Autonomous robot system, control method of autonomous robot, and control program of autonomous robot

Abstract

To easily prevent mutual interference between autonomous robots in a system in which a plurality of autonomous robots perform tasks, respectively.SOLUTION: An autonomous robot system includes a processing circuit configured to control a first autonomous robot based on a request of a task for the first autonomous robot. The processing circuit is configured to execute: determine whether or not a predetermined non-permission condition is satisfied for other robot information while the request of the task is being generated; permit the first autonomous robot to perform the task when it is determined that the non-permission condition is not satisfied while the task request is being generated; and cause the first autonomous robot to stand by execution of the task when it is determined that the non-permission condition is satisfied while the task request is being generated.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an autonomous robot system, a method for controlling an autonomous robot, and a control program for an autonomous robot.

Background Art

[0002] Patent Document 1 discloses a control system that suppresses a plurality of moving bodies moving within a facility from causing an obstruction in the middle of a passage. This control system determines whether entry is permitted using respective information regarding each intermediate region before entering a region that is narrower in width from a region including the current position of the moving body. Since the control system determines whether entry is permitted based on map information, it can determine whether entry is permitted for each intermediate region even when the moving body passes through a region that cannot be observed from the entrance of the intermediate region due to a corner or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, even when the width of the passage allows two moving bodies to pass through, when a plurality of moving bodies move autonomously, they try to avoid each other when they approach each other. If the autonomous control is simple, there is a possibility that the two moving bodies will interfere with each other and cannot pass through the passage smoothly. In addition, it is desirable not to complicate the program for autonomous control of the moving body.

[0005] Therefore, one aspect of the present disclosure aims to easily prevent mutual interference between a plurality of autonomous robots in a system in which the plurality of autonomous robots each perform a task.

Means for Solving the Problems

[0006] An autonomous robot system according to an aspect of the present disclosure is an autonomous robot system in which a plurality of autonomous robots including a first autonomous robot and a second autonomous robot each perform a task, and includes a processing circuit configured to control the first autonomous robot based on a task request for the first autonomous robot. The processing circuit acquires other robot information including position data indicating the position of the second autonomous robot and status data indicating the status of the second autonomous robot, determines whether a predetermined non-permission condition is satisfied for the other robot information during the occurrence of the task request, permits the first autonomous robot to perform the task when it is determined that the non-permission condition is not satisfied during the occurrence of the task request, and causes the first autonomous robot to wait for the performance of the task when it is determined that the non-permission condition is satisfied during the occurrence of the task request.

[0007] A method for controlling an autonomous robot according to an aspect of the present disclosure is a method for controlling an autonomous robot used in an autonomous robot system in which a plurality of autonomous robots including a first autonomous robot and a second autonomous robot each perform a task, and includes acquiring other robot information including position data indicating the position of the second autonomous robot and status data indicating the status of the second autonomous robot, determining whether a predetermined non-permission condition is satisfied for the other robot information during the occurrence of a task request for the first autonomous robot, permitting the first autonomous robot to perform the task when it is determined that the non-permission condition is not satisfied during the occurrence of the task request, and causing the first autonomous robot to wait for the performance of the task when it is determined that the non-permission condition is satisfied during the occurrence of the task request.

[0008] The control program of the autonomous robot according to one aspect of the present disclosure causes at least one processor to execute the above method. The program can be stored in a computer-readable storage medium. The storage medium is a non-transitory and tangible medium. The storage medium can be built-in or externally attached to a computer (e.g., a mobile information terminal, a personal computer, a server, etc.). The storage medium includes RAM, ROM, EEPROM, storage, etc., and can be, for example, a hard disk, a flash memory, an optical disk, etc. The program stored in the storage medium may be executed on a computer directly connected to the storage medium, or may be executed on a computer connected to the storage medium via a network (e.g., the Internet).

Advantages of the Invention

[0009] According to one aspect of the present disclosure, even during the generation of a task request to the first autonomous robot, the execution of the task of the first autonomous robot is waited according to the position or status of the second autonomous robot, so that mutual interference with the second autonomous robot can be easily prevented.

Brief Description of the Drawings

[0010]

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MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, embodiments will be described with reference to the drawings.

[0012] FIG. 1 is a schematic diagram of an autonomous robot system 1 according to an embodiment. As shown in FIG. 1, the autonomous robot system 1 includes a plurality of autonomous robots 10 that move autonomously, a server 11 that can communicate with the plurality of autonomous robots 10 via a communication network 13, and a database 12 connected to the server 11. The communication network 13 can be, for example, the Internet, but may also be an intranet or the like. The autonomous robot 10 autonomously moves in a predetermined area 50. For example, the autonomous robot 10 autonomously moves on the floor inside a building, but may also autonomously move in a predetermined outdoor area.

[0013] The database 12 stores the map data 40 of the area where the autonomous robot 10 moves. The map data 40 specifies the shape of the area 50 where the autonomous robot 10 can travel. For example, the map data 40 specifies the shape of the floor in a building. The map data 40 specifies the contour of the travelable area of the autonomous robot 10 by specifying the obstacle contour in the area 50. The map data 40 includes area data that divides the area 50 where the autonomous robot 10 can move into a plurality of areas (see FIG. 6). The map data 40 includes standby position data indicating the standby positions (see FIG. 10) set in the plurality of areas. Note that the database 12 may be provided in the server 11 or may be connected to the server 11 via the communication network 13.

[0014] The plurality of autonomous robots 10 have the same configuration as each other. The autonomous robot 10 is an autonomous mobile robot equipped with a navigation function and moving autonomously toward a destination. When the autonomous robot 10 moves via a relay point until it reaches the final destination, the autonomous robot 10 may move with the relay point closest to the current position as the destination. The autonomous robot 10 travels on the ground, but may also fly in the air. As an example, the autonomous robot 10 includes a plurality of wheels 15, a body 16, at least one distance measuring sensor 24, a touch panel display 25, and the like.

[0015] The wheels 15 are drive wheels for traveling. The body 16 is supported by the wheels 15. The wheels 15 are an example of a propulsion body that moves the autonomous robot 10. In the present embodiment, since the task of the autonomous robot 10 is to move to a destination, the wheels 15 are an example of a driven body that performs the task. The body 16 has a carrier 16a. For example, materials that need to be transported are loaded on the carrier 16a. The distance measuring sensor 24 and the touch panel display 25 will be described later.

[0016] Figure 2 is a block diagram of the autonomous robot 10 in Figure 1. As shown in Figure 2, the autonomous robot 10 includes a processing circuit 20, a distance measuring sensor 24, a touch panel display 25, a traveling actuator 26, a communication interface 27, etc. These devices 24 to 27 are electrically connected to the processing circuit 20.

[0017] The processing circuit 20 includes a processor 21, a system memory 22, and a storage memory 23. The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include a RAM. The storage memory 23 may include a hard disk, a flash memory, or a combination thereof. The storage memory 23 stores a control program P1. A configuration in which the processor 21 executes the control program P1 read from the storage memory 23 to the system memory 22 is an example of the processing circuit 20. The processor 21 controls at least one of the touch panel display 25 and the traveling actuator 26 according to the control program P1 based on information input from at least one of the distance measuring sensor 24, the touch panel display 25, and the communication interface 27.

[0018] The distance measuring sensor 24 three-dimensionally measures the surroundings of the autonomous robot 10 to three-dimensionally detect the shape of the surroundings of the autonomous robot 10. The distance measuring sensor 24 detects the position data of the outer surface of the obstacle in the area 50 by receiving the reflected wave from the obstacle around the autonomous robot 10. For example, the distance measuring sensor 24 may emit light, radio waves, or ultrasonic waves toward the surroundings of the autonomous robot 10 and receive the reflected wave. The distance measuring sensor 24 may receive the reflected wave obtained by reflecting light, radio waves, or ultrasonic waves existing in the external world by an object. The distance measuring sensor 24 can measure the omnidirectional horizontal direction with respect to the autonomous robot 10.

[0019] The distance measurement sensor 24 can be, for example, a device that measures the time from irradiating laser light to receiving the reflected wave to detect the distance to an obstacle. The distance measurement sensor 24 can be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measurement sensor 24 is a three-dimensional LIDAR sensor. Note that the distance measurement sensor 24 may be a sensor assembly including a front-facing LIDAR sensor, a rear-facing LIDAR sensor, a left-facing LIDAR sensor, and a right-facing LIDAR sensor. The distance measurement sensor 24 may be an infrared distance measurement sensor, a millimeter-wave radar, or a depth sensing camera. The depth sensing camera may be a device that measures the distance to an object using the parallax by a stereo camera.

[0020] The processing circuit 20 identifies the position of the autonomous robot 10 on the map data 40 by matching the surrounding shape detected by the distance measurement sensor 24 with the shape of the map data 40 described later. That is, a positioning sensor is realized by the combination of the software that matches the detected shape by the distance measurement sensor 24 with the map data 40 and the distance measurement sensor 24.

[0021] The touch panel display 25 is an example of a user interface. That is, the touch panel display 25 serves as both a user input interface and a user output interface. Note that a keyboard, a mouse, etc. may be used as the user input interface, and a non-touch panel type display may be used as the user output interface.

[0022] The traveling actuator 26 includes a wheel drive actuator that drives the wheels 15 to rotate. The traveling actuator 26 is, for example, an electric motor. The traveling actuator 26 includes a brake actuator that drives a brake for braking the wheels 15. The autonomous robot 10 may change the traveling direction by making the rotational speeds of the left and right wheels 15 different, or may change the traveling direction by making the rotational directions of the left and right wheels 15 different, or may change the traveling direction by steering the wheels 15 with a steering actuator. The autonomous robot 10 may have a counter-rotating differential two-wheel mechanism or may have an omnidirectional mecanum mechanism.

[0023] The communication interface 27 is an interface for wirelessly connecting to the communication network 13. The communication interface 27 functions as a transmitter that transmits information on its own autonomous robot 10 to the server 11 via the communication network 13. The communication interface 27 functions as a receiver that receives information on other autonomous robots 10 transmitted from the server 11.

[0024] FIG. 3 is a block diagram of the server 11 in FIG. 2. As shown in FIG. 3, the server 11 includes a processing circuit 30 and a communication interface 34. The processing circuit 30 includes a processor 31, a system memory 32, and a storage memory 33. The communication interface 34 includes an interface for wired or wireless connection to the communication network 13 and an interface for wired or wireless connection to the database 12. The processor 31 may include a CPU (Central Processing Unit). The system memory 32 may include a RAM. The storage memory 33 may include a hard disk, a flash memory, or a combination thereof. The storage memory 33 stores the program P2. A configuration in which the processor 31 executes the program P2 read from the storage memory 33 into the system memory 32 is an example of the processing circuit 30.

[0025] FIG. 4 is a flowchart for explaining the control of the autonomous robot 10 in FIG. 2. FIG. 5 is a flowchart for explaining the task control in FIG. 4. In the following description, attention is paid to the first autonomous robot 10A and the second autonomous robot 10B among the plurality of autonomous robots 10.

[0026] The first autonomous robot 10A and the second autonomous robot 10B receive a task request from the server 11 or the touch panel display 25 and autonomously execute the task. In the present embodiment, the task is the movement of the autonomous robot 10 to the destination, and the task request is a movement request. That is, the task request to the first autonomous robot 10A is a signal requesting the movement to the first destination which is the destination of the first autonomous robot 10A. The task request to the second autonomous robot 10B is a signal requesting the movement to the second destination which is the destination of the second autonomous robot 10B.

[0027] Regarding the first autonomous robot 10A as its own autonomous robot and the second autonomous robot 10B as another autonomous robot, mainly the processing of the first autonomous robot 10A will be described according to the flow in FIGS. 4 and 5 with appropriate reference to FIGS. 1 to 3 and 6 to 15. Hereinafter, the processing of the first autonomous robot 10A is executed by the processing circuit 20.

[0028] As shown in FIG. 4, the first autonomous robot 10A powered on receives the map data 40 from the database 12 via the communication network 13 (step S1). If there is no update to the previously received map data 40, the previously received map data 40 may be reused without newly receiving it. The first autonomous robot 10A calculates the position data of the first autonomous robot 10A at a predetermined period by positioning that matches the detected shape by the distance measuring sensor 24 with the map data 40 (step S2). The first autonomous robot 10A transmits the position data and the status data of the first autonomous robot 10A together with the identification data of the first autonomous robot 10A to the server 11 via the communication network 13 at a predetermined period (step S3). Although steps S2 and S3 are described serially for convenience in the flowchart, they are continuously executed while the power of the first autonomous robot 10A is on.

[0029] The status data is data indicating the status of the first autonomous robot 10A. The status is one state selected from the group consisting of a stopped state, a moving state, and a standby state. The stopped state means a state in which the first autonomous robot 10A has stopped without moving because it has not received a movement request, i.e., a task request, from the server 11 or the touch panel display 25. The moving state means a state in which the first autonomous robot 10A is traveling and moving because it has received a movement request from the server 11 or the touch panel display 25. The standby state means a state in which the first autonomous robot 10A has received a movement request from the server 11 or the touch panel display 25 but has temporarily stopped without moving because a movement impossible condition is satisfied.

[0030] The first autonomous robot 10A determines whether a task request has been received (step S4). If no task request has been received (step S4: N), the first autonomous robot 10A waits for the reception of a task request. If a task request has been received (step S4: Y), the first autonomous robot 10A executes task control (step S5).

[0031] As shown in FIG. 5, the first autonomous robot 10A receives the position data and status data of the second autonomous robot 10B from the server 11 at a predetermined period (step S11). When the status data is in the moving state or the standby state, the first autonomous robot 10A receives the status data including the second destination data indicating the position coordinates of the second destination of the second autonomous robot 10B. Although step S11 is described serially for convenience in the flowchart, it shall be continuously executed at least during the generation of a task request.

[0032] The first autonomous robot 10A determines whether or not the immovable condition is satisfied during the occurrence of a task request (step S12). The immovable condition corresponds to a non-permission condition that does not permit the execution of a task when the task is movement to a destination. In the present embodiment, the immovable condition corresponds to a standby condition of a task when the task is movement to a destination. The satisfaction of the immovable condition means the satisfaction of both a predetermined position condition and a status condition, which will be described later. The position condition includes a condition that the position indicated by the position data of the first autonomous robot 10A and the position indicated by the position data of the second autonomous robot 10B are in a predetermined specific positional relationship. The position condition may include a condition that the second autonomous robot 10B exists at the first destination of the first autonomous robot 10A. The status condition is a condition that the status indicated by the status data of the second autonomous robot 10B is a predetermined specific state. A specific example of the immovable condition will be described later with reference to FIGS. 6 to 15.

[0033] When the first autonomous robot 10A determines that the immovable condition is not satisfied (step S12: N), it controls the traveling actuator 26 to drive the wheels 15 and moves toward the first destination (step S15). On the other hand, when the first autonomous robot 10A determines that the immovable condition is satisfied (step S12: Y), it determines whether or not the priority of the first autonomous robot 10A is lower than the priority of the second autonomous robot 10B (step S13). The first autonomous robot 10A and the second autonomous robot 10B have information regarding their own priorities. The priority may be defined by classifying it into levels such as, for example, "high", "normal", and "low", or may be defined by whether or not it has a priority.

[0034] For example, when a task request has an associated priority, the first autonomous robot 10A sets the priority of the task request it received to the priority of the first autonomous robot 10A. The second autonomous robot 10B also sets the priority of the task request it received to the priority of the second autonomous robot 10B. Therefore, when the priority of the task request received by the first autonomous robot 10A is "high" and the priority of the task request received by the second autonomous robot 10B is "normal", the priority of the first autonomous robot 10A is higher than the priority of the second autonomous robot 10B.

[0035] In addition, if the duration of the standby state of the first autonomous robot 10A is longer than the duration of the standby state of the second autonomous robot 10B, the first autonomous robot 10A may determine that it has priority over the second autonomous robot 10B. Conversely, if the duration of the standby state of the second autonomous robot 10B is shorter than the duration of the standby state of the first autonomous robot 10A, the second autonomous robot 10B may determine that it does not have priority over the first autonomous robot 10A.

[0036] In addition, when the task priorities of the first autonomous robot 10A and the second autonomous robot 10B are the same and the durations of their standby states are also the same, the priority may be determined using a predetermined priority order (for example, in ascending order of the identification numbers of the autonomous robots).

[0037] When the first autonomous robot 10A determines that its priority is lower than the priority of the second autonomous robot 10B (step S13: Y), it enters a standby state of temporarily stopping without moving to the first destination in order to wait for the movement to the first destination (step S14). On the other hand, when the first autonomous robot 10A determines that its priority is not lower than the priority of the second autonomous robot 10B (step S13: N), it controls the traveling actuator 26 to drive the wheels 15 and moves toward the first destination (step S15).

[0038] Next, the first autonomous robot 10A determines whether it has arrived at the first destination, that is, whether the task has been completed (step S16). Task completion may include cancellation of the task in addition to achievement of the task. When the first autonomous robot 10A determines that the task has not been completed (step S16: N), it returns to step S12. On the other hand, when the first autonomous robot 10A determines that the task has been completed (step S16: Y), it stops the wheels 15 to enter a stopped state (step S17).

[0039] Returning to FIG. 4, the first autonomous robot 10A determines whether its power supply has been turned off (step S6). When the first autonomous robot 10A determines that the power supply has not been turned off (step S6: N), it returns to step S4. On the other hand, when the first autonomous robot 10A determines that the power supply has been turned off (step S6: Y), it ends the process.

[0040] According to the configuration described above, since the first autonomous robot 10A that has received a task request waits for the execution of the task according to the position and status of the second autonomous robot 10B, mutual interference with the second autonomous robot 10B can be easily prevented.

[0041] Hereinafter, specific examples of the immovable conditions in step S12 described above will be described. FIGS. 6 to 15 show marks indicating the first autonomous robot 10A and the second autonomous robot 10B at the positions indicated by the position data of the first autonomous robot 10A and the second autonomous robot 10B on the map data 40 received by the first autonomous robot 10A. The map data 40 divides the area 50 where the first autonomous robot 10A and the second autonomous robot 10B can move into a plurality of regions 50a to 50c. The map data 40 includes standby position data indicating standby positions 51 set in the plurality of regions 50a and 50b, respectively.

[0042] FIG. 6 is a plan view for explaining a first example of the immovable condition in FIG. 5. As shown in FIG. 6, when the conditions that the first autonomous robot 10A and the second autonomous robot 10B are in a specific positional relationship existing in the same area 50a, the status of the second autonomous robot 10B is in a moving state moving toward the second destination 60B, and the first autonomous robot 10A is in a standby state or a stopped state are satisfied, the immovable condition is established. When the immovable condition is established, the first autonomous robot 10A cannot start moving toward the first destination 60A and is kept in the standby state.

[0043] According to such a configuration, when the first autonomous robot 10A and the second autonomous robot 10B exist in the same area 50a and the second autonomous robot 10B is in the moving state, the first autonomous robot 10A waits for moving to the first destination 60A, so it is possible to preferably prevent a situation where the movement of the first autonomous robot 10A and the second autonomous robot 10B interfere with each other and smooth movement cannot be achieved.

[0044] FIG. 7 is a plan view for explaining a second example of the immovable condition in FIG. 5. As shown in FIG. 7, when the conditions that the first autonomous robot 10A and the second autonomous robot 10B are in a specific positional relationship existing in the same area 50a, the second autonomous robot 10B is in a stopped state or a standby state, the second autonomous robot 10B exists at the first destination 60A of the first autonomous robot 10A, and the first autonomous robot 10A is in a stopped state or a standby state are satisfied, the immovable condition is established. When the immovable condition is established, the first autonomous robot 10A cannot start moving toward the first destination 60A and is kept in the standby state.

[0045] According to such a configuration, when the first autonomous robot 10A and the second autonomous robot 10B are in the same area 50a and the second autonomous robot 10B is at the first destination 60A of the first autonomous robot 10A, the first autonomous robot 10A waits for moving to the first destination 60A. Therefore, it is possible to prevent a situation where the first autonomous robot 10A and the second autonomous robot 10B interfere with each other near the first destination 60A and smooth movement cannot be achieved.

[0046] FIG. 8 is a plan view for explaining a third example of the movement impossible condition in FIG. 5. As shown in FIG. 8, the conditions that the first autonomous robot 10A and the second autonomous robot 10B are in a specific positional relationship of being in the same area 50a, the condition that the second autonomous robot 10B is in a stopped state or a standby state, and the first area 50a where the first autonomous robot 10A exists is next to the second area 50b in the traveling direction of the first autonomous robot 10A to the first destination 60A is the same as the second area 50b next to the first area 50a where the second autonomous robot 10B exists in the traveling direction of the second autonomous robot 10B to the second destination 60B, and the condition that the first autonomous robot 10A is in a stopped state or a standby state are satisfied, then the movement impossible condition is established. When the movement impossible condition is established, the first autonomous robot 10A cannot start moving toward the first destination 60A and is kept in a standby state.

[0047] According to such a configuration, it is possible to prevent the autonomous robots 10A and 10B moving in the same direction from interfering with each other in the next area 50b.

[0048] FIG. 9 is a plan view for explaining a fourth example of the non-movable condition in FIG. 5. As shown in FIG. 9, the condition that the second autonomous robot 10B is in a specific positional relationship in the second area 50b next to the first area 50a where the first autonomous robot 10A exists in the traveling direction of the first autonomous robot 10A to the first destination 60A, the condition that the second autonomous robot 10B is in a moving state, the condition that the first autonomous robot 10A is within a predetermined distance from the boundary 52 between the first area 50a and the second area 50b, and the condition that the first autonomous robot 10A is in a moving state or a standby state are satisfied, then the non-movable condition is established. The predetermined distance is a value selected from the range of 0 m or more and 2 m or less, preferably 0 m or more and 1 m or less, from the boundary. Note that the second autonomous robot 10B may be in a standby state.

[0049] When the non-movable condition is established, the first autonomous robot 10A determines whether the first autonomous robot 10A is at the standby position 51 in the first area 50a. For example, when it is a rule to travel on the right side, the standby position 51 is set on the right side in the traveling direction within a range within a predetermined distance from the boundary 52 in the first area 50a. When the first autonomous robot 10A is not at the standby position 51 in the first area 50a, the first autonomous robot 10A moves to the standby position 51 (see FIG. 10). When the first autonomous robot 10A determines that it is at the standby position 51, the first autonomous robot 10A is kept in the standby state at the standby position 51.

[0050] According to this configuration, when the second autonomous robot 10B exists in the second area 50b next to the first area 50a where the first autonomous robot 10A exists, it is possible to prevent the two from interfering with each other in the second area 50b. Further, by setting the standby position 51, it is possible to more preferably prevent the mutual interference when the first autonomous robot 10A or the second autonomous robot 10B moves across the boundary 52.

[0051] FIG. 11 is a plan view for explaining a fifth example of the immovable condition of FIG. 5. As shown in FIG. 11, when the following conditions are satisfied: the condition that the second autonomous robot 10B is in a specific positional relationship existing in the second area 50b next to the first area 50a where the first autonomous robot 10A exists in the traveling direction of the first autonomous robot 10A to the first destination 60A; the condition that the second autonomous robot 10B is in a stopped state or a standby state; the condition that the second autonomous robot 10B exists at the first destination 60A of the first autonomous robot 10A; the condition that the first autonomous robot 10A is within the predetermined distance from the boundary 52 between the first area 50a and the second area 50b; and the condition that the first autonomous robot 10A is in a moving state or a standby state, the immovable condition is established. When the immovable condition is established, the first autonomous robot 10A cannot start moving toward the first destination 60A and is kept in a standby state. Note that, similar to the example of FIG. 10, the movement to the standby position 51 may be performed.

[0052] According to such a configuration, when the second autonomous robot 10B exists in the second area 50b next to the first area 50a where the first autonomous robot 10A exists and the second autonomous robot 10B exists at the first destination 60A, the first autonomous robot 10A waits for movement, so that it is possible to prevent the first autonomous robot 10A and the second autonomous robot 10B from interfering with each other in the vicinity of the first destination 60A.

[0053] FIG. 12 is a plan view for explaining a sixth example of the immovable condition of FIG. 5. As shown in FIG. 12, a third region 50c that is next to a second region 50b and further next to a first region 50a where the first autonomous robot 10A exists in the traveling direction of the first autonomous robot 10A to a first destination 60A is the same as a region 50c that is next to the second region 50b where the second autonomous robot 10B exists in the traveling direction of the second autonomous robot 10B to a second destination 60B. When the condition that the specific state of the second autonomous robot 10B is the standby state is satisfied, the immovable condition is established. Note that the first destination 60A and the second destination 60B may be the same as each other. The third autonomous robot 10C may be in a state of existing at the first destination 60A. Note that the immovable condition may explicitly include a condition that the third autonomous robot 10C exists in the third region 50c.

[0054] When the immovable condition is established, the first autonomous robot 10A cannot start moving toward the first destination 60A and is kept in the standby state. Note that, similar to the example of FIG. 10, the movement to the standby position 51 may be performed.

[0055] According to this configuration, when the first to third autonomous robots 10A to 10C exist in a chain-like state in the first to third regions 50a to 50c, respectively, it is possible to prevent the autonomous robots 10A and 10B moving in the same direction from interfering with each other at the destination.

[0056] FIG. 13 is a plan view for explaining an example of priorities when two autonomous robots 10A and 10B face each other with a boundary 52 therebetween. FIG. 14 is a plan view of the situation after the situation of FIG. 13. FIG. 15 is a plan view of the situation after the situation of FIG. 14. As shown in FIG. 13, assume a case where the first autonomous robot 10A and the second autonomous robot 10B face each other with the boundary 52 between the first region 50a and the second region 50b therebetween. When the first autonomous robot 10A reaches the boundary 52 in the first region 50a, the first autonomous robot 10A enters the standby state due to the immovable condition of the fourth example (see FIG. 9) described above.

[0057] As shown in FIG. 14, when the second autonomous robot 10B reaches the boundary 52 in the second region 50b, the second autonomous robot 10B enters a standby state due to the immovable condition of the fourth example (see FIG. 9) described above. Since the duration of the standby state of the first autonomous robot 10A is longer than that of the standby state of the second autonomous robot 10B, the priority of the first autonomous robot 10A becomes higher than that of the second autonomous robot 10B. That is, the first autonomous robot 10A has priority over the second autonomous robot 10B. Therefore, as shown in FIG. 15, the second autonomous robot 10B without priority continues to be in the standby state, and the first autonomous robot 10A with priority starts moving toward the first destination 60A.

[0058] According to such a configuration, when the first autonomous robot 10A and the second autonomous robot 10B face each other with the boundary 52 in between, the movement to the destination 60A is permitted according to the priority, so that the entire task of the first autonomous robot 10A and the second autonomous robot 10B can be optimized.

[0059] Note that the technology of the present disclosure is not limited to the above-described embodiments. For example, the processing circuit that determines whether the autonomous robot 10 can execute a task based on other robot information during the generation of a task request to the autonomous robot 10 may be arranged either in the autonomous robot 10 or in the server 11. That is, all or part of the program P1 provided in the autonomous robot 10 may be provided in the server 11 instead. In that case, the server 11 may indirectly control the actuator 26 of the autonomous robot 10.

[0060] For the driven body of the autonomous robot 10, such as the propulsion body which is an example of the driven body, walking legs may be used instead of the wheels 15. When the autonomous robot 10 is a drone, a propeller may be used instead of the wheels 15, and a propeller drive actuator may be used instead of the traveling actuator 26. Also, the standby state of the drone may be a hovering state. For the actuator 26, other types of actuators (for example, a hydraulic actuator or an engine) may be used instead of an electric motor. The task is not limited to movement, and may be an operation such as an operation using a robot arm.

[0061] Instead of receiving the position data and status data of other autonomous robots 10 from the server 11, the autonomous robot 10 may receive the position data and status data of the other autonomous robots 10 by direct wireless communication with the other autonomous robots 10.

[0062] For the positioning of the autonomous robot 10, instead of the positioning using the distance measuring sensor 24, satellite positioning such as GPS may be used. Based on the intensity of each radio wave received by the autonomous robot 10 from the plurality of wireless access points 3 installed in the area 50, the distance from each wireless access point to the autonomous robot 10 may be calculated to position the autonomous robot 10. Instead of receiving radio waves from a plurality of wireless access points for positioning, the autonomous robot 10 may receive sound waves, light, or magnetism from a plurality of locators installed in the area 50 for positioning.

[0063] In the above-described embodiment, when it is determined that the immovable condition is not satisfied, the first autonomous robot 10A actually moves toward the first destination. However, when the movement of the first autonomous robot 10A is prohibited by a program different from the program P1 of the present embodiment, it is not always necessary to actually start moving. That is, the non - fulfillment of the immovable condition means permission to move under the program P1 of the present embodiment, and a movement command may not be issued to the first autonomous robot 10A.

[0064] As described above, the embodiments have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited thereto, and is also applicable to embodiments in which appropriate changes, replacements, additions, omissions, etc. are made. Further, it is also possible to form a new embodiment by combining the respective components described in the above embodiments. For example, some of the components in the embodiments can be arbitrarily extracted separately from other components in the embodiments. In addition, among the components described in the accompanying drawings and the detailed description, there are not only the components essential for solving the problems, but also the components not essential for solving the problems for exemplifying the technology.

[0065] The functions of the elements disclosed in this specification can be executed using a circuit or a processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), a conventional circuit, and / or a combination thereof, which is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, a unit, or a means is hardware that executes the listed functions, or hardware programmed to execute the listed functions. The hardware may be the hardware disclosed in this specification, or other known hardware programmed or configured to execute the listed functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

[0066] Each of the following aspects is a disclosure of a preferred embodiment.

[0067] (Aspect 1) A robotic system in which a plurality of autonomous robots including a first autonomous robot and a second autonomous robot each perform a task, comprising a processing circuit configured to control the first autonomous robot based on a task request for the first autonomous robot, wherein the processing circuit acquires other robot information including position data indicating the position of the second autonomous robot and status data indicating the status of the second autonomous robot, determines whether a predetermined non - permission condition is satisfied for the other robot information during the generation of the task request, if it is determined that the non - permission condition is not satisfied during the generation of the task request, permits the first autonomous robot to perform the task, if it is determined that the non - permission condition is satisfied during the generation of the task request, causes the first autonomous robot to wait for the performance of the task, and is configured to perform the above, the autonomous robot system.

[0068] According to this configuration, even during the generation of a task request to the first autonomous robot, the first autonomous robot waits for the performance of the task according to the position and status of the second autonomous robot, so that mutual interference with the second autonomous robot can be easily prevented. Note that the processing circuit may be provided in the first autonomous robot or in a server.

[0069] (Aspect 2) the processing circuit is configured to acquire map data, the task includes moving to a first destination which is the destination of the first autonomous robot, the task request includes a movement request for requesting movement to the first destination, the autonomous robot system according to aspect 1.

[0070] According to this configuration, even during the generation of a movement request for moving to the first destination, the first autonomous robot waits for movement according to both the relative position of the second autonomous robot with respect to the first autonomous robot and the status of the second autonomous robot. Therefore, it is possible to easily prevent a situation in which the movement of the first autonomous robot and the movement of the second autonomous robot interfere with each other and smooth movement cannot be achieved.

[0071] (Aspect 3) The processing circuit is configured to acquire position data of the first autonomous robot. The non-permission condition is a condition that the position indicated by the position data of the first autonomous robot and the position indicated by the position data of the second autonomous robot are in a predetermined specific positional relationship, a condition that the status indicated by the status data of the second autonomous robot is in a predetermined specific state, and the autonomous robot according to Aspect 2.

[0072] According to this configuration, even during the generation of a task request for the first autonomous robot, the first autonomous robot waits for the execution of the task according to both the relative position of the second autonomous robot with respect to the first autonomous robot and the status of the second autonomous robot. Therefore, mutual interference with the second autonomous robot can be easily prevented.

[0073] (Aspect 4) The map data includes area data that divides an area where the plurality of autonomous robots can move into a plurality of areas. The specific positional relationship includes a relationship in which the second autonomous robot exists in the same area as the area where the first autonomous robot exists, and the autonomous robot according to Aspect 3.

[0074] According to this configuration, when two autonomous robots exist in the same area, it is possible to prevent them from moving and interfering with each other within one area.

[0075] (Aspect 5) The specific state of the second autonomous robot includes a moving state, and the autonomous robot according to Aspect 4.

[0076] According to this configuration, when the first autonomous robot and the second autonomous robot are in the same area and the second autonomous robot is in a moving state, the first autonomous robot waits for movement. Therefore, it is possible to preferably prevent a situation where the movement of the first autonomous robot and the movement of the second autonomous robot interfere with each other and smooth movement cannot be achieved.

[0077] (Aspect 6) The processing circuit is configured to acquire the position data of the first autonomous robot. The non-permission condition is a condition that the second autonomous robot exists in the same area as the area where the first autonomous robot exists, and a condition that the second autonomous robot exists at the first destination on the map data, and an autonomous robot according to any one of Aspects 2 to 5.

[0078] According to this configuration, when the first autonomous robot and the second autonomous robot are in the same area and the second autonomous robot exists at the first destination of the first autonomous robot, the first autonomous robot waits for movement. Therefore, it is possible to prevent a situation where the first autonomous robot and the second autonomous robot interfere with each other near the first destination and smooth movement cannot be achieved.

[0079] (Aspect 7) The specific state of the second autonomous robot includes a standby state. The processing circuit is configured to acquire a second destination that is the destination of the second autonomous robot. The non-permission condition further includes a condition that a second area next to the first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination is the same as a second area next to the first area where the second autonomous robot exists in the traveling direction of the second autonomous robot to the second destination, and an autonomous robot according to any one of Aspects 4 to 6.

[0080] According to this configuration, it is possible to prevent autonomous robots moving in the same direction from interfering with each other in the next area.

[0081] (Aspect 8) The map data includes area data that divides the area where the plurality of autonomous robots can move into a plurality of areas. The specific positional relationship includes the relationship that the second autonomous robot exists in the second area next to the first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination. The non - permission condition further includes the condition that the first autonomous robot is within a predetermined distance from the boundary between the first area and the second area, and the autonomous robot according to any one of Aspects 3 to 7.

[0082] According to this configuration, when the second autonomous robot exists in the second area next to the first area where the first autonomous robot exists, it is possible to prevent the two from interfering with each other in the second area.

[0083] (Aspect 9) The specific state of the second autonomous robot includes a moving state, and the autonomous robot according to Aspect 8.

[0084] According to this configuration, when the second autonomous robot exists in the second area next to the first area where the first autonomous robot exists and the second autonomous robot is moving, since the first autonomous robot waits for movement, it is possible to preferably prevent the two from interfering with each other in the second area.

[0085] (Aspect 10) The processing circuit is configured to acquire the second destination, which is the destination of the second autonomous robot, and the position data of the first autonomous robot. The map data includes area data that divides the area where the plurality of autonomous robots can move into a plurality of areas. The non - permission condition is the condition that the first autonomous robot is within a predetermined distance from the boundary between the first area and the second area, and a condition that the second autonomous robot exists in a second area next to a first area where the first autonomous robot exists in a traveling direction of the first autonomous robot toward the first destination; the autonomous robot according to any one of Aspects 2 to 9, including a condition that the second autonomous robot exists at the first destination on the map data.

[0086] According to this configuration, when the second autonomous robot exists in a second area next to the first area where the first autonomous robot exists and the second autonomous robot exists at the first destination, the first autonomous robot waits for movement, so that it is possible to prevent the first autonomous robot and the second autonomous robot from interfering with each other near the first destination.

[0087] (Aspect 11) The processing circuit is configured to acquire a second destination that is a destination of the second autonomous robot. The specific state of the second autonomous robot includes a standby state. The non-permission condition further includes a condition that a third area next to the second area that is next to the first area where the first autonomous robot exists in the traveling direction of the first autonomous robot toward the first destination is the same as an area next to the second area where the second autonomous robot exists in the traveling direction of the second autonomous robot toward the second destination. The autonomous robot according to any one of Aspects 8 to 10.

[0088] According to this configuration, it is possible to prevent autonomous robots traveling in the same direction from interfering with each other at the destination.

[0089] (Aspect 12) The processing circuit is configured to acquire a second destination that is a destination of the second autonomous robot. The specific state of the second autonomous robot includes a standby state. The non - permission condition includes a condition that the first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination is the same as the area next to the second area in the traveling direction of the second autonomous robot to the second destination. The autonomous robot according to any one of Aspects 8 to 11.

[0090] According to this configuration, it is possible to prevent mutual interference when two autonomous robots existing in adjacent areas travel so as to face each other.

[0091] (Aspect 13) The map data further includes standby position data indicating standby positions set for the plurality of areas. When it is determined that the non - permission condition is satisfied, the processing circuit is configured to move the first autonomous robot to the standby position in the first area. The autonomous robot according to any one of Aspects 8 to 12, wherein making the first autonomous robot wait for the execution of the task includes making the first autonomous robot stay at the standby position in the first area.

[0092] According to this configuration, it is possible to more preferably prevent mutual interference when the first autonomous robot or the second autonomous robot moves across the boundary.

[0093] (Aspect 14) The processing circuit is configured to determine whether the priority of the first autonomous robot is lower than that of the second autonomous robot. The non - permission condition includes a condition that the priority of the first autonomous robot is lower than the priority of the second autonomous robot. The autonomous robot according to any one of Aspects 2 to 13.

[0094] According to this configuration, when the first autonomous robot and the second autonomous robot existing in adjacent areas travel so as to face each other, the movement to the destination is permitted according to the priority, so that the entire tasks of the first autonomous robot and the second autonomous robot can be optimized.

[0095] (Aspect 15) A control method for an autonomous robot used in an autonomous robot system in which a plurality of autonomous robots including a first autonomous robot and a second autonomous robot each perform a task, obtaining other robot information including position data indicating the position of the second autonomous robot and status data indicating the status of the second autonomous robot; during the generation of a task request for the first autonomous robot, determining whether a predetermined non-permission condition is satisfied for the other robot information; when it is determined that the non-permission condition is not satisfied during the generation of the task request, permitting the first autonomous robot to perform the task; when it is determined that the non-permission condition is satisfied during the generation of the task request, causing the first autonomous robot to wait for the task; A control method for an autonomous robot, including the above steps.

[0096] (Aspect 16) A control program for an autonomous robot that causes at least one processor to execute the method according to Aspect 15.

Explanation of Signs

[0097] 1 Autonomous robot system 10 Autonomous robot 10A First autonomous robot 10B Second autonomous robot 10C Third autonomous robot 11 Server 20 Processing circuit 21 Processor 40 Map data 50 Area 50a First area 50b Second area 50c Third area 51 Waiting position 52 Boundary 60A First destination 60B Second destination P1 control program

Claims

1. A self-driving robot system in which a plurality of self-driving robots including a first self-driving robot and a second self-driving robot each perform a task, comprising a processing circuit configured to control the first self-driving robot based on a task requirement for the first self-driving robot, wherein the processing circuit acquires other robot information including position data indicating the position of the second self-driving robot and status data indicating the status of the second self-driving robot, determines whether a predetermined non-permission condition is satisfied for the other robot information during the occurrence of the task requirement, when it is determined that the non-permission condition is not satisfied during the occurrence of the task requirement, permits the first self-driving robot to perform the task, and when it is determined that the non-permission condition is satisfied during the occurrence of the task requirement, causes the first self-driving robot to wait for the performance of the task, and is configured to perform the above, a self-driving robot system.

2. The processing circuit is configured to acquire map data, the task includes moving the first self-driving robot to a first destination that is the destination of the first self-driving robot, and the task requirement includes a movement requirement for requesting movement to the first destination. The self-driving robot system according to claim 1.

3. The processing circuit is configured to acquire position data of the first self-driving robot, wherein the non-permission condition includes a condition that the position indicated by the position data of the first self-driving robot and the position indicated by the position data of the second self-driving robot are in a predetermined specific position relationship, and a condition that the status indicated by the status data of the second self-driving robot is in a predetermined specific state. The self-driving robot system according to claim 2.

4. The map data includes area data that divides an area where the plurality of self-driving robots can move into a plurality of areas, and the specific position relationship includes a relationship that the second self-driving robot exists in the same area as the area where the first self-driving robot exists. The self-driving robot system according to claim 3.

5. The specific state of the second self-driving robot includes a moving state. The self-driving robot system according to claim 4.

6. The processing circuit is configured to acquire position data of the first self-driving robot, wherein the non-permission condition includes a condition that the second self-driving robot exists in the same area as the area where the first self-driving robot exists, The autonomous robot system according to claim 2, including the condition that the second autonomous robot exists at the first destination on the map data.

7. The specific state of the second autonomous robot includes a standby state. The processing circuit is configured to acquire a second destination that is the destination of the second autonomous robot. The non-permission condition is The autonomous robot system according to claim 4, further including the condition that a second area next to a first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination is the same as a second area next to the first area where the second autonomous robot exists in the traveling direction of the second autonomous robot to the second destination.

8. The map data includes area data that divides an area where the plurality of autonomous robots can move into a plurality of areas. The specific positional relationship includes the relationship that the second autonomous robot exists in a second area next to a first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination. The autonomous robot system according to claim 3, wherein the non-permission condition further includes the condition that the first autonomous robot is within a predetermined distance from the boundary between the first area and the second area.

9. The autonomous robot system according to claim 8, wherein the specific state of the second autonomous robot includes a moving state.

10. The processing circuit is configured to acquire a second destination that is the destination of the second autonomous robot and position data of the first autonomous robot. The map data includes area data that divides an area where the plurality of autonomous robots can move into a plurality of areas. The non-permission condition is The condition that the first autonomous robot is within a predetermined distance from the boundary between the first area and the second area. The condition that the second autonomous robot exists in a second area next to a first area where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination. The autonomous robot system according to claim 2, including the condition that the second autonomous robot exists at the first destination on the map data.

11. The processing circuit is configured to acquire a second destination that is the destination of the second autonomous robot. The specific state of the second autonomous robot includes a standby state. The non - permission condition further includes a condition that a third region, which is next to a second region that is next to a first region where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination, is the same as a region that is next to a second region where the second autonomous robot exists in the traveling direction of the second autonomous robot to the second destination. The autonomous robot system according to claim 8.

12. The processing circuit is configured to acquire a second destination, which is the destination of the second autonomous robot. The specific state includes a standby state. The non - permission condition includes a condition that a first region where the first autonomous robot exists in the traveling direction of the first autonomous robot to the first destination is the same as a region that is next to a second region where the second autonomous robot exists in the traveling direction of the second autonomous robot to the second destination. The autonomous robot system according to claim 8.

13. The map data further includes standby position data indicating standby positions set in the plurality of regions. When it is determined that the non - permission condition is satisfied, the processing circuit is configured to move the first autonomous robot to the standby position in the first region. Making the first autonomous robot wait for the execution of the task includes making the first autonomous robot stay at the standby position in the first region. The autonomous robot system according to claim 8.

14. The processing circuit is configured to determine whether the priority of the first autonomous robot is lower than that of the second autonomous robot. The non - permission condition includes a condition that the priority of the first autonomous robot is lower than the priority of the second autonomous robot. The autonomous robot system according to claim 3.

15. A control method for an autonomous robot used in an autonomous robot system in which a plurality of autonomous robots including a first autonomous robot and a second autonomous robot each perform a task, acquiring other robot information including position data indicating the position of the second autonomous robot and status data indicating the status of the second autonomous robot; determining whether a predetermined non - permission condition is satisfied for the other robot information during the generation of a task request for the first autonomous robot; permitting the first autonomous robot to execute the task when it is determined that the non - permission condition is not satisfied during the generation of the task request. When it is determined that the non-permission condition is satisfied during the occurrence of the task request, causing the first autonomous robot to wait for the execution of the task; A method for controlling an autonomous robot, including this.

16. A control program for an autonomous robot that causes at least one processor to execute the method according to Claim 15.

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