the gate 21) in the first information. The authentication information is processed such as encryption as necessary. Note that when the information processing unit 43 determines that the robot 30 is located outside a predetermined range from the gate, it does not transmit the first information using the fourth communication unit 42.

[0051] The first communication unit 51 of the robot cooperation management system 50 receives the first information. Triggered by the reception of the first information, the information processing unit 53 transmits the second information to the entry / exit management system 20 (gate control device 25) using the second communication unit 52 (S15). The second information is information for making the robot 30 a target for passing permission in the authentication process (described later). That is, in step S15, the second communication unit 52 transmits (outputs) the second information for making the robot 30 a target for passing permission in the authentication process to the entry / exit management system 20. The second information includes the authentication information included in the first information, that is, the authentication information of the robot 30 located near the gate 21.

[0052] The communication unit 26 of the gate control device 25 receives the second information. The authentication processing unit 27 temporarily adds the authentication information included in the second information to the passing permission list stored in the storage unit 28 (S16). Temporarily adding means, for example, adding only for a predetermined period from the current time, adding to the passing permission list until the number of executions of the authentication process in step S19 described later reaches a predetermined number, or adding to the passing permission list until the number of executions of the authentication process reaches a predetermined number within a predetermined period from the current time. That is, the second information is information for making the robot 30 a target for passing permission in the authentication process under at least one of the conditions of within a predetermined period and within a predetermined number of times.

[0053] Further, when the robot 30 is located within a predetermined range from the gate in step S13, the information processing unit 43 of the robot management system 40 transmits a transmission command for causing the robot 30 to send an authentication request to the robot 30 using the fourth communication unit 42 (S17).

[0054] The communication unit 31 of the robot 30 receives the transmission command. The information processing unit 33 starts transmitting an authentication request using the wireless communication unit 32 based on the received transmission command (S18). The authentication request includes authentication information stored in advance in the storage unit 34.

[0055] The wireless communication unit 23 of the gate 21 receives the authentication request. The authentication processing unit 27 of the gate control device 25 performs authentication processing based on the received authentication request (S19). Specifically, the authentication processing unit 27 determines whether the authentication information included in the authentication request matches the authentication information included in the passage permission list. The authentication processing unit 27 unlocks the door 22 and the like on the condition that the authentication information included in the authentication request matches the authentication information included in the passage permission list (S20). When the door 22 is unlocked and the like, the robot 30 can pass through the gate 21.

[0056] Note that the sequence diagram in FIG. 4 shows an example in which authentication is performed in the correct procedure and is successful. The authentication processing in step S19 is performed at an arbitrary timing and may be performed before the processing in step S16. When the authentication processing in step S19 is performed before the processing in step S16, the authentication information included in the authentication request does not match the authentication information included in the passage permission list. Therefore, the authentication fails and the door 22 is not unlocked and the like. This also applies to the descriptions of the sequence diagrams in FIGS. 5 and 6 described later.

[0057] Also, when UWB communication is used to send an authentication request, the authentication processing unit 27 can measure the distance from the gate 21 to the robot 30 with relatively high accuracy based on the communication between the wireless communication unit 23 of the gate 21 and the wireless communication unit 32 of the robot 30. Therefore, the authentication processing unit 27 may unlock the door 22 or the like at the timing when the authentication process is successful and the measured distance becomes equal to or less than a predetermined value. As a result, since the door 22 is not unlocked or the like until the robot 30 comes close to the door 22, the period during which the door 22 remains unlocked or the like can be minimized, and it is possible to suppress unauthorized entry by a person without admission permission.

[0058] As described above, in the information processing system 10, the access control system 20 can safely unlock the door 22 or the like based on the second information obtained via the communication network outside the facility 90 and the authentication information obtained by the local communication between the robot 30 and the gate 21.

[0059] If, in the sequence diagram of FIG. 4, the processes after step S16 are not performed and the door 22 is unlocked or the like on the condition that the gate control device 25 has received the second information after the processes of steps S11 to S15, there is a risk that the door 22 may be unlocked or the like due to a cyber attack or the like. Also, if, in the sequence diagram of FIG. 4, the processes of steps S11 to S15 are omitted and the door 22 is unlocked or the like only by the processes after step S16, there is a risk that the door 22 may be unlocked or the like by a physical attack such as lifting the robot 30 and manually bringing it close to the gate 21.

[0060] On the other hand, in the information processing system 10, the access control system 20 unlocks the door 22 or the like based on the reception of the second information obtained via the communication network outside the facility 90 and the reception of correct authentication information by the short-range wireless communication between the robot 30 and the gate 21. In the information processing system 10, since the door 22 is not unlocked or the like even if only one of a cyber attack and a physical attack is received, it can be said that the security is enhanced.

[0061] Further, the robot 30 starts transmitting an authentication request (wireless communication for authentication processing) based on a transmission command transmitted by the robot management system 40. This can prevent the door 22 from being unlocked or the like when the robot 30 is physically lifted and moved. Also, since the authentication request including the authentication information is transmitted only when the robot 30 approaches the gate 21, leakage of the authentication information can be suppressed.

[0062] Note that, until the communication unit 31 receives the transmission command, the wireless communication unit 32 of the robot 30 may stop communication or may perform communication unrelated to the authentication process. For example, the wireless communication unit 32 may transmit an advertisement signal or perform wireless communication including information different from the authentication information until it receives the transmission command.

[0063] [Operation Example 2] In Operation Example 1, the robot 30 starts transmitting an authentication request based on a transmission command. Instead of the transmission command, the robot 30 itself may determine whether it is located within a predetermined range from the gate 21 and start transmitting the authentication request. FIG. 5 is a sequence diagram of such Operation Example 2.

[0064] The difference between Operation Example 2 and Operation Example 1 is that, in Operation Example 2, after the process of step S16, the information processing unit 33 of the robot 30 determines that the robot 30 is located within a predetermined range from the gate (S17a), and based on such determination, the wireless communication unit 32 starts transmitting the authentication request (S18). The determination in step S17a is made based on, for example, the current position measured in step S11.

[0065] Note that the predetermined range used for the determination in step S12 and the predetermined range used for the determination in step S17a may be the same or different. For example, the predetermined range used for the determination in step S17a may be a part of the predetermined range used for the determination in step S12 and may be a range closer to the gate 21.

[0066] In this way, the robot 30 can also determine whether the robot 30 itself is located within a predetermined range from the gate 21 and start transmitting an authentication request.

[0067] [Operation Example 3] Also, the robot 30 may start transmitting an authentication request based on communication with the entry / exit management system 20. FIG. 6 is a sequence diagram of such Operation Example 3.

[0068] The difference between Operation Example 3 and Operation Example 1 is that in Operation Example 3, after the process of step S16, the authentication processing unit 27 of the entry / exit management system 20 transmits a transmission request using the wireless communication unit 23 (S17b). The wireless communication unit 32 of the robot 30 receives the transmission command, and the information processing unit 33 starts transmitting an authentication request using the wireless communication unit 32 based on the received transmission command (S18).

[0069] In this way, the robot 30 can also start transmitting an authentication request based on the transmission request received from the entry / exit management system 20.

[0070] [Configuration Modification Example 1] In step S18 of the above Operation Example 1 and Operation Example 2, the entry / exit management system 20 acquired authentication information from the robot 30 by short-range wireless communication, but it may also acquire authentication information from the robot 30 by image processing. FIG. 7 is a block diagram showing the functional configuration of the information processing system 10a when the entry / exit management system 20a acquires authentication information from the robot 30a by image processing.

[0071] In the information processing system 10a shown in FIG. 7, the robot 30a includes a display unit 35. The display unit 35 displays authentication information for the robot 30a to present the authentication information to the entry / exit management system 20a. The authentication information is displayed on the display unit 35 in the form of, for example, a two-dimensional code. The display unit 35 is realized by a display panel such as a liquid crystal panel or an organic EL (Electro-Luminescence) panel.

[0072] In the information processing system 10a, the entry / exit management system 20a includes a camera 29. The camera 29 is provided at the gate 21 (or in the vicinity of the gate 21) and captures the two-dimensional code displayed on the display unit 35. In this case, in the authentication process of step S19, the authentication processing unit 27 determines whether the authentication information indicated by the two-dimensional code captured by the camera 29 matches the authentication information included in the passage permission list.

[0073] It is not essential that the two-dimensional code indicating the authentication information is displayed on the display unit 35. For example, a unique structure may be provided in a part of the appearance of the robot 30a, the camera 29 captures this structure, and the authentication processing unit 27 may obtain the image feature amount of the structure as the authentication information by image recognition.

[0074] As described above, the authentication process may be performed by image authentication targeting the robot 30a.

[0075] [Configuration Modification Example 2] In the above embodiment, the robot cooperation management system 50 is realized by one or more server devices provided outside the facility 90. Here, the robot cooperation management system 50 may be realized by one or more server devices (on-premises server devices) provided inside the facility 90. FIG. 8 is a block diagram showing the functional configuration of the information processing system 10b when the robot cooperation management system 50 is provided inside the facility 90.

[0076] In the information processing system 10b shown in FIG. 8, the robot cooperation management system 50 may be realized as a part of the entry / exit management system 20. In other words, the robot cooperation management system 50 may be included in the entry / exit management system 20.

[0077] [Other Modification Examples] In the above-described embodiment, when the robot management system 40 determines that the robot 30 is located within a predetermined range from the gate 21, it transmits the first information to the robot cooperation management system 50. Here, the robot management system 40 may transmit the first information using information other than the position of the robot 30. For example, when it is determined that the robot 30 has passed through a specific location within the facility 90, the first information may be transmitted, or when it is determined that the robot 30 has been photographed by a camera provided within the facility 90, the first information may be transmitted. Further, the robot management system 40 may perform two or more of these determinations in combination and transmit the first information.

[0078] Also, each of these determinations may be made by the robot management system 40 (information processing unit 43) or may be made by another system. For example, the determination as to whether the robot has been photographed by the camera may be made by the camera system.

[0079] Further, the robot management system 40 may transmit the first information when there is no person based on sensing information indicating whether there is a person near the gate 21 through which the robot 30 is about to pass. Thereby, the robot 30 can pass through the gate 21 more safely. Whether there is a person near the gate 21 may be sensed by the robot 30, may be sensed by the entry / exit management system 20, or may be sensed by another system that senses people (such as the above-described camera system).

[0080] In the above-described embodiment, it was explained that authentication management information associating the identification information of the robot 30 with the authentication information previously stored in the storage unit 34 of the robot 30 is stored in the storage unit 44 of the robot management system 40. Here, the authentication management information may be stored in the storage unit 54 of the robot cooperation management system 50 instead of the robot management system 40.

[0081] In this case, the first information transmitted from the robot management system 40 to the robot cooperation management system 50 in step S14 includes the identification information of the robot 30 instead of the authentication information. The information processing unit 53 of the robot cooperation management system 50 performs a process of including the authentication information of the robot 30 in the second information based on the authentication management information and the identification information included in the first information received in step S14.

[0082] Further, the authentication management information may be stored in the storage unit 28 of the entry / exit management system 20 (gate control device 25).

[0083] In this case, the second information transmitted from the robot cooperation management system 50 to the entry / exit management system 20 in step S15 includes the identification information of the robot 30 instead of the authentication information. The authentication processing unit 27 of the entry / exit management system 20 identifies the authentication information of the robot 30 based on the authentication management information and the identification information included in the second information received in step S15, and temporarily adds the identified authentication information to the passage permission list stored in the storage unit 28.

[0084] [Effects, etc.] Hereinafter, the invention obtained from the disclosure of this specification will be exemplified, and the effects and the like obtained from the invention will be described.

[0085] The first invention is a robot cooperation management system 50 including: a first communication unit 51 that receives first information for permitting the robot 30 to pass through the gate 21 provided in the facility 90 by the robot 30 from a robot management system 40 that manages the self-propelled robot 30; and a second communication unit 52 that outputs second information for making the robot 30 a passage permission target in the authentication process to a control system that performs at least one of unlocking and opening the door 22 of the gate 21 based on the result of the authentication process performed with the robot 30 when the first information is received. The control system is, for example, the entry / exit management system 20. When the robot cooperation management system 50 is included in the entry / exit management system 20, the control system is the gate control device 25 and the gate 21.

[0086] According to such a robot cooperation management system 50, after the second information is output to the control system, the robot 30 can pass through the gate 21 on the condition that the authentication process by the control system is successful. Therefore, the robot cooperation management system 50 can strengthen the security when allowing the robot 30 to pass through the gate 21.

[0087] Invention 2 is the robot cooperation management system 50 of Invention 1, wherein the first information is transmitted from the robot management system 40 to the first communication unit 51 based on the robot 30 being located within a predetermined range from the gate 21.

[0088] Such a robot cooperation management system 50 can permit the robot 30 to pass through the gate 21 on the condition that the robot 30 approaches the gate 21. That is, the robot cooperation management system 50 can strengthen the security by shortening the period during which the door 22 remains unlocked or the like.

[0089] Invention 3 is the robot cooperation management system 50 of Invention 1 or 2, wherein the authentication process is performed based on the wireless communication between the robot 30 and the control system.

[0090] According to such a robot cooperation management system 50, after the second information is output to the control system, the robot 30 can pass through the gate 21 on the condition that the authentication process based on the wireless communication with the control system is successful.

[0091] Invention 4 is the robot cooperation management system 50 of Invention 3, wherein the wireless communication includes short-range wireless communication.

[0092] According to such a robot cooperation management system 50, after the second information is output to the control system, the robot 30 can pass through the gate 21 on the condition that the authentication process based on the short-range wireless communication with the control system is successful.

[0093] Invention 5 is the robot cooperation management system 50 of Invention 4, where the short-range wireless communication includes UWB communication.

[0094] According to such a robot cooperation management system 50, after the second information is output to the control system, the robot 30 can pass through the gate 21 on the condition that the authentication process based on the UWB communication with the control system is successful.

[0095] Invention 6 is the robot cooperation management system 50 of Invention 1, where the authentication process is performed based on an image that targets the robot 30 (robot 30a).

[0096] According to such a robot cooperation management system 50, after the second information is output to the control system, the robot 30 can pass through the gate 21 on the condition that the authentication process based on the image that targets the robot 30 is successful.

[0097] Invention 7 is the robot cooperation management system 50 of any one of Inventions 1 to 6, where the second information is information for making the robot 30 a target for permission to pass in the authentication process under at least one of the conditions of within a predetermined period and within a predetermined number of times.

[0098] Such a robot cooperation management system 50 can limit at least one of the period and the number of times to permit the robot 30 to pass, so that the security can be enhanced.

[0099] Invention 8 is a robot management system 40 including a third communication unit 41 that communicates with the robot 30 and a fourth communication unit 42 that communicates with the robot cooperation management system 50 of any one of Inventions 1 to 7.

[0100] Such a robot management system 40 can request the robot cooperation management system 50 to permit the robot 30 to pass by transmitting the first information to the robot cooperation management system 50.

[0101] Invention 9 is a robot management system 40 comprising a third communication unit 41 that communicates with a self-propelled robot 30, and a fourth communication unit 42 that transmits first information for permitting the robot 30 to pass through a gate 21 provided in a facility 90 to a robot cooperation management system 50 when it is determined based on information received by the third communication unit 41 from the robot 30 that the robot 30 is located within a predetermined range from the gate 21.

[0102] By transmitting the first information to the robot cooperation management system 50, such a robot management system 40 can request the robot cooperation management system 50 to permit the passage of the robot 30.

[0103] Invention 10 is a robot management system 40 comprising a third communication unit 41 that communicates with a self-propelled robot 30, and when it is determined based on information received by the third communication unit 41 from the robot 30 that the robot 30 is located within a predetermined range from the gate 21 provided in the facility 90, the third communication unit 41 transmits information for causing the robot 30 to start information processing necessary for at least one of unlocking and opening a door 22 to the robot 30. The information processing here is processing for transmitting authentication information using a wireless communication unit 32 (starting wireless communication for authentication), or processing for displaying a two-dimensional code indicating the authentication information on a display unit 35, etc.

[0104] Such a robot management system 40 can cause the robot 30 to start information processing necessary for at least one of unlocking and opening the door 22 on the condition that the robot 30 has approached the gate 21.

[0105] The invention 11 is a robot 30 including an information processing unit 33 that measures the current position in the facility 90 and starts information processing necessary for at least one of unlocking and opening the door 22 when it is determined that the measured position is within a predetermined range from the gate 21 provided in the facility 90. The information processing here is processing such as transmitting authentication information using the wireless communication unit 32 (starting wireless communication for authentication), or displaying a two-dimensional code indicating the authentication information on the display unit 35.

[0106] Such a robot 30 can start information processing necessary for at least one of unlocking and opening the door 22 on the condition that it has approached the gate 21.

[0107] The invention 12 is an information processing method executed by a computer system, including a step S14 of receiving first information for permitting the robot 30 to pass through the gate from a robot management system 40 that manages the self-propelled robot 30, and when the first information is received, outputting second information for making the robot 30 a target for passing permission in the authentication process to a control system that performs control for at least one of unlocking and opening the door 22 of the gate 21 provided in the facility 90 based on the result of the authentication process performed with the robot 30. The computer system here is, for example, a robot cooperation management system 50.

[0108] According to such an information processing method, the robot 30 can pass through the gate 21 on the condition that the authentication process by the control system has been successful after the second information is output to the control system. Therefore, the information processing method can enhance the security when allowing the robot 30 to pass through the gate 21.

[0109] Invention 13 is an information processing method executed by a computer system, which includes step S12 of communicating with a self-propelled robot 30, and step S14 of, when it is determined based on the information received from the robot 30 that the robot 30 is located within a predetermined range from a gate 21 provided in a facility 90, transmitting to a robot cooperation management system 50 first information for permitting the robot 30 to pass through the gate 21. The computer system here is, for example, a robot management system 40.

[0110] Such an information processing method can request the robot cooperation management system 50 to permit the passage of the robot 30 by transmitting the first information to the robot cooperation management system 50.

[0111] Invention 14 is an information processing method executed by a computer system, which includes a step of communicating with a self-propelled robot 30, and step S17 of, when it is determined based on the information received from the robot 30 that the robot 30 is located within a predetermined range from a gate 21 provided in a facility 90, transmitting to the robot 30 information for causing the robot 30 to start information processing necessary for at least one of unlocking and opening a door 22. The computer system here is, for example, a robot management system 40.

[0112] Such an information processing method can cause the robot 30 to start information processing necessary for at least one of unlocking and opening the door 22 on the condition that the robot 30 approaches the gate 21.

[0113] Invention 15 is an information processing method executed by a computer system, which includes step S18 of measuring the current position in a facility 90 and, when it is determined that the measured position is within a predetermined range from a gate 21 provided in the facility 90, starting information processing necessary for at least one of unlocking and opening the door 22. The computer system here is, for example, the robot 30.

[0114] According to such an information processing method, the robot 30 can start information processing necessary for at least one of unlocking and opening the door 22 on the condition that it has approached the gate 21.

[0115] The invention 16 is a program for causing a computer system to execute the information processing method of any one of inventions 12 to 15.

[0116] According to such a program, the computer can request the robot cooperation management system 50 to permit the passage of the robot 30, or cause the robot 30 to start information processing necessary for at least one of unlocking and opening the door 22.

[0117] (Other embodiments) As described above, the embodiments have been described, but the present invention is not limited to the above embodiments.

[0118] For example, in the above embodiment, the robot cooperation management system and the robot management system are realized by one or more server devices. Thus, the "system" in this specification may be configured by a single device or may be configured by a plurality of devices. When the system is configured by a plurality of devices, the components (particularly, functional components) included in the system may be distributed among the plurality of devices in any manner.

[0119] Also, the communication method between the devices in the above embodiment is not particularly limited. Also, in the communication between the devices, a relay device (such as a broadband router) not shown may be interposed.

[0120] Also, in the above embodiment, the processing executed by a specific processing unit may be executed by another processing unit. Also, the order of a plurality of processes may be changed, or a plurality of processes may be executed in parallel.

[0121] In addition, in the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0122] Also, each component may be realized by hardware. For example, each component may be a circuit (or an integrated circuit). These circuits may constitute one circuit as a whole, or may be separate circuits respectively. Further, these circuits may be general-purpose circuits or dedicated circuits respectively.

[0123] Furthermore, the general or specific aspects of the present invention may be realized by a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM. Also, it may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0124] For example, the present invention may be realized as a method executed by a computer system, or may be realized as a program for causing a computer system to execute the method. Also, the present invention may be realized as a computer-readable non-transitory recording medium on which such a program is recorded.

[0125] In addition, forms obtained by applying various modifications conceivable by those skilled in the art to each embodiment, or forms realized by arbitrarily combining the components and functions in each embodiment without departing from the gist of the present invention are also included in the present invention.

Explanation of Reference Numerals

[0126] 10, 10a, 10b Information processing system 20, 20a Entrance / exit management system (control system) 21 Gate 22 Door 23, 32 Wireless Communication Unit 24 Authentication Information Acquisition Unit 25 Gate Control Device 26, 31 Communication Unit 27 Authentication Processing Unit 28, 34, 44, 54 Memory Unit 29 Camera 30, 30a Robot 33, 43, 53 Information Processing Unit 35 Display Unit 40 Robot Management System 41 Third Communication Unit 42 Fourth Communication Unit 50 Robot Cooperation Management System 51 First Communication Unit 52 Second Communication Unit 90 Facility

Claims

1. A first communication unit that receives first information for permitting the robot to pass through a gate provided in a facility by the robot from a robot management system that manages the self-propelled robot; When the first information is received, a second communication unit that outputs second information for making the robot a target for passage permission in the authentication process, and that performs at least one of unlocking and opening the door of the gate based on the result of the authentication process performed with the robot to a control system; A robot cooperation management system.

2. The first information is transmitted from the robot management system to the first communication unit based on the robot being located within a predetermined range from the gate. The robot cooperation management system according to claim 1.

3. The authentication process is performed based on wireless communication between the robot and the control system. The robot cooperation management system according to claim 1.

4. The wireless communication includes short-range wireless communication. The robot cooperation management system according to claim 3.

5. The short-range wireless communication includes UWB (Ultra-Wide Band) communication. The robot cooperation management system according to claim 4.

6. The authentication process is performed based on an image of the robot as an imaging target. The robot cooperation management system according to claim 1.

7. The second information is information for making the robot a target for passage permission in the authentication process under at least one of the conditions of within a predetermined period and within a predetermined number of times. The robot cooperation management system according to claim 1.

8. A third communication unit that communicates with the robot; A robot management system including a fourth communication unit that communicates with the robot cooperation management system according to any one of claims 1 to 7. A robot management system.

9. A third communication unit that communicates with a self-propelled robot; A fourth communication unit that transmits first information for permitting the robot to pass through the gate to the robot cooperation management system when it is determined based on the information received from the robot by the third communication unit that the robot is located within a predetermined range from the gate provided in the facility. A robot management system.

10. Comprising a third communication unit that communicates with a self-propelled robot, When it is determined based on the information received by the third communication unit from the robot that the robot is located within a predetermined range from a gate provided in the facility, the third communication unit transmits to the robot information for starting information processing necessary for at least one of unlocking and opening the door Robot management system

11. Comprising an information processing unit that measures the current position in the facility and, when it is determined that the measured position is within a predetermined range from a gate provided in the facility, starts information processing necessary for at least one of unlocking and opening the door of the gate Robot

12. An information processing method executed by a computer system, comprising Receiving, from a robot management system that manages a self-propelled robot, first information for permitting the robot to pass through a gate provided in a facility When the first information is received, outputting, to a control system that performs control of at least one of unlocking and opening the door of the gate based on the result of an authentication process performed with the robot, second information for making the robot a target for permission to pass in the authentication process Information processing method

13. An information processing method executed by a computer system, comprising Communicating with a self-propelled robot Based on the information received from the robot, when it is determined that the robot is located within a predetermined range from a gate provided in the facility, transmitting to a robot cooperation management system first information for permitting the robot to pass through the gate Information processing method

14. An information processing method executed by a computer system, comprising Communicating with a self-propelled robot Based on the information received from the robot, when it is determined that the robot is located within a predetermined range from a gate provided in the facility, transmitting to the robot information for starting information processing necessary for at least one of unlocking and opening the door of the gate Information processing method

15. An information processing method executed by a computer system, comprising When measuring the current position in the facility and determining that the measured position is within a predetermined range from a gate provided in the facility, start information processing necessary for at least one of unlocking and opening the door of the gate. Information processing method.

16. A program for causing the computer system to execute the information processing method according to any one of Claims 12 to 15.

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