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

Abstract

To provide a robot management system that can modify a self-propulsion range of a robot.SOLUTION: A robot management system 30 includes: a memory unit 33 that stores a plurality of candidate ranges, each of which is a candidate for a self-propulsion range of a self-propulsion robot 20 within a facility 90 and is determined according to the usage authority of a plurality of users; and an output unit 35 that outputs instruction information to designate one of the plurality of candidate ranges as the self-propulsion range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Robots that operate autonomously within facilities such as buildings and airports are known. Patent Document 1 discloses a robot management system that can unlock locked doors to allow the robot to pass through while ensuring security. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-107108 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides a robot management system and the like that can change the range in which a robot moves independently. [Means for solving the problem]

[0005] A robot management system according to one embodiment of the present invention includes a memory unit that stores a plurality of candidate ranges, each of which is a candidate for a self-propelled robot's self-propelled range within a facility and is determined according to the usage authorizations of a plurality of users, and an output unit that outputs instruction information for designating one of the plurality of candidate ranges as the self-propelled range.

[0006] An information processing system according to one aspect of the present invention includes the robot management system and the robot.

[0007] A robot according to one aspect of the present invention is a self-propelled robot that includes a communication unit that receives the instruction information by communicating with the robot management system, a movement mechanism, and a control unit that controls the movement mechanism to cause the robot to self-propel within the self-propelled range instructed by the received instruction information.

[0008] A management method according to one aspect of the present invention is a management method for a self-propelled robot executed by a computer system, wherein the computer system can access a memory unit that stores a plurality of candidate ranges, each of which is a candidate for the robot's self-propelled range within a facility, and which are determined according to the usage authorizations of a plurality of users, and the management method includes an output step of outputting instruction information for designating one of the plurality of candidate ranges as the self-propelled range.

[0009] A program according to one aspect of the present invention is a program for causing the computer system to execute the management method. [Effects of the Invention]

[0010] The robot management system and the like of the present invention can change the range in which the robot moves independently. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a functional configuration of an information processing system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing an outline of the operation of sharing a robot. [Figure 3] FIG. 3 is a diagram showing an example of map information within a facility. [Figure 4] FIG. 4 is a diagram illustrating an example of the usage condition information. [Figure 5] FIG. 5 is a diagram illustrating an example of resource information. [Figure 6] FIG. 6 is a diagram illustrating another example of the resource information. [Figure 7]FIG. 7 is a sequence diagram of a first operation example of the information processing system according to the embodiment. [Figure 8] FIG. 8 is a sequence diagram of a second operation example of the information processing system according to the embodiment. [Figure 9] FIG. 9 is a sequence diagram of a third operation example of the information processing system according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of the usage record information. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0013] It should be noted that the drawings are schematic diagrams and are not necessarily strict illustrations. In addition, in the drawings, substantially the same components are denoted by the same reference numerals, and overlapping descriptions may be omitted or simplified.

[0014] (Embodiment) [composition] The configuration of the information processing system according to the embodiment will be described below: Fig. 1 is a block diagram showing the functional configuration of the information processing system according to the embodiment.

[0015] The information processing system 10 is a system that provides a service in which a self-propelled robot 20 owned by a user of a facility 90 is shared between the user and other users. The facility 90 is, for example, an office building, and the user who owns the robot 20 is, for example, the manager of the facility 90 (such as the building owner), and the other users are, for example, tenants who reside in the facility 90 or a management company that manages the equipment of the facility 90.

[0016] 1, the information processing system 10 includes a robot 20, a robot management system 30, an information terminal 40, and an entrance / exit management system 50. The information processing system 10 may include a plurality of robots 20.

[0017] The robot 20 moves autonomously within the facility 90 and performs various operations described below. The robot 20 includes a communication unit 21, a control unit 22, a memory unit 23, a display unit 24a, a speaker 24b, a fragrance emitting device 24c, a camera 25a, a microphone 25b, an environmental sensor 25c, and a movement mechanism 26.

[0018] The communication unit 21 is a communication circuit (in other words, a communication module) that enables the robot 20 to communicate with the robot management system 30 via the wide area communication network 80. The communication unit 21 performs, for example, wireless communication. There are no particular limitations on the communication standard used for communication by the communication unit 21.

[0019] The control unit 22 processes information related to the control of the robot 20. The control unit 22 is realized by, for example, a microcomputer, but may also be realized by a processor. The functions of the control unit 22 are realized, for example, by the microcomputer or the like constituting the control unit 22 executing a computer program stored in the storage unit 23.

[0020] The storage unit 23 is a storage device that stores various types of information, computer programs, etc., required for the control unit 22 to perform information processing. The storage unit 23 is realized by, for example, a semiconductor memory.

[0021] The display unit 24a displays an image and is realized by a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel.

[0022] The speaker 24b plays back messages or music stored in advance in the storage unit 23.

[0023] The fragrance generator 24c generates a fragrance and is realized by an aroma diffuser or the like.

[0024] The camera 25a captures moving images of the surroundings of the robot 20. The camera 25a is realized by an image sensor and an optical system.

[0025] The microphone 25b picks up sounds around the robot 20.

[0026] The environmental sensor 25c senses the thermal environment or the air quality environment around the robot 20. The environmental sensor 25c includes at least one sensor such as a temperature sensor, a humidity sensor, a carbon dioxide concentration sensor, a particulate matter concentration sensor, an odor sensor, and an illuminance sensor.

[0027] The moving mechanism 26 is a means for moving the robot 20 by itself within the facility 90. The moving mechanism 26 is, for example, a wheeled moving mechanism, but may also be a multi-legged moving mechanism.

[0028] The robot management system 30 performs information processing to allow multiple users to share the robot 20. The robot management system 30 is realized, for example, by one or more server devices provided outside the facility 90. The robot management system 30 includes a communication unit 31, an information processing unit 32, and a storage unit 33.

[0029] The communication unit 31 is a communication circuit (in other words, a communication module) that enables the robot management system 30 to communicate with the robot 20, the information terminal 40, the access control system 50, and the like via the wide area communication network 80. The communication unit 31 performs, for example, wired communication, but may also perform wireless communication. There are no particular limitations on the communication standard for communication performed by the communication unit 31.

[0030] The information processing unit 32 performs information processing to allow multiple users to share the robot 20. The information processing unit 32 is realized, for example, by a microcomputer, but may also be realized by a processor. The information processing unit 32 includes, as functional components, a determination unit 34 and an output unit 35. The functions of the determination unit 34 and the output unit 35 are realized, for example, by a microcomputer or the like constituting the control unit 22 executing a computer program stored in the memory unit 23.

[0031] The storage unit 33 is a storage device that stores various types of information and computer programs required for the information processing unit 32 to perform information processing. The storage unit 33 is realized by, for example, an HDD (Hard Disc Drive), but may also be realized by a semiconductor memory.

[0032] The information terminal 40 is an information terminal used by the manager of the facility 90 (the owner of the robot 20) to access the robot management system 30. The information terminal 40 is, for example, a stationary information terminal such as a personal computer, but may also be a portable information terminal such as a notebook personal computer, a smartphone, or a tablet terminal.

[0033] The access control system 50 is a system that manages people entering and leaving the facility 90. The access control system 50 is an example of a facility system related to equipment installed in the facility 90. The access control system 50 includes, for example, one or more authentication devices installed in the facility 90. People using the facility 90 can enter and leave the facility 90 by being authenticated by the authentication device. The authentication here is ID card authentication, facial authentication, or the like.

[0034] [Operation Overview] Next, an outline of the operation of sharing the robot 20 will be described. Fig. 2 is a diagram showing an outline of the operation of sharing the robot 20. Fig. 2 schematically shows the operation of the robot 20 in a day in the facility 90.

[0035] In the example of FIG. 2, the robot 20 is shared by the manager of the facility 90, the tenants, and a maintenance company for the equipment installed in the facility 90.

[0036] In the early morning, when the facility 90 is unmanned, the robot 20 operates in security mode (FIG. 2(a)). In security mode, the robot 20 patrols the facility 90 while taking video with the camera 25a, and if it detects a person in the video, it notifies a system (not shown) used by a security company. The user of the robot 20 during the period in FIG. 2(a) is the manager of the facility 90, and the self-propelled range of the robot 20 during security mode operation is, for example, the entire facility 90.

[0037] Thereafter, when the facility 90 transitions from an unmanned state to an attended state, the access control system 50 transitions to the normal mode and transmits first information indicating that the normal mode has been set to the robot management system 30. In other words, the first information is information indicating that the facility 90 has transitioned from an unmanned state to an attended state. Upon receiving the first information, the robot management system 30 causes the robot 20 to operate in the comfortable space mode ((b) of FIG. 2).

[0038] While operating in the comfortable space mode, the robot 20 uses the environmental sensor 25c to sense the thermal environment around the robot 20 and communicates with an air conditioner installed in the facility 90 based on the sensing results to control the air conditioner. For example, the robot 20 can improve comfort in the location of a person by approaching a person, sensing the thermal environment at the person's location, and controlling the air conditioner. The robot 20 can also capture images of the inside of the facility 90 with the camera 25a and detect the number of people captured by the camera 25a through image processing, thereby controlling the air conditioner according to the number of people.

[0039] Furthermore, during operation in the comfortable space mode, the robot 20 may sense odors using the environmental sensor 25c, and if the odor level is equal to or greater than a threshold, may emit an odor using the odor emitting device 24c. Furthermore, during operation in the comfortable space mode, the robot 20 may sense a particulate concentration using the environmental sensor 25c, and if the particulate concentration is equal to or greater than a threshold, may notify a system (not shown) used by a cleaning company to prompt cleaning.

[0040] The users of the robot 20 during the period (b) of Figure 2 are tenants of the facility 90, and the self-propelled range of the robot 20 during operation in the comfortable space mode is, for example, only the areas of the facility 90 that the tenants have permission to use.

[0041] Furthermore, when a predetermined time arrives, such as 10:00-14:00 on the second Wednesday of every month, the robot management system 30 causes the robot 20 to operate in inspection mode (FIG. 2(c)). During operation in inspection mode, the robot 20 senses the carbon dioxide concentration and the like using the environmental sensor 25c and transmits the sensed values ​​(measured values) to a system (not shown) used by the equipment maintenance company. The sensed values ​​are used, for example, to inspect whether the space within the facility 90 meets predetermined standards and to create a report. The predetermined standards may be statutory standards set forth in laws and regulations such as the Building Management Sanitation Act.

[0042] The user of the robot 20 during the period (c) of Figure 2 is a maintenance company for the equipment installed in the facility 90, and the self-propelled range of the robot 20 during operation in inspection mode is, for example, only the area of ​​the facility 90 that requires inspection.

[0043] Thereafter, as the closing time for the tenant approaches, the robot management system 30 causes the robot 20 to operate in the call mode (FIG. 2(d)). While the robot 20 moves by itself, it plays (outputs) a message using the speaker 24b to encourage the tenant's employees to go home. The users of the robot 20 during the period shown in FIG. 2(d) are the tenants of the facility 90, and the self-propelled range of the robot 20 while operating in the call mode is, for example, only the areas of the facility 90 that the tenants have permission to use.

[0044] Thereafter, when the facility 90 transitions from an attended state to an unattended state, the access control system 50 cancels the normal mode and transitions to the alert mode, and transmits second information indicating that the normal mode has been cancelled to the robot management system 30. In other words, the second information is information indicating that the facility 90 has transitioned from an attended state to an unattended state. Upon receiving the second information, the robot management system 30 causes the robot 20 to operate in the alert mode ((e) of FIG. 2). The operation of the alert mode is as described above. The user of the robot 20 during the period (e) of FIG. 2 is the manager of the facility 90, and the self-propelled range of the robot 20 during operation in the alert mode is, for example, the entire facility 90.

[0045] In this way, by controlling the robot 20, the robot management system 30 can enable the robot 20 to be shared by the manager of the facility 90, tenants, and maintenance companies of the equipment installed in the facility 90.

[0046] [Terms of Use and Resource Information] The information stored in the storage unit 33 of the robot management system 30 to enable the robot 20 to be shared by multiple users as described above will be described below.

[0047] The memory unit 33 stores map information (floor plan information) for the facility 90. FIG. 3 is a diagram showing an example of map information for the facility 90. In the example of FIG. 3, the facility 90 is divided into three areas: Area 1 (common area), Area 2 (area exclusively used by the equipment maintenance company), and Area 3 (area exclusively used by the tenant). The areas that the administrator has permission to use are all of Areas 1, 2, and 3, the area that the tenant has permission to use is Area 3, and the area that the equipment maintenance company has permission to use is Area 2.

[0048] The storage unit 33 also stores usage condition information for switching users (usage authority) of the robot 20. Fig. 4 is a diagram showing an example of the usage condition information.

[0049] 4, the usage condition information specifies the user and the conditions under which the user can use the robot 20. For example, the manager of the facility 90 can use the robot 20 during the period when the alert mode is set in the access control system 50. Specifically, this is the period from when the manager receives the second information indicating that the alert mode has been set until when the manager receives the first information indicating that the alert mode has been released.

[0050] Furthermore, the tenant can use the robot 20 during the period when the alert mode is not set in the entry / exit control system 50. Specifically, this is the period from when the first information indicating that the alert mode has been cancelled is received until when the second information indicating that the alert mode has been set is received.

[0051] The facility maintenance company can use the robot 20 from 10:00 to 14:00 on the second Wednesday of every month, and during this period, even if the conditions for the manager or tenant to use the robot 20 are met, the facility maintenance company has priority for use.

[0052] As explained in the above outline of the operation, the self-propelled range of the robot 20 is changed depending on the user. In other words, the conditions indicated by the above-described usage condition information can be rephrased as conditions regarding the timing of the user's change or conditions regarding the timing of switching the self-propelled range.

[0053] The storage unit 33 also stores resource information indicating how the user uses the robot 20. Fig. 5 is a diagram showing an example of the resource information.

[0054] As shown in Fig. 5, the resource information specifies the operation of the robot 20 and the self-propelled range of the robot 20 for each user. For example, the resource information specifies that when the manager of the facility 90 uses the robot 20, the robot 20 will operate in security mode while self-propelling through all of areas 1, 2, and 3. The resource information also specifies that when a tenant uses the robot 20, the robot 20 will operate in spatial comfort mode while self-propelling through area 3, and will operate in call mode for a certain period of time starting at 5:00 PM. The resource information also specifies that when a facility maintenance company uses the robot, the robot 20 will operate in inspection mode while self-propelling through area 2.

[0055] The self-propelled range in the resource information can be considered as a candidate for the self-propelled range of the robot 20 (hereinafter also referred to as a candidate range). That is, the storage unit 33 stores a plurality of candidate ranges, and the plurality of candidate ranges include a first candidate range (areas 1, 2, and 3 in FIG. 5) determined according to the usage authority of the manager of the facility 90, and a second candidate range (area 3 in the example of FIG. 5) determined according to the usage authority of the tenant of the facility 90. In other words, the storage unit 33 stores a plurality of candidate ranges determined according to the usage authority of a plurality of users.

[0056] The map information, usage condition information, and resource information described above are stored in the storage unit 33 of the robot management system 30, for example, when an administrator performs a predetermined operation on an information terminal 40 that is communicatively connected to the robot management system 30. Furthermore, only the administrator is permitted to change (edit) the map information, usage condition information, and resource information. The usage conditions and robot behavior are determined, for example, by a contract between the administrator and other users.

[0057] The resource information may be configured so that each user can freely change the operations specified by the resource information using another information terminal. For example, the resource information may specify the functions of the robot 20 that each user is permitted to use. FIG. 6 is a diagram showing another example of resource information. In this case, each user can use another information terminal to determine how to operate the robot 20 using the permitted functions.

[0058] [Example 1] A description will be given of specific information processing executed by the information processing system 10 to realize the above-described sharing of the robot 20 by a plurality of users. FIG. 7 is a sequence diagram of a first operation example of the information processing system 10.

[0059] In the following operation example 1, it is assumed that map information similar to that shown in Fig. 3 and a control algorithm for executing a plurality of operation modes defined in the resource information are stored in advance in the storage unit 23 of the robot 20. The map information and the control algorithm are provided to the robot 20, for example, from the robot management system 30 or the information terminal 40. The map information may be created by the robot 20 itself when the robot 20 is introduced by having the robot 20 perform sensing using a sensor such as LiDAR while patrolling the facility 90, and in this case, the setting of a plurality of areas is performed by the information terminal 40 or the like.

[0060] The determination unit 34 of the robot management system 30 determines whether the conditions defined in the usage condition information have been met (S11). In the example of FIG. 4, the conditions are that a predetermined time has arrived (a condition based on a schedule), or that the communication unit 31 has received predetermined information (first information or second information) from the access control system 50. Note that the conditions defined in the usage condition information are not limited to these conditions. For example, the usage condition information may also define a condition that predetermined information has been received from a facility system other than the access control system 50.

[0061] When the judgment unit 34 judges that the conditions are satisfied, the output unit 35 identifies the user associated with the satisfied conditions in the usage condition information (S12), and by referring to the resource information, identifies the self-propelled range of the robot 20 corresponding to the identified user and the operation (operation mode of the robot 20) that the robot 20 will perform while it is self-propelled within the self-propelled range (S13).

[0062] Next, the output unit 35 communicates with the robot 20 using the communication unit 31 to output (transmit) to the robot 20 instruction information for instructing the robot 20 on the identified self-propelled range and operation instruction information for instructing the robot 20 on the identified operation (S14).

[0063] The communication unit 21 of the robot 20 receives the instruction information and the operation instruction information. The control unit 22 controls the movement mechanism 26 to cause the robot 20 to self-propel within the self-propelling range instructed by the instruction information, and executes the operation instructed by the operation instruction information (S15).

[0064] By repeating the processes of steps S11 to S15, the robot 20 can be shared by multiple users, as explained in the above outline of the operation. In other words, the robot management system 30 can realize a sharing service for the robot 20.

[0065] [Example 2] In addition to the map information and the control algorithm, resource information may be stored in the storage unit 23 of the robot 20. The resource information is provided to the robot 20 from the robot management system 30 or the information terminal 40 as initial setting information, for example. Fig. 8 is a sequence diagram of such an operation example 2 of the information processing system 10.

[0066] The determination unit 34 of the robot management system 30 determines whether the conditions defined in the usage condition information are satisfied (S21). If the determination unit 34 determines that the conditions are satisfied, the output unit 35 identifies the user associated with the satisfied conditions in the usage condition information (S22).

[0067] Next, the output unit 35 communicates with the robot 20 using the communication unit 31, thereby outputting (transmitting) to the robot 20 instruction information for instructing the robot 20 about the identified self-propelled range (S23). The instruction information in this case is information that indirectly indicates the self-propelled range, including the identification information of the user identified in step S12.

[0068] The communication unit 21 of the robot 20 receives the instruction information. The control unit 22 refers to the resource information stored in the storage unit 23 to identify a self-propelled range and an action associated with the user's identification information included in the instruction information (S24). The control unit 22 also controls the movement mechanism 26 to cause the robot 20 to self-propel within the identified self-propelled range, thereby executing the identified action (S25).

[0069] By repeating the processes of steps S21 to S25, the robot 20 can be shared by multiple users, as explained in the above outline of the operation. In other words, the robot management system 30 can realize a sharing service for the robot 20.

[0070] In Operation Example 2, the robot management system 30 does not need to specify the self-propelled range and operation. Also, the robot management system 30 can omit sending operation instruction information to the robot 20. In other words, the amount of information processing on the robot management system 30 side can be reduced, and the amount of communication between the robot management system 30 and the robot 20 can be reduced.

[0071] [Example 3] In addition to the map information and the control algorithm, the storage unit 23 of the robot 20 may store resource information and use condition information. The resource information and use condition information are provided to the robot 20 from the robot management system 30 or the information terminal 40 as, for example, initial setting information. Fig. 9 is a sequence diagram of such an operation example 3 of the information processing system 10.

[0072] The control unit 22 of the robot 20 determines whether the conditions defined in the usage condition information are satisfied (S31). If the condition is that predetermined information has been received from a system such as the entrance / exit management system 50, the communication unit 21 communicates with that system.

[0073] When the control unit 22 determines that the condition is satisfied, it identifies the user associated with the satisfied condition in the usage condition information (S32). Furthermore, the control unit 22 refers to the resource information to identify the self-propelled range of the robot 20 corresponding to the identified user and the operation (operation mode of the robot 20) that the robot 20 will perform while it is self-propelled within the self-propelled range (S34).

[0074] Furthermore, the control unit 22 controls the movement mechanism 26 to cause the robot 20 to move independently within the identified self-traveling range, while executing the identified operation (S35).

[0075] By repeating the processes of steps S31 to S35, the robot 20 can be shared by multiple users as explained in the outline of the operation above. In other words, a sharing service for the robot 20 is realized.

[0076] In Operation Example 3, the robot management system 30 does not need to determine whether the conditions are met or specify the self-propelled range and operation. Also, the robot management system 30 can omit sending instruction information and operation instruction information to the robot 20. In other words, the amount of information processing on the robot management system 30 side can be reduced, and the amount of communication between the robot management system 30 and the robot 20 can be reduced.

[0077] [Variations] In the above embodiment, the facility 90 has been described as, for example, an office building. However, the facility 90 may be other facilities such as an apartment building, a factory, a research facility, a medical facility, or an accommodation facility.

[0078] In the above embodiment, the security mode, comfortable space mode, inspection mode, and call mode are exemplified as the operation modes of the robot 20. However, the operation modes of the robot 20 are not limited to these.

[0079] The operation modes of the robot 20 may also include an operation mode performed as an interrupt process. For example, when the robot management system 30 receives predetermined information indicating that it has started to rain in the area where the facility 90 is located from a weather information management system (not shown), the robot 20 may move independently within the facility 90 while outputting a message indicating that it has started to rain from the speaker 24b. In other words, the robot 20 may notify a person located within the facility 90 that it has started to rain. The robot 20 may notify not only that it has started to rain but also that a weather warning has been issued.

[0080] In the above embodiment, the owner of the robot 20 is described as the manager of the facility 90, but the owner of the robot 20 may be a tenant or an equipment maintenance company. The owner of the robot 20 may also be a party that does not directly use the robot 20, such as a rental company of the robot 20.

[0081] The robot management system 30 may also manage usage history information that indicates the usage history of each of multiple users. FIG. 10 is a diagram showing an example of usage history information. For example, when the user of the robot 20 is changed (for example, immediately after the output unit 35 outputs instruction information), the information processing unit 32 of the robot management system 30 stores the usage history of the previous users in the memory unit 23. As a result, the memory unit 23 stores the usage history information.

[0082] The usage history information can be used, for example, to analyze the usage status of the robot 20. The usage history information may also be used in a billing process when the owner of the robot 20 charges the user according to the usage time.

[0083] [Effects, etc.] Hereinafter, examples of inventions that can be obtained from the disclosure of this specification will be given, and the effects and the like that can be obtained from these inventions will be explained.

[0084] Invention 1 is a robot management system 30 that includes a memory unit 33 that stores a plurality of candidate ranges, each of which is a candidate for the self-propelled range of a self-propelled robot 20 within a facility 90 and is determined according to the usage authority of a plurality of users, and an output unit 35 that outputs instruction information for indicating one of the plurality of candidate ranges as the self-propelled range.

[0085] Such a robot management system 30 can change the range in which the robot 20 moves independently depending on the user's usage authority.

[0086] Invention 2 is the robot management system 30 of Invention 1, wherein the output unit 35 further outputs operation instruction information that instructs the robot 20 to perform an operation while the robot 20 is self-propelled within the self-propelled range instructed by the instruction information.

[0087] Such a robot management system 30 can instruct the robot 20 on its operation.

[0088] Invention 3 is a robot management system 30 of Invention 1 or 2, in which the multiple candidate ranges include at least a first candidate range determined according to the usage authority of the manager of the facility 90 and a second candidate range determined according to the usage authority of the tenant of the facility 90.

[0089] Such a robot management system 30 can instruct the robot 20 on its operation.

[0090] Invention 4 is a robot management system 30 according to any one of Inventions 1 to 3, in which the memory unit 33 stores conditions regarding the timing of switching the self-propelled range, the robot management system 30 further includes a judgment unit 34 that judges whether the conditions are met, and the output unit 35 outputs instruction information when it is judged that the conditions are met.

[0091] Such a robot management system 30 can switch the self-propelled range of the robot 20 by determining whether or not a predetermined condition is satisfied.

[0092] Invention 5 is the robot management system 30 of Invention 4, in which the condition is that a predetermined time has arrived.

[0093] Such a robot management system 30 can switch the self-propelled range of the robot 20 when a predetermined time arrives.

[0094] Invention 6 is the robot management system 30 of Invention 4, further comprising a communication unit 31 that communicates with another system, and the condition is that the communication unit 31 has received predetermined information from the other system.

[0095] Such a robot management system 30 can switch the self-propelled range of the robot 20 when predetermined information is received.

[0096] Invention 7 is the robot management system 30 of Invention 6, in which the other system is an equipment system related to equipment installed in the facility 90, and the condition is that the communication unit 31 has received specified information from the equipment system.

[0097] Such a robot management system 30 can switch the self-propelled range of the robot 20 when predetermined information is received from the facility system.

[0098] Invention 8 is the robot management system 30 of Invention 7, in which the facility system is an access control system 50, and the specified information is first information indicating that a transition has occurred from a state in which there are no people in the facility 90 to a state in which there are people in the facility 90, or second information indicating that a transition has occurred from a state in which there are people in the facility 90 to a state in which there are no people in the facility 90.

[0099] The robot management system 30 can switch the self-propelled range of the robot 20 when the first information or the second information is received from the entrance / exit management system 50.

[0100] A ninth invention is an information processing system 10 including the robot management system 30 according to any one of the first to eighth inventions and a robot 20.

[0101] Such an information processing system 10 can change the range in which the robot 20 moves independently depending on the user's usage authority.

[0102] Invention 10 is a self-propelled robot 20 comprising a communication unit 21 that receives instruction information by communicating with a robot management system 30 of any one of Inventions 1 to 8, a moving mechanism 26, and a control unit 22 that controls the moving mechanism 26 to cause the robot 20 to self-propel within a self-propelling range instructed by the received instruction information.

[0103] Such a robot 20 can change the range in which it moves independently depending on the user's usage authority.

[0104] Invention 11 is a management method for a self-propelled robot 20 executed by a computer system such as a robot management system 30, wherein the computer system can access a memory unit 33 in which a plurality of candidate ranges are stored, each of which is a candidate for the self-propelled range of the self-propelled robot 20 within a facility 90 and is determined according to the usage authority of a plurality of users, and the management method includes an output step S14 or S23 that outputs instruction information for designating one of the plurality of candidate ranges as the self-propelled range.

[0105] Such a management method makes it possible to change the range in which the robot 20 moves independently depending on the user's usage authority.

[0106] Invention 12 is a program for causing a computer system to execute the management method of Invention 11.

[0107] According to such a program, the computer system can change the range in which the robot 20 moves independently depending on the user's usage authority.

[0108] (Other embodiments) Although the embodiments have been described above, the present invention is not limited to the above-described embodiments.

[0109] For example, in the above embodiment, the robot management system is realized by one or more server devices. As such, the "system" in this specification may be composed of a single device or multiple devices. When a system is composed of multiple devices, the components (especially functional components) of the system may be distributed among the multiple devices in any manner.

[0110] For example, the robot management system in the above embodiment may include a robot itself in addition to one or more server devices, and some or all of the processing described as being performed by the robot management system may be performed by the robot. For example, the robot included in the robot management system may include a storage unit that stores multiple candidate ranges and an output unit that outputs instruction information for specifying one of the multiple candidate ranges as the self-propelled range.

[0111] Furthermore, the method of communication between the devices in the above-described embodiment is not particularly limited. Furthermore, a relay device (such as a broadband router, not shown) may be involved in the communication between the devices.

[0112] In the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit. The order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0113] In the above-described embodiments, each component may be realized by executing a software program suitable for that component, or by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0114] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0115] Furthermore, the general or specific aspects of the present invention may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0116] For example, the present invention may be realized as a method executed by a computer system, as a program for causing a computer system to execute the method, or as a computer-readable non-transitory recording medium on which such a program is recorded.

[0117] In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope of the present invention. [Explanation of symbols]

[0118] 10 Information Processing Systems 20. Robot 21, 31 Communications Department 22 Control Unit 23, 33 Storage section 24a Display section 24b speaker 24c scent generator 25a Camera 25b Microphone 25c Environmental Sensor 26 Moving mechanism 30 Robot Management System 32 Information Processing Department 34 Judgment section 35 Output section 40 Information terminal 50 Entrance / Exit Control System 80 Wide Area Communication Network 90 facilities

Claims

1. a storage unit that stores a plurality of candidate ranges, each of which is a candidate for a self-propelled robot's self-propelled range within the facility, and which are determined according to the usage authorities of a plurality of users; an output unit that outputs instruction information for designating one of the plurality of candidate ranges as the free-travel range; Robot management system.

2. The output unit further outputs operation instruction information that instructs the robot to perform an operation while the robot is self-propelled within the self-propelled range instructed by the instruction information. The robot management system according to claim 1 .

3. The plurality of candidate ranges include at least a first candidate range determined according to the usage authority of a manager of the facility and a second candidate range determined according to the usage authority of a tenant of the facility. The robot management system according to claim 1 or 2.

4. The storage unit stores conditions regarding timing for switching the free-running range, The robot management system further includes a determination unit that determines whether the condition is satisfied, The output unit outputs the instruction information when it is determined that the condition is satisfied. The robot management system according to any one of claims 1 to 3.

5. The condition is that a predetermined time has arrived. The robot management system according to claim 4 .

6. Further, a communication unit for communicating with other systems is provided, The condition is that the communication unit receives predetermined information from the other system. The robot management system according to claim 4 .

7. the other system is an equipment system related to equipment installed in the facility, The condition is that the communication unit receives the predetermined information from the equipment system. The robot management system according to claim 6 .

8. the facility system is an access control system, The predetermined information is first information indicating that the facility has transitioned from a state where no one is present to a state where someone is present, or second information indicating that the facility has transitioned from a state where someone is present to a state where no one is present. The robot management system according to claim 7 .

9. A robot management system according to any one of claims 1 to 8; The robot Information processing system.

10. A self-propelled robot, a communication unit that receives the instruction information by communicating with the robot management system according to any one of claims 1 to 8; A moving mechanism; a control unit that controls the movement mechanism to cause the robot to self-propel within the self-propelled range instructed by the received instruction information. robot.

11. A method for managing a self-propelled robot executed by a computer system, comprising: the computer system can access a storage unit that stores a plurality of candidate ranges, each of which is a candidate range for the robot's self-propelled movement within the facility, the candidate ranges being determined according to the usage authorizations of a plurality of users; The management method includes an output step of outputting instruction information for designating one of the plurality of candidate ranges as the free-travel range. Management method.

12. A program for causing the computer system to execute the management method according to claim 11.

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