Information processing apparatus, information processing method, and program

Abstract

To provide an information processing apparatus, an information processing method, and a program which provide a billing service depending on a use result of a transport robot.SOLUTION: The information processing apparatus according to an embodiment comprises a communication unit which communicates with a transport robot, a control signal generation unit which transmits a control signal for operating the transport robot to the transport robot via the communication unit, and a billing information generation unit which calculates a travel distance of the transport robot on the basis of position information of the transport robot acquired from the transport robot via the communication unit and calculates an amount of billing according to the travel distance.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] Embodiments of the present invention relate to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] Currently, in the warehouse logistics industry, due to social problems such as an increase in warehouse labor due to the rapid expansion of online shopping and an increase in demand for small-lot deliveries, and a shortage of labor due to population decline, there is a shortage of manpower in warehouses and an increasing demand for automation of goods transportation. The automation of transportation is realized by autonomous mobile robots that travel inside the warehouse. The autonomous mobile robots, for example, calculate the route information for transporting goods and travel to the storage location inside the warehouse.

[0003] However, since autonomous mobile robots perform various information processing inside the robots and thus use high-cost and high-performance components that need to be installed in each autonomous mobile robot, there has been a problem that the operating cost increases in medium- to large-scale warehouses that operate dozens to hundreds of autonomous mobile robots. On the other hand, there is a warehouse operation management system that uses a method of remotely controlling a transport robot by wireless communication without using an autonomous mobile robot. The warehouse operation management system can be realized by a transport robot having simple functions such as sensors and a wireless communication function, and a server installed inside the warehouse or on the cloud. In the warehouse operation management system, the transport robot used often varies depending on the size and weight of the luggage, and a service that provides the transport robot by subscription is also provided.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the subscription of a transport robot, for example, the charging amount is determined by the type of transport robot × contract period × number of units. However, there are not many cases where all transport robots are fully operational during the contract period, and the cost for the period when the transport robot is not operating may be a burden on the warehouse operator.

[0006] An embodiment of the present invention has been made in view of the above circumstances, and an object thereof is to provide an information processing apparatus, an information processing method, and a program that provide a charging service according to the usage record of a transport robot.

Means for Solving the Problems

[0007] The information processing apparatus according to the embodiment includes a communication unit that communicates with a transport robot, a control signal generation unit that transmits a control signal for operating the transport robot to the transport robot via the communication unit, and a movement distance of the transport robot based on the position information of the transport robot acquired from the transport robot via the communication unit. And a charging information generation unit that calculates a charging amount according to the movement distance.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiment for Carrying Out the Invention

[0009] Hereinafter, an information processing apparatus, an information processing method, and a program according to an embodiment will be described with reference to the drawings.

[0010] A warehouse operation management system 1 including an information processing apparatus 100 according to an embodiment transports a load to a predetermined position in a logistics system or the like. The warehouse operation management system 1 transports a load using an Automated Guided Vehicle (AGV). For example, the warehouse operation management system 1 is used in a logistics center or a warehouse.

[0011] FIG. 1 is a diagram schematically showing a configuration example of a warehouse operation management system including an information processing apparatus according to an embodiment. The warehouse operation management system 1 includes a management server 20, a terminal device 30, a network 40, an information processing apparatus 100, and a transport robot 10.

[0012] The management server 20 is composed of, for example, a computer and is connected to the terminal device 30 and the information processing apparatus 100 via the network 40. The management server 20 stores and manages information uploaded from the terminal device 30 and the information processing apparatus 100. The management server 20 performs predetermined data processing on the above information, for example, and provides the above information and the information after data processing to the terminal device 30 and the information processing apparatus 100.

[0013] The transport robot 10 transports the goods in the warehouse according to the control signal from the information processing device 100. The number of transport robots 10 operated in the warehouse operation management system 1 is appropriately determined according to, for example, the size of the warehouse. For example, the transport robot 10 is an automated guided vehicle (AGV). Also, as the transport robot 10, a plurality of different types of automated guided vehicles may be operated according to the size of the goods to be transported and the operation method in the warehouse.

[0014] The information processing device 100 controls the transport robot 10 to transport the designated goods to the designated position. The information processing device 100 is installed in the warehouse that controls the transport robot 10. The information processing device 100 is connected to external devices such as the management server 20 and the terminal device 30 via the network 40. The information processing device 100 controls the transport robot 10 based on the operation information from the external device or the operation by the operator of the information processing device 100.

[0015] The information processing device 100 includes a processor 101, an auxiliary storage device 102, a communication interface 103, a RAM 104, a ROM 105, and an operation interface 106.

[0016] The operation interface 106 receives the information input by the operation of the operator of the information processing device 100. The operation interface 106 may include, for example, a keyboard, a keypad, a touch pad, a microphone, or a mouse. The operation interface 106 supplies the data based on the input information to the RAM 104 and the auxiliary storage device 102.

[0017] The RAM 104 corresponds to the main storage device of the information processing device 100 centered on the processor 101. The RAM 104 is a memory used for reading and writing data. The RAM 104 is used as a work area for storing the data temporarily used by the processor 101 to perform various processes. The RAM 104 is typically a volatile memory.

[0018] The ROM 105 corresponds to the main memory device of the information processing apparatus 100 centered around the processor 101. The ROM 105 is a non-volatile memory used exclusively for reading data. The ROM 105 stores, for example, firmware among various programs executed by the processor 101. Also, the ROM 105 stores data used by the processor 101 for performing various processes and the like.

[0019] The auxiliary storage device 102 corresponds to the auxiliary storage device of the information processing apparatus 100 centered around the processor 101. The auxiliary storage device 102 is, for example, an EEPROM (registered trademark) (electric erasable programmable read-only memory), an HDD (hard disk drive), or a flash memory. The auxiliary storage device 102 stores, for example, system software and application software among various programs executed by the processor 101. Also, the auxiliary storage device 102 stores data used by the processor 101 for performing various processes, data generated by the processing in the processor 101, and various setting values and the like.

[0020] Also, in the present embodiment, the auxiliary storage device 102 stores map information within the area where the transfer robot 10 operates. For example, the auxiliary storage device 102 stores map information within the warehouse where the information processing apparatus 100 is installed. Also, the map information within the warehouse may be stored in association with the distribution of the communication radio wave intensity by the wireless communication infrastructure formed within the warehouse.

[0021] Note that the information processing apparatus 100 may include an interface into which a storage medium such as a memory card or a USB (universal serial bus) memory can be inserted as the auxiliary storage device 102. The interface reads and writes information to and from the storage medium.

[0022] The program stored in ROM 105 or auxiliary storage device 102 includes a program for executing the processes described later. As an example, the information processing apparatus 100 is transferred to an administrator of the information processing apparatus 100 or the like in a state where the program is stored in ROM 105 or auxiliary storage device 102. However, the information processing apparatus 100 may be transferred to the administrator or the like in a state where the program is not stored in ROM 105 or auxiliary storage device 102. Further, the information processing apparatus 100 may be transferred to the administrator or the like in a state where a program different from the program is stored in ROM 105 or auxiliary storage device 102. Then, the program for executing the processes described later may be separately transferred to the administrator or the like and written to ROM 105 or auxiliary storage device 102 under the operation of the administrator or a service technician or the like. The transfer of the program at this time can be realized, for example, by recording it on a removable storage medium such as a disk medium or a semiconductor memory, or by downloading via a network or the like.

[0023] The communication interface 103 communicates with external devices such as the management server 20 and the terminal device 30 via a network such as the network 40. Also, in the present embodiment, the communication interface 103 communicates with the transport robot 10. For example, the information processing apparatus 100 is connected to a wireless communication infrastructure constituted by a wireless base station (not shown) installed in the warehouse, and the communication interface 103 communicates with the transport robot 10 via the wireless communication infrastructure. For example, the wireless communication infrastructure constructed in the warehouse is Local 5G or a wireless LAN. When higher-precision wireless communication is desired, Local 5G is desirable for the wireless communication infrastructure.

[0024] Processor 101 corresponds to the central part of a computer that performs processes such as operations and controls necessary for the operation of information processing apparatus 100. Processor 101 controls each part in order to realize various functions of information processing apparatus 100 based on programs such as firmware, system software, and application software stored in ROM 105 or auxiliary storage device 102. Note that part or all of the program may be incorporated in the circuit of processor 101. Processor 101 is, for example, a CPU (central processing unit), MPU (micro processing unit), SoC (system on a chip), DSP (digital signal processor), GPU (graphics processing unit), ASIC (application specific integrated circuit), PLD (programmable logic device), or FPGA (field-programmable gate array). Alternatively, processor 101 may be an arithmetic circuit combining a plurality of these.

[0025] Next, an example of the configuration of management server 20 of warehouse operation management system 1 and information processing apparatus 100 will be described. FIG. 2 is a block diagram for explaining an example of the functions of the warehouse operation management system shown in FIG. 1.

[0026] Terminal device 30 outputs operation information input based on an operation by an operator to management server 20. Further, terminal device 30 acquires charging information stored in management server 20 and presents information on the amount of charge to the operator.

[0027] The operation information input to terminal device 30 includes conveyance information. The conveyance information is, for example, information on the goods to be conveyed, the destination for each goods to be conveyed, and the type of robot to be used for conveyance. That is, the conveyance information includes information on the start position and end position for each goods to be conveyed.

[0028] In addition, the operation information input from the terminal device 30 may include luggage information. The luggage information is, for example, information regarding the size of the luggage to be transported (e.g., the total value of the lengths of the three sides of the vertical, horizontal, and height) or the weight.

[0029] In addition, the operation information input from the terminal device 30 may further include information regarding speed. The information regarding speed is set by the operator by designating the luggage, for example, when there is luggage that needs to be transported urgently.

[0030] In the present embodiment, the management server 20 includes a travel scenario creation unit 21, a scenario storage unit 22, and a billing information storage database 23, and can execute each function as a cloud server constructed on the network 40. Note that the management server 20 only needs to be a server configured to be communicable with the information processing device 100, and is not limited to a cloud server.

[0031] The travel scenario creation unit 21 creates a travel scenario based on the operation information input from the terminal device 30. The travel scenario creation unit 21 determines the transport robot 10 that transports the luggage designated based on the input operation information, and generates a travel scenario for each transport robot 10. The travel scenario includes information regarding the start position and the end position of the transport robot 10. The travel scenario creation unit 21 outputs the created travel scenario to the information processing device 100. In addition, since the created travel scenario may be reused next time, it is stored in the scenario storage unit 22.

[0032] In addition, the travel scenario may include information regarding the via position in addition to the information regarding the start position and the end position of the transport robot 10. The via position is set, for example, when there is a position that must be passed through when the transport robot 10 transports the luggage from the start position to the end position. When the transport robot 10 passes through a plurality of via positions, the information regarding the via position may include the information on the order of passing through the plurality of via positions.

[0033] In addition, when the operation information includes package information, the travel scenario creation unit 21 creates a travel scenario including the package information of the package to be transported by the transport robot 10.

[0034] In addition, when the operation information includes information regarding speed, the travel scenario creation unit 21 creates a travel scenario including the information regarding speed, for example, such that the transport robot 10 transports the package in a hurry.

[0035] In the present embodiment, the information processing apparatus 100 includes a robot control unit 110 and a robot communication unit 120.

[0036] The robot control unit 110 is a part of the configuration of the processor 101 of the information processing apparatus 100. Based on the travel scenario input from the travel scenario creation unit 21, the robot control unit 110 generates a control signal for operating the transport robot 10 and transmits it to the transport robot 10 via the robot communication unit 120. In addition, the robot control unit 110 calculates the moving distance of the transport robot 10 based on the position information of the transport robot 10 acquired from the transport robot 10 via the robot communication unit 120, and calculates a charging amount according to the moving distance. The robot control unit 110 stores the calculated charging amount in the charging information storage database 23 of the management server 20.

[0037] The robot communication unit 120 communicates with the transport robot 10 via a wireless communication infrastructure built in the warehouse. The robot communication unit 120 is a part of the configuration of the communication interface 103 of the information processing apparatus 100. For example, the robot communication unit 120 transmits the control signal input from the robot control unit 110 to the transport robot 10. For example, the robot communication unit 120 inputs the sensor information transmitted from the transport robot 10 to the robot control unit 110.

[0038] Next, the functions of the robot control unit 110 and the transport robot 10 in the present embodiment will be described. FIG. 3 is a block diagram for explaining an example of the functions of the information processing apparatus and the transport robot according to an embodiment.

[0039] In this embodiment, the robot control unit 110 includes a path generation unit 111, a control signal generation unit 112, a sensor information acquisition unit 113, and a charging information generation unit 114.

[0040] The path generation unit 111 generates a travel path for each transport robot 10 based on the travel scenario acquired from the travel scenario creation unit 21. The path generation unit 111 generates a travel path based on the information regarding the start point position and the end point position included in the acquired travel scenario and the warehouse interior map information stored in the auxiliary storage device 102. The travel path generated by the path generation unit 111 is, for example, the shortest path from the start point position to the end point position included in the travel scenario. Also, when a via position is set in the travel scenario, the path generation unit 111 generates a travel path such that the transport robot 10 passes through the via position.

[0041] Also, when the distribution of the radio wave intensity of the wireless communication infrastructure constructed in the warehouse is associated with the acquired warehouse interior map information, the path generation unit 111 may generate a travel path such that the radio wave intensity from the robot communication unit 120 to the transport robot 10 does not fall below a predetermined value.

[0042] The control signal generation unit 112 generates a control signal for operating the transport robot 10 based on the travel path generated by the path generation unit 111 for the transport robot 10. The control signal generation unit 112 generates a control signal so that the transport robot 10 travels along the travel path generated by the path generation unit 111. The control signal generation unit 112 transmits the generated control signal to the transport robot 10 via the robot communication unit 120.

[0043] Also, when the travel scenario acquired by the path generation unit 111 includes information regarding speed, the control signal generation unit 112 generates a control signal so that the transport robot 10 travels along the travel path generated by the path generation unit 111 and further travels at a speed faster than normal.

[0044] The sensor information acquisition unit 113 acquires information of various sensors transmitted from the transport robot 10 via the robot communication unit 120. The sensor information acquired by the sensor information acquisition unit 113 from the transport robot 10 includes first sensor information and second sensor information. The first sensor information is sensor information regarding the position information of the transport robot 10. The second sensor information is sensor information when the transport robot 10 detects a situation that hinders travel.

[0045] The sensor information acquisition unit 113 inputs the first sensor information among the acquired various sensor information to the charging information generation unit 114. Also, the sensor information acquisition unit 113 inputs the second sensor information among the acquired various sensor information to the route generation unit 111.

[0046] The charging information generation unit 114 calculates the moving distance of the transport robot 10 based on the position information of the transport robot 10 acquired from the transport robot 10 via the robot communication unit 120, and calculates a charging amount according to the moving distance. In the present embodiment, the charging information generation unit 114 includes a position estimation unit 115, a moving distance calculation unit 116, and a charging calculation unit 117.

[0047] When the position estimation unit 115 acquires the first sensor information from the sensor information acquisition unit 113, it estimates the position information of the transport robot 10 based on the acquired first sensor information and the stored map information inside the warehouse. Also, when estimating the position information of the transport robot 10, the position estimation unit 115 may further use the value of the radio wave intensity acquired from the transport robot 10. The position estimation unit 115 inputs the estimated position information of the transport robot 10 to the moving distance calculation unit 116. The position information input by the position estimation unit 115 to the moving distance calculation unit 116 is referred to as the latest position information.

[0048] Also, the position estimation unit 115 stores the estimated position information of the transport robot 10 in the auxiliary storage device 102. The position estimation unit 115 stores, for example, the estimated position information of the transport robot 10 in association with the time when the first sensor information was acquired.

[0049] The moving distance calculation unit 116 calculates the moving distance of the transport robot 10 based on the latest position information acquired from the position estimation unit 115 and the immediately preceding position information stored. The immediately preceding position information is different from the latest position information among the stored position information of the transport robot 10 and is the one with the latest time stored in association with the position information. The moving distance calculation unit 116 stores the calculated moving distance of the transport robot 10 in the auxiliary storage device 102.

[0050] The charging calculation unit 117 calculates the charging amount according to the moving distance of the transport robot 10. For example, the charging calculation unit 117 calculates the charging amount based on the moving distance of the transport robot 10 stored in the auxiliary storage device 102, the travel scenario, and the charging table. The specific calculation method of the charging amount will be described later.

[0051] The transport robot 10 operates based on the control signal from the robot control unit 110 received via the robot communication unit 120. In this embodiment, the transport robot 10 includes a communication unit 11, a control unit 12, a storage unit 13, and a sensor unit 14.

[0052] The communication unit 11 communicates with the robot communication unit 120 via the wireless communication infrastructure built in the warehouse. When the communication unit 11 receives a control signal from the robot communication unit 120, it inputs it to the control unit 12. Also, the communication unit 11 transmits the sensor information input from the control unit 12 and the sensor unit 14 to the robot communication unit 120.

[0053] The control unit 12 controls the overall operation of the transport robot 10. When a control signal is input from the communication unit 11, the control unit 12 makes the transport robot 10 travel based on the control signal and the map information of the warehouse stored in the storage unit 13.

[0054] Further, based on the input control signal and the map information of the interior of the warehouse stored in the storage unit 13, the control unit 12 monitors the coordinates (position information) of the current traveling position of the transport robot 10 and generates first sensor information. When the sensor unit 14 can detect the current traveling position of the transport robot 10 by reading tags, identification codes, etc. installed in the warehouse, the control unit 12 can generate the first sensor information using the position information detected by the sensor unit 14 and the map information of the interior of the warehouse. The control unit 12 transmits the generated first sensor information to the information processing device 100 at regular intervals via the communication unit 11. The period at which the control unit 12 transmits the first sensor information is, for example, a 25 ms period.

[0055] Further, the control unit 12 may, for example, measure the traveling distance of the transport robot 10 and monitor the coordinates of the current traveling position based on the input control signal, the map information of the interior of the warehouse stored in the storage unit 13, and the measured traveling distance. In this case, the control unit 12 can grasp more accurate position information.

[0056] When sensor information indicating that an obstacle has been detected is input from the sensor unit 14, the control unit 12 determines that a situation that hinders traveling has been detected and stops the traveling of the transport robot 10. Also, when the value of the radio wave intensity input from the sensor unit 14 is less than a predetermined threshold value, the control unit 12 determines that a situation that hinders traveling has been detected and stops the traveling of the transport robot 10. When the control unit 12 detects a situation that hinders traveling and stops the traveling, it inputs second sensor information to the information processing device 100 via the communication unit 11.

[0057] The storage unit 13 stores a program and the like for the transport robot 10 to travel based on the input control signal. The storage unit 13 is composed of, for example, a ROM, a RAM, an auxiliary storage device, etc.

[0058] Also, in the present embodiment, the storage unit 13 stores map information of the area in which the transport robot 10 operates. For example, the storage unit 13 stores map information of the interior of the warehouse in which the information processing device 100 is installed.

[0059] The sensor unit 14 detects a situation that obstructs the travel of the transport robot 10. As a method for detecting a situation that obstructs travel, the sensor unit 14 includes, for example, a sensor that detects obstacles. The sensor that detects obstacles is a sensor that measures the distance to an object, such as an optical sensor or an acoustic wave sensor. When the sensor unit 14 detects an obstacle in the travel path, the sensor unit 14 inputs sensor information indicating the detection of the obstacle to the control unit 12.

[0060] Further, the sensor unit 14 includes a sensor that measures the communication radio wave intensity of the wireless communication infrastructure received by the transport robot 10. The sensor unit 14 measures the radio wave intensity with the robot communication unit 120 at a predetermined cycle, inputs the measured radio wave intensity value to the control unit 12, and transmits it to the information processing apparatus 100 via the communication unit 11. The cycle at which the sensor unit 14 measures the radio wave intensity is, for example, a 30 ms cycle. Note that the sensor unit 14 may be configured to be able to detect the current travel position of the transport robot 10 by reading tags or identification codes installed in the warehouse. In that case, the sensor unit 14 inputs the detected position information to the control unit 12.

[0061] Next, an operation example of the warehouse operation management system 1 will be described. FIG. 4 is a flowchart showing an example of the operation of the warehouse operation management system according to an embodiment.

[0062] First, the management server 20 of the warehouse operation management system 1 waits for the input of transport information from the terminal device 30 (step S1). When it is determined that the transport information has been input (step S1, YES), the travel scenario creation unit 21 of the management server 20 generates a travel scenario for each transport robot 10 (step S2). The travel scenario creation unit 21 stores the created travel scenario in the scenario storage unit 22 and transmits it to the information processing apparatus 100.

[0063] When the travel scenario is acquired, the route generation unit 111 of the information processing apparatus 100 generates a travel route for the transport robot 10 based on the acquired travel scenario (step S3). The route generation unit 111 inputs the generated travel route to the control signal generation unit 112.

[0064] Next, the robot control unit 110 starts controlling the transport robot 10 (step S4). The control signal generation unit 112 generates a control signal for controlling the transport robot 10 based on the input travel route, and transmits it to the transport robot 10 via the robot communication unit 120.

[0065] Based on the acquired control signal, the transport robot 10 starts traveling along the travel route generated by the route generation unit 111. During travel, the transport robot 10 generates first sensor information at a fixed cycle and transmits it to the information processing apparatus 100 via the communication unit 11. Also, the sensor unit 14 of the transport robot 10 measures the radio wave intensity between itself and the information processing apparatus 100 at a fixed cycle and transmits it to the information processing apparatus 100 via the communication unit 11.

[0066] After starting the control of the transport robot 10, the robot control unit 110 acquires the sensor information transmitted from the transport robot 10 (step S5). When the sensor information acquisition unit 113 of the robot control unit 110 acquires the first sensor information from the transport robot 10, it inputs it to the charging information generation unit 114.

[0067] When the charging information generation unit 114 acquires the first sensor information of the transport robot 10 from the sensor information acquisition unit 113, it integrates the moving distance of the transport robot 10 (step S6). Specifically, when the position estimation unit 115 of the charging information generation unit 114 acquires the first sensor information from the sensor information acquisition unit 113, it estimates the latest position information of the transport robot 10. Also, the moving distance calculation unit 116 integrates the moving distance of the transport robot 10 based on the latest position information acquired from the position estimation unit 115 and the previous position information stored in the auxiliary storage device 102.

[0068] Next, the robot control unit 110 determines whether it is necessary to change the travel route of the transport robot 10 (step S7). When the sensor information acquisition unit 113 detects a situation that hinders the travel of the transport robot 10, for example, when acquiring the second sensor information from the transport robot 10, it determines that it is necessary to change the travel route of the transport robot 10.

[0069] When the robot control unit 110 determines that it is not necessary to change the travel route (step S7, NO), it determines whether the transport robot 10 has reached the movement end point (step S8). For example, the robot control unit 110 determines that the movement end point has been reached when the position information of the transport robot 10 estimated by the position estimation unit 115 is the end point position included in the travel scenario. Also, for example, the transport robot 10 may notify that it has finished traveling after traveling according to the control signal.

[0070] When it is determined that the movement end point has not been reached (step S8, NO), the robot control unit 110 returns to step S5. The robot control unit 110 repeats steps S5 to S8 until it determines that a route change is necessary or that the movement end point has been reached.

[0071] When it is determined that it is necessary to change the travel route (step S7, YES), the robot control unit 110 returns to step S3. Specifically, the sensor information acquisition unit 113 inputs the acquired first sensor information, the second sensor information, and the radio wave intensity transmitted from the transport robot 10 at regular intervals to the route generation unit 111.

[0072] When the radio wave intensity of the input transport robot 10 is equal to or greater than a predetermined threshold value, the route generation unit 111 determines that the transport robot 10 has detected an obstacle, and identifies an area where travel is impossible based on the stored map information inside the warehouse. On the other hand, when the radio wave intensity of the input transport robot 10 is less than the predetermined threshold value, the route generation unit 111 determines that the radio wave intensity of the wireless communication infrastructure received by the transport robot 10 has decreased, and identifies an area where travel is impossible based on the distribution of the communication radio wave intensity by the stored wireless communication infrastructure inside the warehouse. The route generation unit 111 generates a new travel route based on the starting point position set based on the first sensor information, the end point position included in the travel scenario, and the area where travel is impossible.

[0073] Also, when it is determined that the transport robot 10 has arrived at the movement end point (step S8, YES), the robot control unit 110 calculates the charge amount (step S9). When the robot control unit 110 records the calculated charge amount in the charge information storage database 23, a series of processes ends.

[0074] Next, an example of the method for calculating the charge amount in the robot control unit 110 will be described. The charge calculation unit 117 calculates the charge amount of the warehouse operation management system 1 based on the movement distance of the transport robot 10 calculated by the movement distance calculation unit 116, the travel scenario acquired from the travel scenario creation unit 21, and the charge table of the stored charge system.

[0075] FIG. 5 is a diagram showing an example of a charge table of a charge system in the warehouse operation management system shown in FIG. 1. When using this charge table, the charge amount is determined monthly. FIG. 5 is a charging table showing the relationship between the moving distance of one transport robot 10 and the monthly usage fee. The charging calculation unit 117 calculates the charging amount of the warehouse operation management system 1 based on the moving distance of each transport robot 10 obtained from the moving distance calculation unit 116 and the charging table. For example, in the case of a customer operating one transport robot 10, if the total moving distance of the transport robot 10 in a certain month is 10 km or more and 30 km or less, the charging amount of the warehouse operation management system 1 for that customer in a certain month is 100,000 yen.

[0076] FIG. 6 is a diagram showing another example of the charging table of the fee system in the warehouse operation management system shown in FIG. 1. When using this charging table, the charging amount is determined each time the transport robot 10 transports a load. FIG. 6 is a charging table showing the charging amount determined by the size and weight of the load transported by the transport robot 10 and the moving distance when transporting the load. The charging calculation unit 117 calculates the charging amount of the warehouse operation management system 1 based on the load information included in the travel scenario obtained from the travel scenario creation unit 21, the moving distance of the transport robot 10 obtained from the moving distance calculation unit 116, and the charging table. For example, when the transport robot 10 transports a 2 kg load for 1 km and then transports a 5 kg load for 500 m, the charging amount of the warehouse operation management system 1 is 40,000 yen + 10,000 yen = 50,000 yen.

[0077] When using the charging table shown in FIG. 6, for example, when the transport robot 10 transports a plurality of loads at a time, the total weight of the loads to be transported may be calculated and used as the load information.

[0078] In addition, when the acquired driving scenario includes information regarding speed, the charging calculation unit 117 calculates the charging amount based on the information regarding speed. For example, the charging calculation unit 117 multiplies the value calculated based on the cargo information included in the driving scenario acquired from the driving scenario creation unit 21, the moving distance of the transport robot 10 acquired from the moving distance calculation unit 116, and the charging table by a coefficient corresponding to the information regarding speed, and sets the resulting value as the charging amount value of the warehouse operation management system 1. The value of the coefficient corresponding to the information regarding speed is, for example, 1.1.

[0079] As described above, in the warehouse operation management system 1 according to the present embodiment, the information processing apparatus 100 includes a robot communication unit 120 that communicates with the transport robot 10, a control signal generation unit 112 that transmits a control signal for operating the transport robot 10 to the transport robot 10 via the robot communication unit 120, and a charging information generation unit 114 that calculates the moving distance of the transport robot 10 based on the position information of the transport robot 10 acquired from the transport robot 10 via the robot communication unit 120 and calculates a charging amount corresponding to the moving distance. As a result, the information processing apparatus 100, the information processing apparatus, and the program according to the present embodiment can provide a charging service according to the usage record of the transport robot 10.

[0080] In addition, the charging information generation unit 114 has map information of the area where the transport robot 10 operates, and acquires position information based on the map information and the sensor information transmitted from the transport robot 10. As a result, the information processing apparatus 100 can accurately grasp the position information of the transport robot 10 and obtain the moving distance as the usage record of the transport robot 10.

[0081] The program according to this embodiment may be transferred while stored in an electronic device, or may be transferred while not stored in an electronic device. In the latter case, the program may be transferred via a network, or may be transferred while stored in a storage medium. The storage medium is a non-transitory tangible medium. The storage medium is a computer-readable medium. The storage medium may be any medium that can store a program such as a CD-ROM or a memory card and is readable by a computer, regardless of its form.

[0082] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and its equivalent scope.

[0083] For example, in the above-described warehouse operation management system 1, as information regarding speed, the time taken for the transport robot 10 to transport a load may be used. In this case, for example, the robot control unit of the information processing apparatus 100 estimates the estimated time required for the transport robot 10 to transport a load based on the travel route of the transport robot 10 created by the route generation unit 111. The billing calculation unit 117 measures the movement time from when the control signal generation unit 112 transmits a control signal to the transport robot 10 until the transport robot 10 arrives at the movement end point, and determines a coefficient corresponding to the information regarding speed based on the measured movement time and the estimated time. For example, when the movement time is significantly longer than the estimated time, that is, when a delay occurs in the transport robot 10, the value of the coefficient corresponding to the information regarding speed is set to 0.9.

[0084] For example, in the above-described embodiment, the travel scenario creation unit 21 is configured as part of the management server 20, but it may also be configured as part of the information processing apparatus 100. In this case, the travel scenario creation unit 21 is a part of the functions of the processor 101 of the information processing apparatus 100. It creates a travel scenario based on the operation information input from the terminal device 30 via the network 40, inputs the created travel scenario to the robot control unit 110, and stores it in the scenario storage unit 22 of the management server 20. Even when the travel scenario creation unit 21 is configured as part of the information processing apparatus 100, the same effects as those of the above-described embodiment can be obtained.

[0085] For example, in the above-described embodiment, the information processing apparatus 100 of the warehouse operation management system 1 was installed in the warehouse, but the warehouse operation management system 1 having the functions of the management server 20 and the information processing apparatus 100 may be installed in the warehouse. In this case, the warehouse operation management system 1 installed in the warehouse is communicably connected to the terminal device 30 via the network 40 and is configured to communicate with the transport robot 10 using the wireless communication infrastructure in the warehouse. Even when the warehouse operation management system 1 is installed in the warehouse, the same effects as those of the above-described embodiment can be obtained.

Description of Reference Numerals

[0086] 1... Warehouse operation management system, 10... Transport robot, 11... Communication unit, 12... Control unit, 13... Storage unit, 14... Sensor unit, 20... Management server, 21... Travel scenario creation unit, 22... Scenario storage unit, 23... Billing information storage database, 30... Terminal device, 40... Network, 100... Information processing apparatus, 101... Processor, 102... Auxiliary storage device, 103... Communication interface, 104... RAM, 105... ROM, 106... Operation interface, 110... Robot control unit, 111... Route generation unit, 112... Control signal generation unit, 113... Sensor information acquisition unit, 114... Billing information generation unit, 115... Position estimation unit, 116... Movement distance calculation unit, 117... Billing calculation unit, 120... Robot communication unit

Claims

1. a communication unit that communicates with the transport robot; a control signal generation unit that transmits a control signal for operating the transport robot to the transport robot via the communication unit; a charging information generation unit that calculates the moving distance of the transport robot based on the position information of the transport robot acquired from the transport robot via the communication unit and calculates a charging amount according to the moving distance; An information processing apparatus comprising:

2. The information processing apparatus according to claim 1, wherein the charging information generation unit has map information of an area in which the transport robot operates, and acquires the position information based on the map information and sensor information transmitted from the transport robot.

3. The charging information generation unit a position estimation unit that acquires the position information based on the map information and the sensor information; a moving distance calculation unit that calculates the moving distance of the transport robot based on the latest position information and the previous position information; The information processing apparatus according to claim 2, further comprising a charging calculation unit that calculates the charging amount based on the moving distance.

4. further comprising a travel scenario creation unit that creates a travel scenario including a starting position and an ending position of the transport robot based on operation information acquired from the outside, The information processing apparatus according to claim 1, wherein the control signal generation unit generates a travel route of the transport robot based on the travel scenario and generates the control signal so that the transport robot travels along the travel route.

5. The travel scenario creation unit acquires the operation information including the luggage information of the luggage transported by the transport robot from the outside and creates the travel scenario further including the luggage information, The information processing apparatus according to claim 4, wherein the charging information generation unit calculates a charging amount according to the moving distance and the luggage information.

6. The travel scenario creation unit acquires the operation information including information on the speed at which the transport robot travels from the outside and creates the travel scenario further including the information on the speed, The information processing apparatus according to claim 4 or claim 5, wherein the charging information generation unit calculates the charging amount by multiplying an amount calculated according to at least the moving distance by a coefficient according to the information on the speed.

7. communicates with the transport robot, transmits a control signal for operating the transport robot to the transport robot, Calculating the moving distance of the transport robot based on the position information of the transport robot obtained from the transport robot, and calculating a charging amount corresponding to the moving distance. An information processing method.

8. A program capable of causing a computer to execute the information processing method according to Claim 7.

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