Management system and management program

Abstract

To provide a management system and a management program for enabling management of an architectural-related space in consideration of time factors.SOLUTION: A management system includes: acquisition means which acquires drawing information indicating an architectural drawing representing an architectural-related space related to construction, target object-related information regarding the construction in the architectural-related space, and movement-related information; and management means which performs management processing for management regarding the architectural-related space, based on the drawing information, the target object-related information, and the movement-related information acquired by the acquisition means. The management means performs management processing using space ID for identifying each of a plurality of sub spaces obtained by dividing the architectural-related space into a plurality of sub spaces based on a predetermined management unit. The target object-related information and the movement-related information are information including time factors.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a management system and a management program. [Background technology]

[0002] Conventionally, a technique for displaying information using a spatial ID has been known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-200699 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, for example, architectural spaces related to architecture are expected to change over time, and there has been a demand for technology to manage architectural spaces taking such time factors into account.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a management system and a management program that are capable of managing architectural spaces while taking into account the time factor. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the management system described in claim 1 comprises an acquisition means for acquiring architectural drawing information indicating architectural drawings that represent an architectural-related space related to a building, and architectural-related information related to a building in the architectural-related space that is different from the architectural drawing information, and a management means for performing management processing to manage the architectural-related space based on the architectural drawing information and the architectural-related information acquired by the acquisition means, wherein the management means performs the management processing using space identification information that identifies each of a plurality of divided spaces when the architectural-related space is divided into a plurality of divided spaces based on a predetermined management unit, and the architectural drawing information or the architectural-related information is information that includes a temporal element.

[0007] A management system according to a second aspect of the present invention is the management system according to the first aspect, wherein the management means performs, as the management process, a process of associating the architectural drawing information and the architectural-related information with each other.

[0008] The management system of claim 3 is the management system of claim 1, wherein the construction-related information includes movable space information indicating movable spaces, which are spaces within which a work device used within the construction-related space can move, and the management means performs the following management processes: displaying divided spaces corresponding to the movable spaces, generating a movement plan for the work device, generating a work plan for the work device, controlling the work device, displaying information about the work device, or obtaining construction space-related information about the construction-related space using the work device.

[0009] The management system of claim 4 is the management system of claim 3, wherein the management means, in the process of generating a movement plan for the working device, performs a generation process of generating a plurality of movement routes consisting of divided spaces corresponding to the movable spaces among the plurality of divided spaces, and a specification process of specifying the shortest movement route among the plurality of movement routes along which the working device can perform the target action.

[0010] The management system of claim 5 is the management system of claim 3, wherein the management means, in the process of displaying information about the work device, performs a process of displaying current location information indicating the current location of the work device within the architectural drawing, and when the work device installed on the first floor of a building moves to a transfer space for moving from the first floor to the second floor of the building, the management means transitions the architectural drawing from a first architectural drawing showing the first floor to a second architectural drawing showing the second floor.

[0011] The management system of claim 6 is the management system of claim 3, in which the management means, in the process of acquiring the architectural space-related information using the work device, performs a process of interrelating the architectural space-related information, the space identification information corresponding to the position of the work device at the time of acquiring the architectural space-related information, and acquisition time information indicating the time of acquisition of the architectural space-related information.

[0012] The management program described in claim 7 causes a computer to function as: an acquisition means for acquiring architectural drawing information indicating architectural drawings that represent an architectural-related space related to architecture; and architectural-related information related to architecture in the architectural-related space that is different from the architectural drawing information; and a management means for performing management processing to manage the architectural-related space based on the architectural drawing information and the architectural-related information acquired by the acquisition means, wherein the management means performs the management processing using space identification information that identifies each of a plurality of divided spaces when the architectural-related space is divided into a plurality of divided spaces based on a predetermined management unit, and the architectural drawing information or the architectural-related information is information that includes a temporal element. [Effects of the Invention]

[0013] According to the management system of claim 1 and the management program of claim 7, management processing is performed based on architectural drawing information and architectural-related information, and since the architectural drawing information or architectural-related information is information that includes a time element, it is possible to manage architectural-related spaces, for example, taking the time element into consideration.

[0014] According to the management system described in claim 2, by performing a process of correlating architectural drawing information and architectural-related information with each other, for example, architectural drawing information and architectural-related information can be appropriately used, thereby making it possible to appropriately manage them.

[0015] According to the management system described in claim 3, it is possible to effectively manage, for example, by performing processes such as displaying divided spaces corresponding to movable spaces, generating work plans, controlling work equipment, displaying information about work equipment, or obtaining architectural space-related information about architectural-related spaces using work equipment.

[0016] According to the management system described in claim 4, by performing a generation process to generate multiple movement routes and a specification process to specify the shortest movement route by which the target action can be performed, it becomes possible to efficiently manage the action using, for example, a work device.

[0017] According to the management system described in claim 5, when the work device moves to the movement space, the first architectural drawing is transitioned to the second architectural drawing, so that, for example, an appropriate architectural drawing corresponding to the floor on which the work device is located can be used, thereby making it possible to appropriately display the current position of the work device.

[0018] According to the management system of claim 6, by performing a process of correlating architectural space-related information, space identification information corresponding to the position of the working device at the time of acquiring the architectural space-related information, and acquisition time information indicating the acquisition time of the architectural space-related information, it becomes possible to effectively utilize each piece of information, for example. For example, when this information is stored and accumulated, it becomes possible to know the acquisition time of the space-related information and the position of the working device at the time of acquiring the architectural space-related information (i.e., the acquisition position of the architectural space-related information). [Brief explanation of the drawings]

[0019] [Figure 1]1 is a block diagram showing a functional concept of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a perspective view showing the exterior of a building. [Figure 3] This is a floor plan showing the first floor of the building. [Figure 4] FIG. 2 is an explanatory diagram of a divided space. [Figure 5] FIG. 10 is a diagram illustrating drawing-related information. [Figure 6] FIG. 10 is a diagram illustrating an example of drawing information. [Figure 7] FIG. 10 is a diagram illustrating an example of object-related information. [Figure 8] FIG. 10 is a diagram illustrating an example of travel-related information. [Figure 9] FIG. 10 is an explanatory diagram of the integration process. [Figure 10] FIG. 10 is an explanatory diagram of the integration process. [Figure 11] FIG. 10 is an explanatory diagram of the integration process. [Figure 12] FIG. 10 is an explanatory diagram of the integration process. [Figure 13] FIG. 10 is an explanatory diagram of the integration process. [Figure 14] 10 is a display example of drawing information, etc. [Figure 15] 10 is a display example of drawing information, etc. [Figure 16] 10 is a display example of drawing information, etc. [Figure 17] 10 is a display example of drawing information, etc. [Figure 18] 10 is a display example of drawing information, etc. [Figure 19] 10 is a display example of drawing information, etc. [Figure 20] 10 is a display example of drawing information, etc. [Figure 21] 10 is a display example of drawing information, etc. DETAILED DESCRIPTION OF THE INVENTION

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a management system and a management program according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0021] [I] Basic Concept of the Embodiment First, the basic concept of the embodiment will be described. The embodiment relates to a management system and a management program. The management system according to the present invention is a system that performs management processing.

[0022] "Management processing" refers to processing for managing architectural-related spaces, specifically processing performed by a computer, and is a concept that includes, for example, processing for correlating architectural drawing information and architectural-related information with each other, processing for generating a movement plan for a working device, processing for generating a work plan for a working device, processing for controlling a working device, processing for displaying information about a working device, or processing for obtaining architectural space-related information about an architectural-related space using a working device. Note that the concept of management processing includes any other processing as long as it falls within the above definition.

[0023] "Construction-related space" refers to space related to construction, and is a concept that includes, for example, the space inside and outside a building under construction or already constructed, or any other space (for example, space for parking construction vehicles, etc.).

[0024] In the following embodiment, the "architectural space" is a space within a building under construction.

[0025] [II] Specific details of the embodiment Next, specific details of the embodiment will be described.

[0026] (composition) FIG. 1 is a block diagram showing the functional concept of a robot system according to this embodiment, FIG. 2 is a perspective view showing the exterior of a building, and FIG. 3 is a plan view showing the first floor of the building. Note that FIGS. 2 and 3 only show schematic diagrams. In addition, in FIGS. 2 and 3, the X, Y, and Z axes are assumed to be mutually orthogonal, with the Z axis indicating the vertical direction and the X and Y axes indicating the horizontal direction (the same applies to the axes in the other figures). In addition, the solid lines shown within the building M900 in FIG. 3 represent walls, and the areas where these walls are installed are impassable.

[0027] (Composition - Building) The building M900 in Fig. 2 is a building under construction to which the robot system 100 in Fig. 1 is applied, and for example, the interior space of the building corresponds to the "construction-related space." The building M900 in Fig. 2 is a building having a predetermined number of floors, including, for example, the first floor shown in Fig. 3 and a second floor (not shown).

[0028] In this embodiment, for example, a case where patrols related to interior construction work are performed in the space on the first floor of FIG. 3 using the robot system 100 of FIG. 1 will be mainly described as an example.

[0029] (Configuration - Robot System) 1 is a system including a management system, and includes, for example, a terminal device 1 and a patrol robot 2, and these devices are capable of communicating with each other. Note that, although the number of terminal devices 1 and patrol robots 2 in the robot system 100 is arbitrary, the present embodiment will be described focusing on those illustrated in FIG.

[0030] (Configuration - Robot System - Divided Space) Fig. 4 is an explanatory diagram of the divided spaces. The robot system 100 in Fig. 1 manages the space of the building M900 in Fig. 2 based on the divided spaces.

[0031] A "divided space" is a space obtained by dividing a building-related space based on a predetermined management unit, and more specifically, is a concept that indicates a space of any predetermined shape and size. A "predetermined management unit" is a concept that indicates the standard for determining a divided space, and is a concept that indicates information that specifies the shape or size of each divided space, such as a cube with one side measuring 5 meters. Note that, for the sake of convenience, the example given here is a case where "one side is 5 meters," but other dimensions are also acceptable; for example, one side could be 5 cm or one side could be 50 cm.

[0032] In this embodiment, a case will be described in which the space (mainly the interior space) of the building M900 in Fig. 2 is divided and managed into a plurality of divided spaces S that are adjacent to each other in the horizontal and vertical directions as shown in Fig. 4. Note that "dividing and managing the space (mainly the interior space) of the building M900 into a plurality of divided spaces S" is a concept indicating the performance of information processing corresponding to dividing and managing the space of the building M900 into a plurality of divided spaces S.

[0033] 4, for the sake of convenience, only some of the divided spaces S are illustrated, but when the above information processing is performed, the entire space of the building M900 is actually divided into many divided spaces S for processing. That is, for example, since the entire space of the building M900 is divided into many divided spaces S for information processing, it becomes possible to identify any position in the building M900 by the position of the divided spaces S.

[0034] In addition, in this embodiment, a case will be described in which the space on each floor of building M900 is divided into a large number of divided spaces S of the same shape and size when viewed in plan (FIG. 3) and managed. That is, in the space on each floor, a large number of divided spaces S (FIG. 4) are lined up in the vertical direction (+Z direction) and horizontal direction (direction along the XY plane), but in this embodiment, since the space is managed in a planar view, the large number of divided spaces S on each floor are not distinguished from one another when they are lined up in the vertical direction (+Z direction), and only those lined up in the horizontal direction (direction along the XY plane) are distinguished from one another when they are processed.

[0035] In this embodiment, a case will be described in which the vertical direction (Z-axis direction) is distinguished by floor, and the horizontal direction (direction along the XY plane) is distinguished using the divided space S or coordinates described later.

[0036] (Configuration - Robot System - Terminal Device) The terminal device 1 in FIG. 1 is a management system, and is, for example, a device that can be used by a user (such as an administrator or an operator), and is, for example, a smartphone or a tablet terminal.

[0037] As a variation, the terminal device 1 may be configured using a computer other than a smartphone or a tablet terminal (for example, a personal computer, a cloud server, etc.).

[0038] The terminal device 1 in FIG. 1 includes, for example, a communication unit 11, a touchpad 12, a display 13, a recording unit 14, and a control unit 15.

[0039] (Configuration - Robot system - Terminal device - Communication unit) The communication unit 11 in FIG. 1 is a communication means for communicating with an external device (for example, the patrol robot 2).

[0040] (Configuration - Robot System - Terminal Device - Touchpad) The touch pad 12 in FIG. 1 is an operation means for receiving various operational inputs from the user.

[0041] (Configuration - Robot System - Terminal Device - Display) The display 13 in FIG. 1 is an image display means for displaying various images, and for example, the touch pad 12 and the display 13 are integrally formed as a touch panel.

[0042] (Configuration - Robot System - Terminal Device - Recording Unit) 1 is a recording unit that records programs and various data. As shown in FIG. 1, the recording unit 14 stores, for example, drawing-related information, object-related information, and movement-related information.

[0043] (Configuration - Robot system - Terminal device - Recording section - Drawing related information) Fig. 5 is a diagram illustrating drawing-related information, and Fig. 6 is a diagram illustrating drawing information. The drawing information in Fig. 6 is drawing information showing a floor plan illustrating the first floor of building M900.

[0044] "Drawing-related information" is information relating to architectural drawings that represent the building M900, and for example, information corresponding to each item in FIG. 5 is stored.

[0045] ===Drawing ID=== The "Drawing ID" in Figure 5 is information that uniquely identifies the drawing information representing each architectural drawing (e.g., "ID001" in Figure 5). Note that although the drawing ID is shown here as an example for the sake of convenience, it may be omitted if it is not necessary in the data structure.

[0046] ===Floor Information=== The "floor number information" in FIG. 5 is information indicating the floor number displayed on the architectural drawing (in FIG. 5, "1F" indicates the first floor, etc.).

[0047] ===Drawing Information=== The "drawing information" in Fig. 5 is architectural drawing information showing architectural drawings that mainly show the interior space (architectural-related space) of building M900. In this embodiment, the architectural drawings are assumed to be floor plans, and in Fig. 5, an image file showing the architectural drawing, such as "B001.jpg", is stored as the drawing information.

[0048] The information at the top of the drawing-related information in Figure 5 indicates that the drawing information identified by "ID001" is "B001.jpg" (drawing information indicating the architectural drawing in Figure 6), and that the drawing information indicates the first floor of building M900.

[0049] The method for storing this drawing-related information is arbitrary, but for example, the information is stored by inputting the corresponding information to the terminal device 1.

[0050] (Configuration - Robot system - Terminal device - Recording unit - Object-related information) Fig. 7 is a diagram illustrating object-related information. "Object-related information" is construction-related information related to construction in a construction-related space, and more specifically, is information related to objects (in this embodiment, various materials, equipment, etc.) installed in the building M900, and for example, information corresponding to each item in Fig. 7 is stored.

[0051] ===Object ID=== The "object ID" in Fig. 7 is information for uniquely identifying an object. In Fig. 7, "ID801" indicating the object 801 in Fig. 3, "ID802" indicating the object 802, etc. are stored. Note that the "object" is an object to be placed in the building M900, and is a concept that includes, for example, materials or equipment used in construction work.

[0052] ===Name information=== "Name information" in FIG. 7 is information indicating the name of the object ("material a" in FIG. 7, etc.).

[0053] ===Location information=== The "location information" in Fig. 7 is information indicating the location where an object is placed, for example, information indicating the location using the floor number and coordinates (for example, horizontal coordinates based on a predetermined coordinate system such as latitude and longitude). In Fig. 7, "1F(D1)" and the like indicating the first floor where object 801 in Fig. 3 is placed and the coordinates indicating the location of object 801 are stored. Note that "1F(D1)" in Fig. 7 is a description for convenience, and "1F" indicates the first floor, and "D1" indicates a group of coordinates indicating the location where object 801 is placed (for example, coordinates of the four horizontal corners, etc.).

[0054] ===Period Information=== 7 is information indicating the period during which the object is placed. In Fig. 7, it is "January 2nd, 9:00 - January 5th, 10:00", indicating the period from January 2nd, 9:00 to January 5th, 10:00.

[0055] The information at the top of the object-related information in Figure 7 indicates that the name of the object 801 (Figure 3) identified by "ID801" is "material a." It also indicates that the placement location of the object 801, based on the floor number and coordinates, corresponds to "D1" on the first floor. It also indicates that the object 801 will be placed at the aforementioned location during the period "January 2nd, 9:00 to January 5th, 10:00."

[0056] Note that the method for storing the object-related information is arbitrary, but for example, the terminal device 1 may acquire corresponding information from another predetermined system (for example, a system for reserving space for placing objects in the building M900) in response to a predetermined operation by the user, and store the information based on the acquired information. Furthermore, the storage method is not limited to this, and other methods may be used, such as storing the information based on information input by the user.

[0057] (Configuration - Robot system - Terminal device - Recording unit - Movement related information) 8 is a diagram illustrating an example of movement-related information. The "movement-related information" is construction-related information related to construction in a construction-related space, and is information related to the movement of the patrol robot 2 within the building M900, and for example, information corresponding to each item in FIG. 8 is stored.

[0058] ===Robot ID=== The "robot ID" in FIG. 8 is information that uniquely identifies the patrol robot 2 in FIG. 1 (eg, "ID201" in FIG. 8 that identifies the patrol robot 2 shown in FIG. 1).

[0059] ===Travel History Information=== The "movement history information" in Fig. 8 is information showing the movement history of the patrol robot 2 within the building M900. In Fig. 8, "T1:1F(D101)" and "T2:1F(D102)" are stored as information that correlates the floors and coordinates corresponding to the positions that the patrol robot 2 has passed through and the timestamps (information indicating the times when the robot passed through those positions). Note that "T1:1F(D101)" in Fig. 8 is a description for convenience, and indicates that the robot passed through the coordinates indicated by "D102" on the first floor indicated by "1F" at the time corresponding to "T1".

[0060] In addition, this movement history information can be interpreted as indicating the spaces in which the patrol robot 2 (working device) used within the building M900 can move, and therefore can be interpreted as corresponding to "movable space information indicating the movable spaces in which the working device used within the construction-related space can move."

[0061] The information at the top of the movement-related information in Figure 8 indicates that the patrol robot 2 identified by "ID201" moved, passed through a position corresponding to "D101" on the first floor at a time corresponding to "T1", and passed through a position corresponding to "D102" on the first floor at a time corresponding to "T2".

[0062] The movement-related information may be stored by any method, but for example, each patrol robot 2 may be configured to generate information indicating its own movement history (i.e., information corresponding to the movement history information in FIG. 8), and each patrol robot 2 may transmit the generated information to the terminal device 1 at any timing (periodically or when a predetermined operation is performed, etc.), and the movement-related information may be stored based on the transmitted information. Furthermore, the storage method is not limited to this, and other methods may be used, such as a method in which the terminal device 1 constantly monitors the position of the patrol robot 2 by any method, and the information is stored based on the monitoring results.

[0063] (Configuration - Robot system - Terminal device - Control unit) 1 is a control means for controlling the terminal device 1, and is configured using, for example, a CPU, RAM, ROM, and other internal memories. In terms of functional concept, the control means 15 includes, for example, an acquisition means and a management means.

[0064] ===Acquisition method=== The "acquisition means" is a means for acquiring architectural drawing information indicating architectural drawings that represent architectural-related spaces related to architecture, and architectural-related information related to architecture in architectural-related spaces that is different from the architectural drawing information.

[0065] "Architectural drawing information" is information indicating architectural drawings that represent architectural-related spaces related to architecture, and is a concept that includes information indicating, for example, floor plans, side views, perspective views, top views, and bottom views. In this embodiment, as described above, a case will be described in which the drawing information in Fig. 5 corresponds to "architectural drawing information."

[0066] "Construction-related information" is information about construction in a construction-related space, and is different from construction drawing information. "Construction-related information" is a concept that includes, for example, information indicating the space in which objects (including various devices) used in a construction-related space can move (including information corresponding to movement history), information indicating the placement position of objects (including materials or equipment), etc. In this embodiment, we will explain the case where the object-related information in Figure 7 and the movement-related information in Figure 8 correspond to "construction-related information."

[0067] Each of these "architectural drawing information" and "architectural-related information" may be configured as information including a time element, or may be configured as information not including a time element, but in this embodiment, a case where the "architectural-related information" is configured as information including a time element will be described as an example. For example, the timestamps (such as "T1" in FIG. 8) of the period information in FIG. 7 and the movement history information in FIG. 8 may be interpreted as corresponding to a time element.

[0068] ===Management means=== The "management means" is a means for performing management processing for managing architectural-related spaces based on the architectural drawing information and architectural-related information acquired by the acquisition means. Specifically, the management processing is performed using space identification information that identifies each of the multiple divided spaces when the architectural-related space is divided into multiple divided spaces based on a specified management unit.

[0069] For example, in the process of generating a movement plan for a work device (management process), the "management means" performs a generation process of generating multiple movement routes consisting of divided spaces corresponding to movable spaces among the multiple divided spaces, and a specification process of specifying the shortest movement route among the multiple movement routes along which the work device can perform the target action.

[0070] The "management means", for example, in a process (management process) of acquiring architectural space-related information using a work device, performs a process of correlating the architectural space-related information with space identification information corresponding to the position of the work device at the time of acquiring the architectural space-related information, and acquisition time information indicating the time at which the architectural space-related information was acquired.

[0071] "Architectural space-related information" is information relating to architectural spaces, and is a concept that includes, for example, information that can be obtained using work equipment, such as images (including videos and still images) taken within architectural spaces, and various environmental information within architectural spaces (temperature, humidity, brightness, vibration, noise, etc.).

[0072] The "acquisition time of architectural space-related information" may be interpreted as a concept including, for example, the date and time, or as a concept including only the date or only the time.

[0073] Furthermore, the "management processes" executed by the management means described herein are examples only and are not limited to these.

[0074] (Configuration - Robot System - Patrol Robot) 1 is a working device used in a construction-related space, for example, a device that moves within the space of a building M900 to perform construction-related patrol work. The patrol robot 2 may be, for example, a four-legged walking robot, a two-legged walking robot, a vehicle-type robot, or a flying device (a so-called drone), but in this embodiment, a case where a four-legged walking robot is used will be described as an example.

[0075] The patrol robot 2 includes, for example, a communication unit 21, a sensor unit 22, a recording unit 23, and a control unit 24.

[0076] (Configuration - Robot System - Patrol Robot - Communications Department) The communication unit 21 in FIG. 1 is a communication means for communicating with an external device (for example, the terminal device 1).

[0077] (Configuration - Robot System - Patrol Robot - Sensor Unit) The sensor unit 22 in FIG. 1 is a detection means for detecting or acquiring various information. The specific type and configuration of the sensor unit 22 are arbitrary, but may include, for example, a GPS device, an inertial unit, a depth sensor, and a camera. The "GPS device" is, for example, a device for detecting the current position of the patrol robot 2. The "inertial unit" is, for example, a device for detecting the movement, rotation, or tilt of the patrol robot 2, and may be configured using, for example, an acceleration sensor (i.e., a motion sensor) and a gyro sensor. The "depth sensor" is, for example, a sensor for detecting information required to recognize the surrounding environment in three dimensions, and may, for example, be a sensor that can be realized using TOF (Time of Flight) technology. The "camera" is the aforementioned imaging means and imaging device, and may, for example, be configured using a CCD or CMOS image sensor, for example, for capturing video or still images. It should be noted that all or part of the configuration of the sensor unit 22 may be changed as desired, and for example, any sensor or detection unit may be used so as to realize the various processes described in this embodiment, or a microphone or the like may be provided so as to allow voice input to the terminal device 1. It should be noted that the configuration described here is an example, and the sensor unit 22 may be configured to use known techniques for detecting or acquiring various types of information, and for example, a LiDAR, a depth sensor, a PTZ camera, a 360-degree camera, and / or an inertial unit.

[0078] (Configuration - Robot System - Patrol Robot - Recording Unit) The recording unit 23 in FIG. 1 is a recording means for recording programs and various data.

[0079] (Configuration - Robot System - Patrol Robot - Control Unit) The control unit 15 in FIG.

[0080] (process) Next, a description will be given of the integration process, generation process, control process, and display process executed by the robot system 100 according to this embodiment. Here, for example, a case will be described in which the integration process and generation process are executed assuming a future date and time, and then the control process and display process are executed.

[0081] (Processing - Integrated Processing) First, the integration process will be described. The "integration process" is a process executed by the terminal device 1, and is a process for associating architectural drawing information and architectural-related information with each other. For example, the "integration process" is a process for associating the object-related information in FIG. 7 and the movement-related information in FIG. 8 with the drawing information in FIG. 5.

[0082] The timing of execution of this integration process is arbitrary, but for example, it is assumed to be started when the user performs a predetermined operation, and the explanation will begin from the point where the execution of the process starts (the same applies to other processes). Unless otherwise specified, the explanation will be given for the process related to the patrol robot 2 in FIG. 1 indicated by "ID201" in FIG. 8 (the same applies to other processes). In this integration process, steps 1 to 4 are executed.

[0083] 9 to 13 are explanatory diagrams of the integration process. In the integration process, processing is performed on all drawing information in the drawing-related information in Fig. 5, but here, the processing on "B001.jpg", which is drawing information showing the first floor, will be explained as an example.

[0084] ===Step 1=== In the first step, the control unit 15 acquires one piece of drawing information from the drawing-related information in Figure 5, and sets a predetermined coordinate system (a coordinate system corresponding to the location information in Figure 7 and the movement history information in Figure 8, for example, a coordinate system corresponding to latitude and longitude) for the floor plan indicated by the acquired drawing information.

[0085] Here, for example, drawing information of "B001.jpg" in Fig. 6 is acquired, and a coordinate system corresponding to longitude and latitude is set for the floor plan of the first floor. By setting this coordinate system, it becomes possible to identify the positions of objects 801, 802, etc. in Fig. 3 (position information in Fig. 7) on the floor plan indicated by the drawing information based on the position information in Fig. 7, and to identify positions corresponding to the positions through which patrol robot 2 has moved based on the movement history information in Fig. 8.

[0086] ===Second Step=== Next, in the second step, the control unit 15 allocates divided spaces S (Figure 4) in the space of the building M900, and then generates a space ID for each of the allocated divided spaces S in the floor plan indicated by the drawing information acquired in the first step.

[0087] The "space ID" is space identification information for uniquely identifying each of the divided spaces S (Fig. 4) described above. Note that multiple divided spaces S exist at the same horizontal position on the same floor, but as described above, the vertical direction is distinguished by floor and the horizontal direction is distinguished by divided space S, so the following description will focus on processing one representative divided space S (for example, the lowest divided space S (-Z direction)) of the multiple divided spaces S that exist in the vertical direction at the same horizontal position.

[0088] Here, for example, by allocating divided spaces S (FIG. 4) in the space of building M900, divided spaces S are allocated throughout the space as shown by the rectangles in FIG. 9, and space IDs that uniquely identify all allocated divided spaces S are generated. For example, "IDs001" is generated as the space ID for divided space S001 in FIG. 9. Then, in subsequent processing, these allocated divided spaces S and space IDs are used as appropriate.

[0089] In this case, the stairs (the space for moving from the first floor to the second floor) included in the drawing information of Figure 6 will be assigned, for example, the divided space S171 indicated by the space ID "IDs171" in Figure 11.

[0090] ===Third Step=== Next, in the third step, the control unit 15 acquires the object-related information of Figure 7, and uses the space ID (i.e., the aforementioned assigned divided space S) to associate the object-related information of Figure 7 acquired above, which corresponds to the expected future date and time, with the drawing information acquired in the first step.

[0091] Specifically, using the coordinate system set above, the position indicated by the position information in Figure 7 (position information regarding the object corresponding to the expected future date and time) is identified on the floor plan shown by the drawing information, the space ID of the divided space S that includes the identified position is identified, and the position of the divided space S indicated by the space ID on the floor plan is identified as the position of the object, thereby associating them.

[0092] 7 (location information relating to an object corresponding to an expected future date and time), information indicating the expected future date and time (future date and time information) is input by the user to the terminal device 1, and processing is performed using the input future date and time information. That is, in the above processing, attention is focused on the period information in FIG. 7, and processing is performed on information relating to an object in which the period indicated by the period information includes the date and time indicated in the future date and time information.

[0093] Here, for example, if the future date and time information indicates "January 4th, 10:00", the positions indicated by "1F (D1)" and "1F (D2)" in Figure 7 (positions corresponding to the positions of objects 801 and 802 in Figure 3) are identified in the floor plan indicated by the drawing information in Figure 10, and the space IDs "IDs151" to "IDs153" of divided spaces S151 to S153 that include the identified positions, and "IDs161" to "IDs162" of divided spaces S161 to S162 are identified, and the positions of divided spaces S151 to S153 indicated by "IDs151" to "IDs153" and divided spaces S161 to S162 indicated by "IDs161" to "IDs162" are identified as the positions of objects 801 and 802, as shown in Figure 11, thereby associating the building-related information in Figure 7 (information on object 802) with the floor plan.

[0094] For example, if the future date and time information indicates "January 2nd, 10:00", the period information of "ID802" in FIG. 7 does not include that date and time, and therefore only the position of the object 801 is identified.

[0095] ===Fourth Step=== Next, in the fourth step, the control unit 15 acquires the movement-related information of Figure 8, and uses the space ID (i.e., the assigned divided space S) to associate the object-related information of Figure 8 acquired above with the drawing information acquired in the first step.

[0096] Specifically, using the coordinate system set above, the position indicated by the movement history information in Figure 8 is identified on the floor plan shown by the drawing information, the space ID of the divided space S that includes the identified position is identified, and the position of the divided space S indicated by the space ID on the floor plan is identified as the position through which the patrol robot 2 has moved (i.e., the space through which the patrol robot 2 can move), thereby associating them.

[0097] Note that, for example, a configuration may be made in which, focusing on the timestamp included in the movement history information in Fig. 8, movement history information within a predetermined period (for example, within 2 to 5 days) based on the current time is selected, and the above-mentioned processing is performed only on the selected movement history information. In such a configuration, it is possible to identify a space corresponding to a position that has actually been traveled through recently as a movable space, making it possible to reflect the recent situation.

[0098] Here, for example, in the plan view shown by the drawing information in Figure 9, the position indicated by the movement history information associated with "ID201" in Figure 8 is identified, the space ID of the divided space S hatched in Figure 12 is identified as the space ID of the divided space S including the identified position, and the position of the divided space S indicated by the space ID (the one hatched in Figure 12) is identified as a position through which the patrol robot 2 has moved (i.e., a space in which the patrol robot 2 can move), thereby associating the movement-related information in Figure 8 (information about the patrol robot 2 indicated by "ID201") with the plan view.

[0099] By executing steps 1 to 4 in this manner, as shown in Figure 13, it becomes possible to use the space ID (i.e., divided space S) in the plan view to grasp the spaces corresponding to the positions of objects 801 and 802 (divided spaces S151 to S153, S161 to S162) and the spaces in which patrol robot 2 can move (those hatched in Figure 13), and this will be used to perform the following processing.

[0100] (Processing - Generation Processing) Next, the generation process will be described. The "generation process" is a process executed by the terminal device 1, and is a process for generating a movement plan and an operation plan for the patrol robot 2.

[0101] Here, we will explain an example of generating a movement plan and work plan to move a patrol robot 2 installed at a predetermined position (for example, a position corresponding to the periphery of object 802 in Figure 3) on the first floor of building M900 to the periphery of object 801 and capture images of object 801 (architectural space related information).

[0102] Also, for example, the case where the input future date and time information is "January 4th, 10:00" will be mainly explained, and the case where the future date and time information is "January 2nd, 10:00" will also be explained as appropriate.

[0103] 14 to 19 are examples of displaying drawing information, etc. In this generation process, the first to third steps are executed.

[0104] ===Step 1=== In the first step, the control unit 15 acquires the information associated in the integration process. Specifically, the control unit 15 acquires drawing information (see FIG. 13) in which the object-related information in FIG. 7 and the movement-related information in FIG. 8 are associated with each other and in which the coordinate system and the divided space S are set, and displays the acquired information on the display 13.

[0105] Here, for example, if the future date and time information input to the terminal device 1 is "January 4th, 10:00", the information shown in Fig. 14 is displayed. In particular, the divided spaces S corresponding to the object-related information in Fig. 7 and the movement-related information in Fig. 8 associated in the integration process are highlighted so that they can be visually recognized by the user. That is, the divided spaces S corresponding to the positions of the objects 801 and 802 (divided spaces S151 to S153, S161 to S162) and the divided spaces S corresponding to the spaces in which the patrol robot 2 can move (shown with hatching) are highlighted.

[0106] Here, for example, if the future date and time information input to terminal device 1 is "January 2nd, 10:00," the process is basically the same, and information is displayed as shown in Fig. 15. However, since the period information (Fig. 7) of object 802 of objects 801 and 802 does not include "January 2nd, 10:00," divided spaces S161 to S162 in Fig. 14 are not highlighted, and only divided spaces S151 to S153 corresponding to the arrangement position of object 801 are highlighted. Note that "divided spaces S161 to S162 in Fig. 14 are not highlighted" may be interpreted as a concept corresponding to, for example, not highlighting or not displaying at all (i.e., not displaying).

[0107] ===Second Step=== Next, in a second step, the control unit 15 acquires the destination information (information indicating the location to which the user is going) and the work content information (information indicating the content of the work to be performed at the work target location) input by the user.

[0108] Here, for example, it is assumed that the patrol robot 2 is provided at a position corresponding to the divided space S101 in Fig. 16. Then, it is assumed that the user performs an operation of tapping the divided space S102 in Fig. 16 as destination information via the touchpad 12, and also performs an operation of inputting information indicating the work content of taking an image of the object 801 around the object 801 as work content information (specifically, the work content of taking an image from the divided space S102 (work target position) in Fig. 16 toward the divided space S152 side).

[0109] Although the example shown here is one in which the destination information and the work content information have the same work target location, they may be different from each other.

[0110] In this case, the space ID "IDs102" indicating the divided space S102 is input to the terminal device 1 as destination information, and information indicating the work content of taking an image toward the divided space S152 is input as work content information, and these input pieces of information are acquired.

[0111] ===Third Step=== Next, in a third step, the control unit 15 generates a movement plan and a work plan corresponding to the destination information and work content information acquired in the second step, based on the divided space S (space ID).

[0112] Specifically, although any process is possible, for example, the current position of the patrol robot 2 is identified, a route from the identified current position through the movable space to the destination is generated (generation process), and the shortest movement route (the route with the shortest movement distance) that can perform the work content (target action) indicated by the work content information is identified from the generated route (identification process). Note that since the location of the target object is difficult for the patrol robot 2 to pass through, a route that avoids this location is generated.

[0113] The method for determining the current position of the patrol robot 2 is arbitrary, but for example, by communicating with the patrol robot 2, coordinate information indicating the coordinates of the current position of the patrol robot 2 can be obtained from the patrol robot 2, and the position corresponding to the coordinates indicated by the obtained coordinate information can be determined based on the coordinate system set in the drawing information, thereby determining the divided space S corresponding to that position as the current position.

[0114] Here, for example, first, the divided space S101 in FIG.

[0115] Next, if the future date and time information is "January 4th, 10:00", a route (one route) consisting of the hatched divided space S in Figure 17 is generated as a route from the divided space S101 through the movable space (the hatched divided space S in Figure 16) to the destination divided space S102 (a route that does not pass through the divided spaces S161 to S162 corresponding to the object 802).

[0116] Next, the shortest travel route that can execute the work content indicated by the work content information is identified from among the generated routes in Fig. 17. Since there is only one route generated as described above, this route is identified. In other words, the route corresponding to the space IDs indicating the multiple divided spaces S hatched in Fig. 17 is identified.

[0117] Furthermore, when the future date and time information is "January 2nd, 10:00," routes consisting of the hatched divided spaces S in FIG. 18 (two routes including a route moving from the divided space S101 to the right side of the drawing and a route moving to the left side of the drawing) are generated as routes from the divided space S101 through the movable spaces to the destination divided space S102. Next, of the two routes generated in FIG. 18, the route moving to the right side of the drawing has the shortest travel distance, so this route is identified as the shortest travel route. In other words, routes corresponding to space IDs indicating the multiple hatched divided spaces S in FIG. 19 are identified.

[0118] The route generated in this manner is then regarded as the movement plan. Furthermore, the work content indicated by the work content information acquired in the second step described above is regarded as the work plan. Note that, for convenience of explanation, the movement plan and the work plan have been described as different concepts here, but since the work content information is used when generating a movement route in the movement plan, the process of generating a movement route may also be interpreted as corresponding to the process of generating a movement plan and a work plan.

[0119] (Processing - Control Processing) Next, the control process will be described. The "control process" is a process executed by the terminal device 1, and is a process for controlling the patrol robot 2. In this control process, a first step and a second step are executed.

[0120] ===Step 1=== In the first step, the control unit 15 transmits control information for causing the patrol robot 2 to perform operations corresponding to the movement plan and work plan generated in the generation process. Note that this transmission process may be interpreted as corresponding to "processing for controlling a work device."

[0121] Here, for example, at "January 4th, 10:00", control information (information indicating control to move to divided space S102 via the movement route in Figure 17 and take an image in divided space S102 toward divided space S152) for performing operations corresponding to the movement plan and work plan generated in the generation process (each plan generated assuming "January 4th, 10:00") is transmitted to the patrol robot 2.

[0122] Since it is difficult for the patrol robot 2 to identify its position based on the space ID (i.e., the divided space S), the control unit 15 may be configured to convert the information for identifying the position in the movement plan and work plan generated in the generation process from the space ID (i.e., the divided space S) into coordinate information indicating the corresponding coordinates, and transmit the converted coordinate information to the patrol robot 2 for control.

[0123] On the other hand, the control unit 24 of the patrol robot 2 receives control information from the terminal device 1 and performs an operation corresponding to the received control information.

[0124] Here, for example, the patrol robot 2 moves to a position corresponding to the divided space S102 along the movement route of FIG. 17 on the first floor of the building M900 (FIG. 3), captures an image facing the divided space S152 at that position, and immediately after capturing the image, transmits the image to the terminal device 1. In this case, the patrol robot 2 captures an image facing the object 801 at a position in the vicinity of the object 801 in FIG. 3 (to the left of the drawing) (i.e., captures the object 801), and therefore an image containing the object 801 is transmitted to the terminal device 1.

[0125] ===Second Step=== In the second step, the control unit 15 receives and acquires the image transmitted from the patrol robot 2, identifies the time at which the image was acquired (acquisition time), and stores and accumulates the image in the recording unit 14 in a state in which the acquisition time information indicating the identified time, the acquired image, and the space ID indicating the divided space S corresponding to the shooting position of the image are correlated with each other.

[0126] The method for specifying the acquisition time is arbitrary, but for example, a method for specifying the acquisition time using a timing means such as a timer installed in the terminal device 1 may be used.

[0127] Furthermore, the space ID to be stored as mentioned above may be, for example, a space ID corresponding to the work target position that can be identified in the movement plan or work plan generated in the generation process, or the patrol robot 2 may transmit coordinate information indicating the coordinates of the shooting position to the terminal device 1, and a space ID indicating the divided space S corresponding to the coordinates indicated by the coordinate information may be stored.

[0128] Here, for example, an image containing the object 801, acquisition time information, and "IDs102" are stored in association with each other.

[0129] (Processing - Display Processing) Next, the display process will be described. The "display process" is a process executed by the terminal device 1, and is a process for displaying the current position of the patrol robot 2.

[0130] Here, for example, a case will be described in which the patrol robot 2 is configured to transmit coordinate information indicating the coordinates of its own current position to the terminal device 1 at predetermined time intervals (for example, at intervals of 1 second to 10 seconds).

[0131] Here, for example, a case where the patrol robot 2 performs the operation exemplified in the control process will be described.

[0132] 20 and 21 are examples of displaying drawing information and the like.

[0133] The control unit 15 receives and acquires the coordinate information transmitted from the patrol robot 2, identifies the divided space S corresponding to the acquired coordinate information, and displays the information of Figure 13 on the display 13 by performing processing similar to the first step of the generation process, and then displays the current position of the patrol robot 2 by superimposing a current position identification image G100 (current position information indicating the current position of the patrol robot 2) (Figure 20) at a position corresponding to the identified divided space S.

[0134] By repeating this process, the current position identification image G100 moves in accordance with the movement of the patrol robot 2, making it possible to grasp the current position of the patrol robot 2. Here, for example, in accordance with the movement of the patrol robot 2, the display position of the current position identification image G100 changes from the position in FIG. 20 to the position in FIG. 21.

[0135] 20 and 21, the divided spaces S corresponding to the movement start position (current position at the time of execution of the generation process) of the patrol robot 2, the movement destination position, and the work target position may be displayed with information corresponding to each position. The display manner may be any as long as each position can be recognized, and for example, the corresponding graphic information or symbol information may be displayed, or the display color may be different, or the display may be highlighted by any method such as blinking.

[0136] (Effects of this embodiment) According to this embodiment, management processing is performed based on architectural drawing information and architectural-related information, and since the architectural drawing information or architectural-related information is information that includes a temporal element, it is possible to manage architectural-related spaces, for example, taking the temporal element into consideration.

[0137] [III] Modifications to the embodiment Although the embodiments of the present invention have been described above, the specific configurations and means of the present invention can be arbitrarily modified and improved within the scope of the technical ideas of each invention described in the claims.

[0138] (Functional layout) A part of the functions of the terminal device 1 may be implemented in the patrol robot 2, and a part of the functions of the patrol robot 2 may be implemented in the terminal device 1.

[0139] (About transition of drawing information) In addition, the management means of the control unit 15 of the terminal device 1 in the above embodiment may be configured to transition the architectural drawing from a first architectural drawing showing the first floor to a second architectural drawing showing the second floor when a working device installed on the first floor of a building moves to a transfer space for moving from the first floor to the second floor of the building.

[0140] The term "first floor" may be interpreted as referring to any one floor in a building with multiple floors, and the term "second floor" may be interpreted as referring to another floor in the building that is different from the first floor.

[0141] Alternatively, as a variation, the "first floor" may be interpreted as referring to a portion of an area on a specific floor of a building, and the "second floor" may be interpreted as referring to an area other than the "first floor" on that specific floor of the building (i.e., the same floor).

[0142] Although any specific implementation method may be used, for example, a case will be described in which the patrol robot 2 is controlled to move from the first floor to the second floor by going through the stairs in FIG.

[0143] In this case, in the above-mentioned display process, it is determined whether the coordinate information received and acquired from the patrol robot 2 indicates coordinates included in the divided space S171 in Figure 21 (the divided space S corresponding to the position of the stairs in Figure 3), and if it is determined that it does, the drawing information indicating the first floor, "B001.jpg" (Figure 5), is switched (transitioned) to "B002.jpg" (Figure 5), which is the drawing information indicating the second floor, and displayed on the display 13.

[0144] By performing this processing, it becomes possible to appropriately display the drawing information corresponding to the floor on which the patrol robot 2 is located.

[0145] When the display is switched as described above, integration processing is performed on "B002.jpg" after the switch, so that the object-related information in FIG. 7 and the movement-related information in FIG. 8 relating to the second floor are reflected.

[0146] It may also be interpreted that the architectural drawing indicated by "B001.jpg" before the switch corresponds to the "first architectural drawing," and the architectural drawing indicated by "B002.jpg" after the switch corresponds to the "second architectural drawing."

[0147] Also, although the case where the drawing information is switched based on the divided space S corresponding to the position of the stairs has been described here, this is not limiting. For example, in a building provided with an elevator (a space for moving from the first floor to other floors), if the coordinate information of the patrol robot 2 indicates coordinates included in the divided space S corresponding to the elevator position, the drawing information may be switched (transitioned) to the drawing information indicating the destination floor according to the movement plan of the patrol robot 2. The same applies to spaces for moving to other floors other than stairs and elevators.

[0148] (Regarding the time element) A time element may also be added to the drawing information in the drawing-related information in Fig. 5. In detail, for example, since it is expected that the construction progresses over time and the internal structure of the building changes, a configuration may be adopted in which drawing information corresponding to each period (for example, the early stage of construction, the middle stage of construction, the end stage of construction, etc.) is stored, drawing information corresponding to the current date and time or the progress of the work is obtained, and the above-mentioned processes are performed based on the obtained drawing information.

[0149] (About partitioned spaces) Furthermore, the plurality of divided spaces S may have the same shape and size as one another, as exemplified in the embodiment, or may have different shapes and sizes.

[0150] (Regarding the process of displaying the divided space corresponding to the movable space) Furthermore, the control unit 15 (management means) of the terminal device 1 may be configured to perform processing to display divided spaces corresponding to the movable spaces. In the above embodiment, in the generation processing to generate a movement plan and a work plan, the control unit 15 displays the divided spaces S (hatched) corresponding to the movable spaces in Fig. 14, but this is not limiting. For example, the control unit 15 may be configured to simply display the divided spaces S (hatched) corresponding to the movable spaces of the patrol robot 2, regardless of the generation of the movement plan and the work plan.

[0151] (For each component) 1 are merely examples, and any element may be used as long as it exhibits the functions described above. For example, any input device may be used as the touchpad 12 of the terminal device 1 in FIG. 1 as long as it can input information, and examples thereof include a keyboard, a mouse, a joystick, and a microphone (a component for inputting voice information).

[0152] (Interpretation of terms) In the above embodiment, the terminal device 1 is described as corresponding to the "management system." However, this is not limiting, and for example, the robot system 100 may be interpreted as corresponding to the "management system." Furthermore, the drawing-related information in Fig. 5 may be interpreted as corresponding to the "architectural drawing information."

[0153] (About combinations) Furthermore, the features described in the embodiments and the features described in the modifications may be combined in any manner. [Explanation of symbols]

[0154] 1. Terminal equipment 2 Patrol robot 11 Communications Department 12 Touchpad 13. Display 14 Recording section 15 Control Unit 21 Communications Department 22 Sensor section 23 Recording Section 24 Control Unit 100 Robot Systems 801 Object 802 Object G100 Current location image M900 Building S partition space S101 Split space S102 Split space S151 Split space S152 Split space S153 Split space S161 Split space S162 Split space S171 Split space

Claims

1. an acquisition means for acquiring architectural drawing information indicating architectural drawings that represent an architectural-related space related to a building, and architectural-related information related to a building in the architectural-related space, the architectural-related information being different from the architectural drawing information; a management means for performing management processing for managing the architectural-related space based on the architectural drawing information and the architectural-related information acquired by the acquisition means, the management means performs the management process using space identification information that identifies each of the plurality of divided spaces when the architectural-related space is divided into a plurality of divided spaces based on a predetermined management unit; The architectural drawing information or the architectural-related information is information that includes a time element. Management system.

2. the management means performs, as the management process, a process of associating the architectural drawing information and the architectural-related information with each other; The management system according to claim 1 .

3. the construction-related information includes movable space information indicating a movable space in which a working device used in the construction-related space can be moved, The management means performs the following management processes: a process of displaying a divided space corresponding to the movable space; a process of generating a movement plan for the working device; a process of generating a work plan for the working device; a process of controlling the working device; a process of displaying information about the working device; or a process of acquiring architectural space-related information about the architectural space using the working device. The management system according to claim 1 .

4. In the process of generating a movement plan for the working device, the management means a generation process for generating a plurality of movement routes made up of divided spaces corresponding to the movable spaces among the plurality of divided spaces; and performing a process of identifying the shortest travel route among the plurality of travel routes that allows the working device to perform the target action. The management system according to claim 3 .

5. In the process of displaying information about the operation device, the management means a process of displaying current position information indicating the current position of the working device within the architectural drawing; The management means when the working device provided on a first floor of a building moves to a transfer space for moving from the first floor to a second floor of the building, the architectural drawing is transitioned from a first architectural drawing showing the first floor to a second architectural drawing showing the second floor; The management system according to claim 3 .

6. In the process of acquiring the architectural space-related information using the work device, the management means performing a process of correlating the architectural space-related information, the space identification information corresponding to the position of the working device at the time of acquisition of the architectural space-related information, and acquisition time information indicating the acquisition time of the architectural space-related information; The management system according to claim 3 .

7. Computer, an acquisition means for acquiring architectural drawing information indicating architectural drawings that represent an architectural-related space related to a building, and architectural-related information related to a building in the architectural-related space, the architectural-related information being different from the architectural drawing information; a management means for performing a management process for managing the architectural-related space based on the architectural drawing information and the architectural-related information acquired by the acquisition means, the management means performs the management process using space identification information that identifies each of the plurality of divided spaces when the architectural-related space is divided into a plurality of divided spaces based on a predetermined management unit; The architectural drawing information or the architectural-related information is information that includes a time element. Management program.

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