Management system, server, access management device and working robot

Abstract

To provide a management system, a server, an access management device and a working robot capable of more appropriately controlling a working robot.SOLUTION: A management system 1 includes: a working robot 30 which is autonomously movable and performs a predetermined work; and an entry / exit management device 20 which manages the entry / exit of a user in the management object. The entry / exit management device 20 includes: identification information acquisition means 231 which acquires the identification information according to the entrance / leave operation of an operator; permission / denial determination means 232 for determining whether or not to enter or leave based on the identification information; presence room situation determination means 233 for determining the presence room situation of the user within the management target based on the number of entries and exits and also includes: determination means for determining whether or not a time condition relating to work execution of the working robot 30 is satisfied; and control means 132 for controlling the work execution of the working robot 30 according to the determination result of the time condition and the presence room situation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a management system, a server, an access control device, and a work robot.

Background Art

[0002] Conventionally, a system has been developed that causes a work robot to execute a predetermined operation based on the operation schedule of the work robot.

[0003] For example, Patent Document 1 discloses generating operation schedule information for a robotic vacuum cleaner that cleans a room based on schedule information indicating the contents of the actions of a plurality of users, and controlling the operation of the robotic vacuum cleaner based on the generated operation schedule information.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, when a work robot is used in a management system having an access control device that manages the access of users, it is required to more appropriately control the execution of the work of the work robot.

[0006] An object of the present invention is to provide a management system, a server, an access control device, and a work robot capable of more appropriately controlling a work robot.

Means for Solving the Problems

[0007] According to one aspect of the present invention for solving such problems, there is provided a management system having an autonomous mobile work robot that can perform a predetermined operation and an access control device that controls the entry and exit of users in a management target. The access control device includes: an identification information acquisition unit that acquires identification information in response to an entry / exit operation of an operator; a permission determination unit that determines whether entry or exit is permitted based on the identification information; and a presence / absence status determination unit that determines the presence / absence status of users in the management target based on the number of entries and exits. The management system further includes: a determination unit that determines whether a time condition regarding the operation execution of the work robot is satisfied; and a control unit that controls the operation execution of the work robot according to the determination result of the time condition and the presence / absence status.

[0008] In this management system, the presence / absence status includes the number of people present in the management target. Preferably, when the time condition is satisfied and the number of people present is less than a threshold value, the control unit controls the work robot to start a predetermined operation.

[0009] In this management system, the presence / absence status determination unit determines the number of people present in each management section constituting the management target. The determination unit determines the time condition for each work area of the work robot. Preferably, when the number of people present in the management section corresponding to the work area determined to satisfy the time condition is less than the threshold value, the control unit controls to start the operation in the work area.

[0010] In this management system, the presence / absence status determination unit determines the number of people present in each management section constituting the management target. Preferably, the control unit selects a work area where a predetermined operation is first started according to the number of people present.

[0011] In this management system, preferably, the time condition is that the current time is within a time zone allowing the operation of the work robot.

[0012] This management system further includes storage means for storing the working time required for scheduled work. The presence situation includes the number of people present within the management target. The control means controls to start a predetermined operation for the work robot when the time condition is satisfied and the number of people present is less than the threshold value. When the remaining time in the time zone allowing the operation of the work robot is equal to or less than the working time required for the unperformed work, it is preferable that the control means reset the threshold value to a higher value or control to start a predetermined operation regardless of the number of people present.

[0013] In this management system, the presence situation includes the number of people present within the management target. The determination means determines whether or not the end condition of the operation of the work robot is satisfied. When it is determined that the end condition is satisfied, the control means controls the work robot to end a predetermined operation. It is preferable that the end condition is that the number of people present becomes equal to or more than the threshold value while the work robot is performing a predetermined operation.

[0014] In this management system, the identification information includes attribute information indicating the attributes of the operator. When the attribute information is a predetermined attribute, it is preferable that the control means reset the threshold value to a higher value or control to perform a predetermined operation regardless of the number of people present.

[0015] According to another aspect of the present invention, there is provided a server communicably connected to a work robot capable of autonomous movement and performing a predetermined operation, and an access control device that manages the entry and exit of users in a management target and determines the presence situation of users within the management target, the server including determination means for determining whether or not a time condition regarding the performance of the operation of the work robot is satisfied, and control means for controlling the performance of the operation of the work robot according to the determination result of the time condition and the presence situation.

[0016] According to another aspect of the present invention, there is provided an access control device that is communicably connected to a work robot capable of autonomous movement and performing a predetermined operation, and manages the entry and exit of users in a management target. The access control device includes: identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; permission determination means for determining whether to permit entry or exit based on the identification information; occupancy status determination means for determining the occupancy status of users in the management target based on the number of entries and exits; determination means for determining whether a time condition regarding the execution of the work of the work robot is satisfied; and control means for controlling the execution of the work of the work robot according to the determination result of the time condition and the occupancy status.

[0017] According to another aspect of the present invention, there is provided a work robot that is communicably connected to an access control device that manages the entry and exit of users in a management target and determines the occupancy status of users in the management target, is capable of autonomous movement, and performs a predetermined operation. The work robot includes: determination means for determining whether a time condition regarding the execution of the work of the work robot is satisfied; and control means for controlling the execution of the work of the work robot according to the determination result of the time condition and the occupancy status.

Advantages of the Invention

[0018] The management system, server, access control device, and work robot according to the present invention can control the work robot at a more appropriate timing.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0020] Hereinafter, a management system according to an embodiment of the present invention will be described with reference to the drawings. However, it should be understood that the present invention is not limited to the drawings or the embodiments described below.

[0021] FIG. 1 is a diagram showing a schematic configuration of a management system according to an embodiment of the present invention. As shown in FIG. 1, the management system 1 includes a server 10, an entrance / exit management device 20, and a work robot 30. The server 10 is communicably connected to the entrance / exit management device 20 and the work robot 30 to manage the entire management system 1. The entrance / exit management device 20 is communicably connected to the server 10 and manages the entrance / exit of entrance / exit management targets such as offices, stores, and factories. Here, the entrance / exit management target is composed of one or a plurality of management sections, and entrance / exit management is performed for each management section. The work robot 30 is communicably connected to the server 10 via an access point 40 and performs work within the entrance / exit management target where the entrance / exit management device 20 is installed. In addition, the entrance / exit management device 20 is connected to various devices such as an entry / exit operation terminal 250 via wired / wireless communication. In FIG. 1, only one entrance / exit management device 20 and one work robot 30 are shown, but the management system 1 may include a plurality of entrance / exit management devices 20 and / or work robots 30.

[0022] The server 10 is a cloud server or the like in a wide area communication network such as the Internet. The server 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0023] The communication unit 11 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE 802.11, and communicates with the access control device 20 and the work robot 30 via a wide area communication network such as a LAN and the Internet to transmit and receive various signals.

[0024] The storage unit 12 includes semiconductor memories such as ROM, RAM, and EPROM, magnetic storage media such as magnetic disks (HDD), and / or optical storage media such as DVD-RAM. The storage unit 12 stores the code of the computer program executed by the control unit 13 and various data for controlling the operation of the server 10. The computer program can be installed in the storage unit 12 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 12 stores a work area table 120. The storage unit 12 is an example of a storage means.

[0025] FIG. 2 is an example of the work area table 120. In the work area table 120, work time information, a work map, a number threshold, the latest state of the work area, etc. are stored in association with each other for each of a plurality of work areas. The work area is an area where the work robot 30 performs work. The work robot 30 can perform work in one or more work areas. FIG. 2 shows an example having a total of three work areas, i.e., the first to third work areas. The work time information includes a workable time zone, an assumed arrival time, a required work time, etc. The workable time zone indicates a time zone during which the work robot 30 is permitted to perform work. The assumed arrival time indicates the time when the first employee is assumed to arrive at the work area. The required work time indicates the time required for the work that the work robot 30 performs in the work area. That is, the required work time is the time required for the scheduled work. The work map is a map representing the area of the work area. The number threshold is a threshold for comparing with the number of people present in the room to determine whether the work robot 30 starts work in the work area. The number threshold may be set according to the area of each work area so that it becomes larger as the area of each work area is larger. The latest state of the work area includes the number of people present, the number of people present with predetermined attributes, the time when the number condition is met, the work status, etc. The number of people present indicates the total number of people present in each work area. Here, regarding the relationship between the work area and the management section, the work area and the management section may be the same, or a plurality of work areas may be constituted by one management section, or one work area may be constituted by a plurality of management sections. In this embodiment, the work area and the management section are described as the same area. The number of people present with predetermined attributes indicates the number of people present with predetermined attributes. The attributes include predetermined attributes related to the work of the work robot 30 such as a cleaner, and predetermined attributes not related to the work of the work robot 30 such as a security guard and a general user. The time when the number condition is met indicates the latest time when the number of people present in each work area meets the condition determined by the number threshold among the start conditions of the work of the work robot 30. When the number of people present does not meet the condition, the value of the time when the number condition is met is set to blank. The work status indicates the work status of the work robot 30 in each work area. The work status includes not yet implemented, in progress, and completed. The initial value of the work status is not yet implemented.

[0026] The control unit 13 has a processor such as a CPU and its peripheral circuits, and the processor controls the operation of the server 10 by executing a computer program stored in the storage unit 12. As the control unit 13, a multiprocessor, a multi-core processor, etc. may be used. Also, as the control unit 13, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 13 has an acquisition means 131 and a control means 132 as functional modules of a program operating on the processor.

[0027] The access control device 20 is an information processing device that manages the entry and exit of users in the work area. The access control device 20 includes a communication unit 21, a storage unit 22, a control unit 23, and an interface unit 24. The access control device 20 further includes an entry / exit operation terminal 250. The entry / exit operation terminal 250 is arranged for each work area to be accessed. The number of entry / exit operation terminals 250 in one access control target is not limited to one and may be plural.

[0028] The communication unit 21 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and communicates with the server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information.

[0029] The storage unit 22 includes a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 22 stores the code of the computer program executed by the control unit 23 to control the operation of the access control device 20 and various data. The computer program can be installed in the storage unit 22 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 22 stores user information 221. The user information 221 includes, for each work area, the identification information of the users who can use that work area.

[0030] The control unit 23 includes a processor such as a CPU or a multi-processor and its peripheral circuits, and the processor controls the operation of the access control device 20 by executing the computer program stored in the storage unit 22. As the control unit 23, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 23 includes an identification information acquisition means 231, a permission / denial determination means 232, and a presence determination means 233 as functional modules of the program operating on the processor.

[0031] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, etc., and communicates with the entry / exit operation terminal 250 to transmit and receive various signals. Note that the interface unit 24 may have an interface circuit conforming to a wired / wireless communication standard such as Ethernet (registered trademark), IEEE802.11, Bluetooth (registered trademark), etc. instead of the interface circuit conforming to the serial bus standard.

[0032] The entry / exit operation terminal 250 is an operation terminal installed at an entrance / exit of the object to be accessed, etc., and is used by a user to request entry to or exit from the object to be accessed. The entry / exit operation terminal 250 has an input unit (not shown) such as a card reader, a camera, a microphone, a touch panel, etc., for inputting authentication information such as a user ID, an authentication code, and biometric information such as fingerprint / face / voice, etc. The input unit reads the identification information of the user stored in the IC (Integrated Circuit) card held by the user. The entry / exit operation terminal 250 generates an entry / exit request signal including an entry request or an exit request, the work area to be accessed, and the read identification information, and notifies the control unit 23 via the interface unit 24. The identification information has a user ID for identifying the user and attribute information indicating the user's attributes. In addition, the entry / exit operation terminal 250 has an entry / exit regulation unit (not shown) and a door opening / closing unit (not shown). The entry / exit regulation unit is installed on a door at the entrance / exit to regulate entry to or exit from the object to be accessed, etc., and is an electric lock, etc., that is unlocked / locked according to the unlock / lock signal transmitted from the access control device 20. The door opening / closing unit is an automatic opening / closing device, etc., that opens and closes the door at the entrance / exit of the object to be accessed according to the door opening / closing signal transmitted from the access control device 20.

[0033] The work robot 30 is an autonomously movable robot that performs predetermined operations such as cleaning, transporting, and inspecting within the object to be accessed. The work robot 30 has a communication unit 31, a position detection unit 32, a traveling unit 33, a work unit 34, a power supply unit 35, a storage unit 36, and a control unit 37. Here, the case where the work robot 30 is a cleaning robot will be described.

[0034] The communication unit 31 has a communication interface circuit conforming to a wireless communication standard such as IEEE802.11, and communicates with the server 10 via an access point 40 and a wide area communication network such as the Internet to transmit and receive various information.

[0035] The position detection unit 32 has at least one of input devices such as a Lidar, a camera, an ultrasonic sensor, and an infrared sensor. The position detection unit 32 uses the input laser light, image, etc. to detect the current position and the position of obstacles by a method such as SLAM (Simultaneous Localization and Mapping), and generates an environmental map 361.

[0036] The traveling unit 33 has drive wheels and a traveling motor, and freely moves the work robot 30 back and forth, left and right at various speeds by changing the rotation speed of the traveling motor. The traveling unit 33 may further have auxiliary wheels or the like to stabilize and smooth the traveling. The work unit 34 performs operations such as cleaning, transporting, and inspection. When the work robot 30 is a cleaning robot, the work unit 34 has a suction unit for sucking dust, a wiping unit for wiping the floor surface, etc., and performs a cleaning operation on the floor surface. The traveling unit 33 and the work unit 34 are operating mechanisms for the work robot 30 to perform operations while autonomously moving.

[0037] The power supply unit 35 is a storage battery or the like for supplying power to each part of the work robot 30.

[0038] The storage unit 36 has a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 36 stores the code of the computer program executed by the control unit 37 to control the operation of the work robot 30 and various data. The computer program may be installed in the storage unit 36 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 36 stores an environmental map 361 that has the positions of obstacles including fixed obstacles such as walls and equipment in the work area and movable obstacles such as carts and boxes. The environmental map 361 further stores the positions of the respective work areas in association with the identification information of the work areas.

[0039] The control unit 37 has a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing a computer program stored in the storage unit 36. As the control unit 37, a DSP, LSI, ASIC, FPGA, etc. may be used. The control unit 37 has an operation control means 371 as a functional module of a program operating on the processor.

[0040] FIG. 3 is a plan view of an office which is an example of a work area. As shown in FIG. 3, the floor 101 of the office 100 is the work area of the work robot 30. The floor 101 is divided into a first work area 111, a second work area 112, a third work area 113, and a shared work area 114. The first work area 111, the second work area 112, and the third work area 113 are also management sections that are subject to access control by the management system 1. At the entrances and exits between the first work area 111, the second work area 112, the third work area 113, and the shared work area 114, a first door 431, a second door 432, and a third door 433 are provided respectively. The first door 431, the second door 432, and the third door 433 are unlocked / locked by the access control section of the entry / exit operation terminal 250 and are opened / closed by the door opening / closing section. The floor 101 is further provided with an access point (AP) 40, a home position (HP) 460, and an elevator (EV) 480 that can move to work areas on other floors. A charger (not shown) for charging the power supply unit 35 of the work robot 30 is arranged at the home position 460, and the work robot 30 waits at the home position 460 when not performing work.

[0041] The work map includes a first map, a second map, and a third map representing the first work area 111, the second work area 112, and the third work area 113, respectively. The shape and the like of each work area are shown on the work map. The position of the home position 460, the position of fixed obstacles such as the partition 440, and the like are further shown on the work map. The work map has the same coordinates as the environmental map 361, and the above-described shape and each position are shown in two-dimensional coordinates with a certain point in the environmental map 361 as the origin. The coordinates may be latitude and longitude, etc.

[0042] Figure 4 is a flowchart showing an example of the access control process by the access control device 20. This operation flow is mainly executed by the control unit 23 of the access control device 20 in cooperation with each element of the access control device 20 based on a program stored in advance in the storage unit 22 of the access control device 20.

[0043] First, the identification information acquisition means 231 determines whether the operator has performed an entry / exit operation to / from the work area (step S11). When the identification information acquisition means 231 detects an entry / exit request signal notified from the entry / exit operation terminal 250, it determines that the operator has performed an entry / exit operation to / from the work area. When the operator has not performed an entry / exit operation to / from the work area (step S11 - N), the identification information acquisition means 231 waits. When the operator has performed an entry / exit operation to / from the work area (step S11 - Y), the identification information acquisition means 231 acquires an entry request or an exit request, the work area, and the identification information from the detected entry / exit request signal (step S12).

[0044] Next, the permission determination means 232 determines whether to permit entry or exit based on the acquired work area and identification information (step S13). The permission determination means 232 permits entry or exit if the acquired identification information is included as the identification information of a user who can use the acquired work area in the user information 221, and does not permit entry or exit if it is not included. When entry or exit is not permitted (step S13 - N), the permission determination means 232 returns the process to step S11 without executing any particular process. When entry or exit is permitted (step S13 - Y), the permission determination means 232 notifies the entry / exit operation terminal 250 of an instruction signal via the interface unit 24, and unlocks and opens the door of the target work area (step S14).

[0045] Next, the occupancy status determination means 233 determines the occupancy status of the users in the work area corresponding to the management section based on the number of entries and exits (step S15). The occupancy status of the users includes the number of occupants and the number of occupants with a predetermined attribute. The number of occupants in each work area is initialized to 0 at an arbitrary timing when there are no users in each work area. When entry is permitted in step S13, the occupancy status determination means 233 updates the number of occupants by increasing the number of occupants by 1, and when exit is permitted, updates the number of occupants by decreasing the number of occupants by 1. When entry is permitted and the attribute included in the identification information is a predetermined attribute, the occupancy status determination means 233 updates the number of occupants with the predetermined attribute by increasing the number of occupants with the predetermined attribute by 1, and when exit is permitted and the attribute included in the identification information is a predetermined attribute, updates the number of occupants with the predetermined attribute by decreasing the number of occupants with the predetermined attribute by 1.

[0046] Next, the occupancy status determination means 233 generates an occupancy status signal including the work area in which the number of occupants has been changed, the number of occupants, and the number of occupants with a predetermined attribute, and outputs it to the server 10 via the communication unit 21 (step S16). Next, the occupancy status determination means 233 returns the process to step S11. Thus, the description of the series of processes is completed.

[0047] Figure 5 is a flowchart showing an example of the start determination process by the server 10. This operation flow is mainly executed by the control unit 13 of the server 10 in cooperation with each element of the server 10 based on a program stored in advance in the storage unit 12 of the server 10. Also, this operation flow is started when a predetermined time has arrived.

[0048] In parallel with the access control process, the start determination process, and the end determination process described later, when the acquisition means 131 of the server 10 receives a presence state signal from the access control device 20 via the communication unit 11, it acquires the work area, the number of occupants, and the number of occupants with a predetermined attribute included in the presence state signal. The acquisition means 131 sets the acquired number of occupants and the number of occupants with a predetermined attribute in the number of occupants and the number of occupants with a predetermined attribute associated with the work area in the work area table 120.

[0049] Also, in parallel with the access control process, the start determination process, and the end determination process described later, the operation control means 371 of the work robot 30 outputs the current position signal and the work state signal to the server 10 via the communication unit 31, respectively. The current position signal is a signal indicating the current position of the work robot 30. The operation control means 371 generates a current position signal based on the current position detected by the position detection unit 32, and outputs the generated current position signal to the server 10 via the communication unit 31 at a predetermined interval (for example, at one-minute intervals). When the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, it acquires the current position of the work robot 30 indicated by the current position signal and stores it in the storage unit 12. The initial value of the current position of the work robot 30 stored in the storage unit 12 is the position of the home position 460. The work state signal includes the work area where the work robot 30 performs work and the state of the work in that work area. The operation control means 371 outputs a work state signal indicating that the state is in progress at the start of work or a work state signal indicating that the state is completed at the end of work to the server 10 via the communication unit 31, respectively. When the acquisition means 131 of the server 10 receives a work state signal from the work robot 30 via the communication unit 11, it updates the work state associated with the work area included in the work state signal in the work area table 120. When the state included in the work state signal indicates in progress, the acquisition means 131 sets the work state associated with the work area to in progress, and when the state included in the work state signal indicates completed, the acquisition means 131 sets the state associated with the work area to completed.

[0050] First, the control means 132 determines whether the work robot 30 is performing work (step S21). The process of step S21 is executed at a predetermined interval, such as every minute. When any work state associated with each work area is set to "in progress" in the work area table 120, the control means 132 determines that the work robot 30 is performing work in that work area. When all work states are not set to "in progress" in the work area table 120, the control means 132 determines that the work robot 30 is not performing work. When the work robot 30 is performing work (step S21 - Y), the control means 132 waits. When the work robot 30 is not performing work (step S21 - N), the acquisition means 131 acquires the current time (step S22). The current time is an example of information for determining the time conditions related to the work execution of the work robot 30.

[0051] Next, the control means 132 executes a work area extraction process for each work area set in the work area table 120 to extract work areas where work can be started at the current time (step S23). Details of the work area extraction process will be described later. The control means 132 that performs the process of step S23 is an example of a determination means. Next, the control means 132 determines whether a work area where work can be started has been extracted in the work area extraction process (step S24).

[0052] When a work area where work can be started is extracted in the work area extraction process (step S24 - Y), the control means 132 determines a work area to start work from among the extracted work areas (step S25). When there is one extracted work area, the control means 132 determines to start work in that work area. When there are two or more extracted work areas, the control means 132 selects the work area with the fewest number of occupants based on the work area table 120 and determines to start work in the selected work area. When there are two or more extracted work areas, the control means 132 may select the work area closest to the current position of the work robot 30 based on the current position of the work robot 30 and the work map 122 and determine to start work in the selected work area. Thereby, the control means 132 can efficiently cause the work robot 30 to perform work.

[0053] Next, the control means 132 executes start control so as to start work in the determined work area (step S26). As start control, the control means 132 outputs an instruction signal for unlocking and opening the door of the work area to the access control device 20 via the communication unit 11. When the permission determination means 232 of the access control device 20 receives the instruction signal from the server 10 via the communication unit 21, it causes the access control unit and the door opening / closing unit to unlock and open the door via the entry / exit operation terminal 250. This enables the work robot 30 to move from the current position into the work area. Also, as start control, the control means 132 generates a control signal including the identification information of the determined work area for the work robot 30 to start work and outputs it to the work robot 30 via the communication unit 11. Note that instead of unlocking and opening the door of the work area spontaneously, the control means 132 may unlock and open the door of the work area in response to a request output from the work robot 30 that has received a control signal and moved to the vicinity of the work door.

[0054] When the operation control means 371 of the work robot 30 receives a control signal for starting work from the server 10 via the communication unit 31, it moves the work robot 30 to the work area corresponding to the identification information according to the received control signal. The operation control means 371 controls the traveling unit 33 to avoid obstacles based on the environmental map 361 and makes the work robot 30 travel, and controls the work unit 34 to perform a predetermined work on the work robot 30. When the work robot 30 completes a predetermined work, the operation control means 371 outputs a work status signal indicating the end of work to the server 10 via the communication unit 31, and makes the work robot 30 standby at the position where the work status signal is output. After outputting the work status signal, the operation control means 371 may control the traveling unit 33 to return the work robot 30 to the home position 460.

[0055] When no work area where work can be started is extracted in the work area extraction process (step S24 - N), the control means 132 shifts the process to step S27 without executing the processes of steps S25 and S26.

[0056] Next, the control means 132 determines whether there is any work area with an unexecuted work status remaining in the work area table 120 (step S27). If there is a work area with an unexecuted work status remaining (step S27 - Y), the control means 132 returns the process to step S21. On the other hand, if there is no work area with an unexecuted work status remaining (step S27 - N), the control means 132 ends the series of processes. Thus, the description of the series of processes ends.

[0057] FIG. 6 is a flowchart showing an example of the work area extraction process by the server 10. The work area extraction process is executed for each work area in step S23 of FIG. 5. First, the control means 132 determines whether the work status associated with the target work area is set to unexecuted in the work area table 120 (step S31). When the operation state is not set to unexecuted (step S31 - Y), the control means 132 does not extract the target work area as a work - start - able work area (step S38) and ends the series of processes. When the operation state is set to unexecuted (step S31 - N), the control means 132 determines whether the current time is within the work - available time zone indicated in the work - time information 121 (step S32). The current time being within the work - available time zone is an example of a start condition.

[0058] When the current time is not within the work - available time zone (step S32 - N), the control means 132 does not extract the target work area as a work - start - able work area (step S38) and ends the series of processes. When the current time is within the work - available time zone (step S32 - Y), the control means 132 identifies the number of occupants in the target work area (step S33). The control means 132 identifies, as the number of occupants in the target work area, the number of occupants set in association with the target work area in the work - area table 120. The control means 132 may identify, as the number of occupants in the target work area, a value obtained by subtracting the number of occupants with a predetermined attribute from the number of occupants set in association with the target work area in the work - area table 120.

[0059] Next, the control means 132 sets a threshold value for determining the number of occupants (step S34). The control means 132 identifies the available working time zone, the required working time, and the number threshold value set in association with the target work area in the work area table 120. When the remaining time in the identified available working time zone is longer than the identified required working time, the control means 132 sets the identified number threshold value as the threshold value. When the remaining time in the identified available working time zone from the current time is equal to or less than the identified required working time, the control means 132 sets a value larger than the identified number threshold value as the threshold value. For example, a threshold value that is a predetermined percentage higher (e.g., 200%) than the normal number threshold value is set as the threshold value for resetting. Further, when the remaining time in the identified available working time zone from the current time is equal to or less than the identified required working time, the control means 132 may extract, as a work area where work can be started regardless of the number of occupants, and determine to start the work in the work area. Also, the threshold value may be changed according to the number of occupants with a predetermined attribute. The control means 132 resets the threshold value higher when there are occupants with a predetermined attribute. The control means 132 may reset the threshold value higher as the number of occupants with a predetermined attribute increases. When the control means 132 identifies the number of occupants set in association with the target work area in the work area table 120 as the number of occupants in the target work area, the control means 132 may change the threshold value according to the number of occupants with a predetermined attribute. The control means 132 resets the threshold value higher when there are occupants with a predetermined attribute. The control means 132 may reset the threshold value higher as the number of occupants with a predetermined attribute increases. The control means 132 may set the number threshold value set in association with the target work area in the work area table 120 as the threshold value, and the threshold value may be a fixed value.

[0060] Next, the control means 132 determines whether the identified number of occupants is less than the threshold value (step S35). The number of occupants being less than the threshold value is an example of a start condition.

[0061] When the specified number of occupants is equal to or greater than the set threshold value (step S35-N), the control means 132 does not extract the target work area as a work area where work can be started (step S38), and ends the series of processes.

[0062] When the specified number of occupants is less than the set threshold value (step S35-Y), the control means 132 determines whether or not a predetermined time has elapsed while the specified number of occupants is less than the threshold value (step S36). The control means 132 specifies the time when the number condition is met, which is set in association with the target work area in the work area table 120. The control means 132 executes this determination using the specified time when the number condition is met and the current time. The predetermined time is set to, for example, a time assumed to be the time from when the user goes out for a meal until they return to the work area (for example, 30 minutes).

[0063] When a predetermined time has elapsed while the specified number of occupants is less than the threshold value (step S36-Y), the control means 132 extracts the target work area as a work area where work can be started (step S37), and ends the series of processes. When a predetermined time has not elapsed while the number of occupants set in the table is less than the threshold value (step S36-N), the control means 132 does not extract the target work area as a work area where work can be started (step S38), and ends the series of processes. Thus, the description of the series of processes is completed.

[0064] As described above, the occupancy status determination means 233 of the access control device 20 determines the occupancy status of the users in the work area based on the number of entries and exits, and the control means 132 of the server 10 controls the work robot 30 according to the start condition and occupancy status of the work of the work robot 30. Thereby, the management system 1 can appropriately control the operation of the work robot 30 according to the occupancy status of the user.

[0065] Further, the control means 132 controls the work robot 30 on the condition that the current time is within the workable time zone of the work robot 30. Thereby, the management system 1 can prevent the work robot 30 from starting work during a time zone when work is not permitted. In addition, when the control means 132 satisfies the start condition and the number of occupants is less than the threshold value, the control means 132 controls the work robot 30 to start a predetermined work. When the number of occupants is small, even if the work robot 30 performs work, it is less likely that the work robot 30 cannot perform work at the location where the user is present or that the operation of the work robot 30 interferes with the user. Thereby, the management system 1 can cause the work robot 30 to perform work in a state suitable for the work.

[0066] Further, when it becomes impossible for the work robot 30 to complete a predetermined work during the workable time zone of the work robot 30 based on the current time and the required time for the predetermined work, the control means 132 re-sets the threshold value higher. By re-setting the threshold value higher, even when the number of occupants is larger than before the re-setting of the threshold value, the work robot 30 is controlled to start a predetermined work. Therefore, the management system 1 can reduce the possibility that the work robot 30 does not perform work.

[0067] In addition, the occupancy status determination means 233 of the access control device 20 determines the number of occupants of the users in each work area, and the control means 132 of the server 10 selects a work area where a predetermined work is to be started first according to the number of occupants. That is, priority is given to starting work in a work area with a small number of occupants. Note that the number of occupants per unit area of the work area may be used as the number of occupants. Thereby, the management system 1 can cause the work robot 30 to perform work in a state suitable for the work when there are a plurality of work areas.

[0068] Further, when the number of occupants is less than the threshold value (step S35 - Y), the control means 132 may extract the target work area as a work area where work can be started without determining whether or not a predetermined time has elapsed (step S37).

[0069] Also, when the work area exists on multiple floors, the control means 132 may preferentially select a work floor existing on the same floor as the floor where the work robot 30 exists over work floors existing on other floors when determining the work area in step S25 of FIG. 5.

[0070] FIG. 7 is a flowchart showing an example of the end determination process by the server 10. This operation flow is mainly executed by the control unit 13 of the server 10 in cooperation with each element of the server 10 based on a program stored in advance in the storage unit 12 of the server 10. This operation flow is executed for the work area in which the work robot 30 is controlled to start work in the start determination process, and is started when the control means 132 outputs a control signal for the work robot 30 to start work.

[0071] First, the control means 132 determines whether or not the work state associated with the target work area is set to completed in the work area table 120 (step S41). When the work state associated with the target work area is set to completed (step S41 - Y), the control means 132 determines that the work robot 30 has executed all the predetermined work in the work area of the work target and has spontaneously completed the work, and ends a series of processes. When the work state associated with the target work area is not set to completed (step S41 - N), the control means 132 identifies the number of people present in the target work area (step S42). The control means 132 identifies the number of people present in the work area table 120 as the number of people present in the target work area, which is set in association with the target work area. The control means 132 may identify, as the number of people present in the target work area, a value obtained by subtracting the number of people present with a predetermined attribute from the number of people present in the work area table 120, which is set in association with the target work area.

[0072] Next, the control means 132 sets a threshold value for determining the number of occupants (step S43). The control means 132 identifies the available working hours, the required working time, and the number threshold value set in association with the target work area in the work area table 120. When the remaining time of the identified available working hours is longer than the identified required working time, the control means 132 sets the identified number threshold value as the threshold value. When the remaining time of the identified available working hours from the current time is equal to or less than the identified required working time, the control means 132 sets a value larger than the identified number threshold value as the threshold value. When the control means 132 identifies the number of occupants set in association with the target work area in the work area table 120 as the number of occupants in the target work area, the threshold value may be changed according to the number of occupants with a predetermined attribute. The control means 132 reset the threshold value higher when there are occupants with a predetermined attribute. The control means 132 may reset the threshold value higher as the number of occupants with a predetermined attribute increases. The control means 132 may set the number threshold value set in association with the target work area in the work area table 120 as the threshold value, and the threshold value may be a fixed value. Also, the threshold values used in the start determination process and the end determination process may be the same, or the threshold value used in the end determination process may be set to be a predetermined percentage larger than the threshold value used in the start determination process.

[0073] Next, the control means 132 determines whether or not the number of occupants set in the table is equal to or greater than the threshold value (step S44). The number of occupants becoming equal to or greater than the threshold value while the work robot 30 is performing a predetermined work is an example of an end condition.

[0074] When the number of occupants is less than the threshold value (step S42-N), the control means 132 determines that the work of the work robot 30 has not yet ended (step S45), and proceeds to step S41. When the number of people in the room is equal to or greater than the threshold value (step S42 - Y), the control means 132 determines to end the operation of the work robot 30 (step S43). Next, the control means 132 executes the end control of the work robot 30 (step S44) and ends the series of processes. As the end control of the work robot 30, the control means 132 generates a control signal for ending the operation of the work robot 30 and outputs it to the work robot 30 via the communication unit 11. When the operation control means 371 of the work robot 30 receives a control signal for ending the operation from the server 10 via the communication unit 31, it ends the operation of the work robot 30 according to the received control signal. Next, the operation control means 371 outputs a work status signal indicating the end of the operation to the server 10 via the communication unit 31 and makes the work robot 30 standby at the position where the work status signal is output. If there is no other work area where work can be started after the operation control means 371 outputs the work status signal, it controls the traveling unit 33 to return the work robot 30 to the home position 460. If there is another work area where work can be started, it moves the work robot 30 to that work area and makes it perform the work. Thus, the description of the series of processes ends.

[0075] In this way, the control means 132 acquires information for determining the end condition of the operation of the work robot 30, and controls the work robot 30 to end a predetermined operation according to the end condition. Thereby, when the work robot 30 should end the operation before completing a predetermined operation, the management system 1 can forcibly end the operation of the work robot 30.

[0076] Also, the control means 132 ends the operation of the work robot 30 with the condition that the number of people in the work area where the work robot 30 is performing a predetermined operation has become equal to or greater than the threshold value during the operation. When the number of people in the room increases, if the work robot 30 performs the operation, the operation of the work robot 30 is more likely to interfere with the users. Therefore, the management system 1 can prevent the operation of the work robot 30 from interfering with the users by ending the operation of the work robot 30. Also, when there is an occupant with a predetermined attribute among the occupants in the work area, the control means 132 resets the value of the threshold to be higher than when there is no occupant with the predetermined attribute. The predetermined attribute is an attribute related to the work of the work robot 30, such as a cleaner. Since it is assumed that the influence on the surroundings due to the work of the work robot is small, when the threshold is reset to a higher value, the work robot 30 is more likely to continue the work. Thereby, the management system 1 enables a cleaner or the like in the room to cooperate with the work robot 30 to perform the work.

[0077] Note that, in the process of step S44, instead of comparing the number of occupants with the value of the threshold according to the number of occupants with the predetermined attribute, the control means 132 may compare the number obtained by subtracting the number of occupants with the predetermined attribute from the number of occupants set in association with the target work area in the work area table 120 with the threshold. By subtracting the number of users having an attribute related to the work of the work robot 30, such as a cleaner, from the number of occupants, the number of users having an attribute related to the work of the work robot 30 does not affect the determination of whether to end the work. Thereby, the management system 1 enables a cleaner or the like in the room to cooperate with the work robot 30 to perform the work in the same manner as when the value of the threshold is changed according to the number of occupants with the predetermined attribute.

[0078] Also, when there is an occupant with a predetermined attribute, even if the number of occupants is equal to or greater than the threshold in a work area where the time condition is satisfied but the work robot 30 has not started working (that is, regardless of the number of occupants), the work may be started, or even if the number of occupants is equal to or greater than the threshold in a work area where the work robot 30 is performing the work (that is, regardless of the number of occupants), the work may be continued.

[0079] As described above, the access control device 20 according to the present invention determines the presence / absence status of users in the work area based on the number of entries and exits, and the server 10 controls the work robot 30 according to the start condition and the presence / absence status of the work of the work robot 30. Thereby, the management system 1 can more appropriately control the operation of the work robot 30 according to the presence / absence status of the user.

[0080] Note that, in order for the management system 1 to be able to provide services in the form of cloud computing, a plurality of servers 10 may be distributed and arranged on the network, and each server 10 may cooperate to share each process shown in FIG. 5. In particular, the management system 1 may separately provide a server 10 that manages the access control device 20 and a server 10 that controls the work robot 30, and each server 10 may cooperate with each other to manage the access control device 20 and the work robot 30.

[0081] In the above embodiment, the management system 1 includes a server 10, an access control device 20, and a work robot 30. Further, a server 10 communicatively connected between the access control device 20 and the work robot 30 generates a control signal based on a presence status signal or the like received from the access control device 20, and outputs the generated control signal to the work robot 30 to control the work robot 30. However, the access control device 20 and the work robot 30 may be directly communicatively connected to transmit and receive a presence status signal, a control signal, etc. without passing through the server 10. In this case, all of the functions related to the generation of the control signal and the like in the server 10 of the above embodiment may be realized by the access control device 20 or the work robot 30, or some functions may be realized by the access control device 20 and other functions may be realized by the work robot 30.

[0082] FIG. 8 is a diagram showing the configuration of a management system 2 according to another embodiment of the present invention. The same names are used for the components corresponding to the management system 1 of the above embodiment, and hereinafter, the description will focus on the differences from the management system 1 of the above embodiment. In this embodiment, the management system 2 includes an access control device 20-2 and a work robot 30-2 that are wirelessly communicatively connected to each other, and the access control device 20-2 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0083] The communication unit 21-2 of the access control device 20-2 and the communication unit 31-2 of the work robot 30-2 have communication interface circuits conforming to mutually compatible short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), and specific low-power wireless. The communication unit 21-2 and the communication unit 31-2 communicatively connect between the access control device 20-2 and the work robot 30-2 to transmit and receive various signals. The storage unit 22-2 of the access control device 20-2 stores a work area table 220-2. In addition to an identification information acquisition means 231-2, a permission / denial determination means 232-2, and a presence status determination means 233-2, the control unit 23-2 of the access control device 20-2 includes an acquisition means 234-2 and a control means 235-2.

[0084] In the management system 2, instead of outputting a presence status signal to the server 10, the presence status determination means 233-2 of the access control device 20-2 notifies the acquisition means 234-2 of the work area where the number of occupants has changed, the number of occupants, and the number of occupants with a predetermined attribute. Also, instead of using the received presence status signal, the acquisition means 234-2 uses the notified work area, number of occupants, and number of occupants with a predetermined attribute to set the number of occupants and the number of occupants with a predetermined attribute associated with that work area in the work area table 120. That is, in the management system 2, the access control device 20-2 manages the entry and exit of users to and from the work area, and generates and outputs a control signal for controlling the work robot 30-2 according to the start condition of the work and the presence status of the work area, thereby controlling the work robot 30-2.

[0085] Similar to the management system 1, the management system 2 can control the operation of the work robot 30 according to the presence status of the user.

[0086] FIG. 9 is a diagram showing the configuration of the management system 3 according to still another embodiment of the present invention. In the present embodiment, the management system 3 has an access control device 20-3 and a work robot 30-3 that are wirelessly communicatively connected to each other, similar to the management system 2. In the present embodiment, the work robot 30-3 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0087] The communication unit 21-3 of the access control device 20-3 and the communication unit 31-3 of the work robot 30-3 have communication interface circuits conforming to corresponding short-range wireless communication standards. The communication unit 21-3 and the communication unit 31-3 communicatively connect between the access control device 20-3 and the work robot 30-3 to transmit and receive various signals. The storage unit 36-3 of the work robot 30-3 stores a work area table 362-3 in addition to the environmental map 361-3. The control unit 37-3 of the work robot 30 has an acquisition means 372-3 and a control means 373-3 in addition to the operation control means 371-3.

[0088] In the management system 3, instead of outputting the work status signal to the server 10, the operation control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the work status of the work robot 30-3. Further, instead of receiving the work status signal and setting the work status of the work area indicated by the work status signal in the work area table 120, the acquisition means 372-3 sets the work status of the notified work area in the work area table 362-3. Further, instead of outputting the current position signal to the server 10, the operation control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the current position of the work robot 30-3. Further, instead of receiving the current position signal and acquiring the current position of the work robot 30-3 indicated by the current position signal, the acquisition means 372-3 acquires the notified current position. Also, in the operation flow shown in FIG. 5, the control means 373-3 of the work robot 30-3 instructs the operation control means 371-3 to start the work of the work robot 30-3 as the start control (step S26) of the work robot 30-3. The operation control means 371-3 starts the work of the work robot 30-3 in response to the instruction from the control means 373-3. Also, in the operation flow shown in FIG. 7, the control means 373-3 instructs the operation control means 371-3 to end the work of the work robot 30 as the end control (step S46) of the work robot 30-3. The operation control means 371-3 ends the work of the work robot 30-3 in response to the instruction from the control means 373-3.

[0089] Similar to the management system 1, the management system 3 can control the operation of the work robot 30 according to the occupancy status of the user.

[0090] As described above, within the scope of the present invention, various changes can be made according to the implemented forms.

Explanation of Reference Numerals

[0091] 1, 2, 3 Management systems, 10 Servers, 12, 22-2, 36-3 Storage units (storage means), 20, 20-2, 20-3 Entrance / exit management devices, 30, 30-2, 30-3 Work robots, 132, 235-2, 373-3 Control means (judgment means), 231, 231-2, 231-3 Identification information acquisition means, 232, 232-2, 232-3 Permission / non-permission judgment means, 233, 233-2, 233-3 Occupancy status judgment means

Claims

1. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two.

1. A management system comprising:

2. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status determination means determines the number of users present in each management section constituting the management target, The determination means determines the time condition for each work area of ​​the work robot, the control means controls the work to be started in a management section corresponding to the work area determined to satisfy the time condition when the number of occupants in the management section corresponding to the work area is less than a threshold value; 1. A management system comprising:

3. The occupancy status determination means determines the number of users present in each management section constituting the management target, The control means selects a work area in which the predetermined work is to be started first according to the number of occupants. The management system according to claim 1 or 2.

4. the time condition is that the current time is within a time period in which work by the work robot is permitted; The management system according to any one of claims 1 to 3.

5. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; A storage means for storing a work required time for a scheduled work, The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined task when the time condition is satisfied and the number of occupants is less than a threshold value; the control means resets the threshold value to a higher value when the remaining time of a time period during which the work robot is permitted to perform work becomes equal to or less than the required work time for the unperformed work, or controls the work robot to start the predetermined work regardless of the number of occupants.

1. A management system comprising:

6. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the determination means determines whether or not a completion condition for the work of the working robot is satisfied; when it is determined that the termination condition is satisfied, the control means controls the work robot to terminate the predetermined task; the termination condition is that the number of people in the room becomes equal to or greater than a threshold while the work robot is performing the predetermined task, 1. A management system comprising:

7. the identification information includes attribute information indicating an attribute of the operator, When the attribute information is a predetermined attribute, the control means resets the threshold to a high value, or controls the device to perform the predetermined task regardless of the number of occupants. The management system according to claim 1 or 2.

8. A server communicably connected to a work robot capable of moving autonomously and performing a predetermined task, and an entrance / exit management device that manages the entrance / exit of users in a managed area and determines the presence status of users in the managed area, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. A server comprising:

9. An entrance / exit management device that is communicably connected to a work robot that is autonomously mobile and performs a predetermined task, and that manages the entrance / exit of users in a managed area, an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. An access control device characterized by:

10. A work robot capable of moving autonomously and performing a predetermined task, the work robot being communicably connected to an entrance / exit management device that manages the entrance / exit of users in a managed area and determines the presence status of users in the managed area, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. A working robot characterized by:

Images