Information processing device, robot management system, information processing method, and information processing program

Abstract

To improve the conveyance efficiency of a conveyance robot.SOLUTION: An information processing device 20 includes: an acquisition unit for acquiring charging information of a robot 30 that travels in a limited space; and an instruction unit for providing instructions such that the robot 30 corresponding to a travel route included in a plurality of travel routes of the robot 30 and passing along a power feed lane for charging the robot 30 travels the aforementioned travel route based on the charging information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, in an unmanned transport system, when charging one of a plurality of transport vehicles at a charging station, a technology has been provided that determines the amount of charge for that transport vehicle based on the remaining charge of each storage unit acquired by a remaining charge acquisition unit so that the next charging timing for that transport vehicle does not overlap with the charging timing for other transport vehicles (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-047510 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, the non-contact power transmission unit, which is the charging station, is installed in only one location, and there is room for improvement in transportation efficiency.

[0005] The present disclosure has been made in consideration of the above points, and aims to improve the transport efficiency of a transport robot. [Means for solving the problem]

[0006] A first aspect of the present disclosure is an information processing device that includes an acquisition unit that acquires charging information for a robot traveling within a limited space, and an instruction unit that, based on the charging information, instructs the robot to travel along a route that passes through a power supply lane for charging the robot, from among multiple traveling routes for the robot, that corresponds to the traveling route.

[0007] A second aspect of the present disclosure is the information processing device of the first aspect, wherein the acquisition unit further acquires position information of the robot, and the instruction unit instructs the robot, whose remaining charge based on the charging information is lower than a predetermined threshold, to take the power supply lane closest to the robot as the driving route for the robot.

[0008] A third aspect of the present disclosure is the information processing device of the first aspect, wherein the acquisition unit further acquires task information including information on a destination assigned to the robot, and the instruction unit instructs the robot, whose remaining charge in the charging information is lower than a predetermined threshold, to take the power supply lane on the way to the destination as the driving route for the robot.

[0009] A fourth aspect of the present disclosure is the information processing device of the third aspect, wherein the acquisition unit further acquires position information of the robot, and the instruction unit instructs the robot, for a robot whose remaining charge level in the charging information is lower than a predetermined threshold, to select a power supply lane that is on the way to the robot's destination rather than the power supply lane closest to the robot's current position, as the driving route for the robot.

[0010] A fifth aspect of the present disclosure is an information processing device of the third aspect, wherein the acquisition unit acquires position information, charging information, and task information of each of the plurality of robots, and the instruction unit instructs each of the robots to travel along an updated travel route so as to exchange the travel destinations among the plurality of robots based on the charging information, position information, and task information of each of the robots.

[0011] A sixth aspect of the present disclosure is an information processing device of any one of the first to fifth aspects, wherein the instruction unit issues an instruction to change the traveling speed of the robot traveling in the power supply lane in accordance with the charging information.

[0012] A seventh aspect of the present disclosure is a robot management system, including an information processing device according to any one of the first to sixth aspects, and a plurality of the robots that communicate with the information processing device.

[0013] An eighth aspect of the present disclosure is an information processing method in which a computer executes a process of acquiring charging information for a robot traveling within a limited space, and based on the charging information, instructing the robot to travel along a route that passes through a power supply lane for charging the robot, from among multiple traveling routes for the robot, that corresponds to the traveling route.

[0014] A ninth aspect of the present disclosure is an information processing program that causes a computer to execute a process of acquiring charging information for a robot traveling within a limited space, and, based on the charging information, instructing the robot to travel along a route that passes through a power supply lane for charging the robot, from among multiple traveling routes for the robot, that corresponds to the traveling route. [Effects of the Invention]

[0015] According to the disclosed technology, the transport efficiency of a transport robot can be improved. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a block diagram showing an overall configuration according to an embodiment of the present invention; [Figure 2] FIG. 2 is an explanatory diagram showing the transport robot according to the embodiment traveling within a warehouse. [Figure 3] 1 is a block diagram showing a hardware configuration of an information processing device according to an embodiment of the present invention; [Figure 4] FIG. 2 is a block diagram showing the functional configuration of a management device according to the first embodiment. [Figure 5] 10 is an explanatory diagram showing that the management device according to the first embodiment instructs the transport robot to take the power supply lane closest to the transport robot as the travel route along which the transport robot should travel. FIG. [Figure 6]FIG. 10 is an explanatory diagram showing that the management device according to the first embodiment instructs the transport robot to take a power supply lane on its way to its destination rather than the power supply lane closest to the transport robot as the travel route for the transport robot. [Figure 7] FIG. 10 is an explanatory diagram showing that the management device according to the first embodiment instructs each transport robot to travel along an updated travel route so as to exchange the travel destinations among the plurality of transport robots. [Figure 8] FIG. 10 is an explanatory diagram showing that the management device according to the first embodiment instructs the transport robot to travel toward a charging station instead of a power supply lane. [Figure 9] 10 is a flowchart showing the flow of instruction processing according to the first embodiment. [Figure 10] 1 is a block diagram showing a management device according to a first embodiment provided on a transport robot. FIG. [Figure 11] FIG. 11 is an explanatory diagram showing that the management device according to the second embodiment instructs the transport robot traveling in the power supply lane to change the traveling speed. [Figure 12] 10 is a flowchart showing the flow of a speed change process according to the second embodiment. [Figure 13] FIG. 10 is a block diagram showing the functional configuration of an analysis device according to a third embodiment. [Figure 14] FIG. 11 is an explanatory diagram showing an example in which the analysis device according to the third embodiment displays on a map a trajectory in which the travel of a transport robot is frequency-distributed. [Figure 15] FIG. 11 is an explanatory diagram showing an example in which the analysis device according to the third embodiment displays the trajectory of the transport robot, which is frequency-distributed, on a map for each floor. [Figure 16] FIG. 10 is an explanatory diagram showing an example in which an analysis device according to a third embodiment proposes an optimal arrangement of power supply lanes in space. [Figure 17] 11 is a flowchart showing the flow of analysis processing according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] An example of an embodiment of the disclosed technology will be described below with reference to the drawings. Note that the same reference numerals are used to designate identical or equivalent components and parts in each drawing. Also, the dimensional proportions in the drawings are exaggerated for the sake of explanation and may differ from the actual proportions.

[0018] (First embodiment) The robot management system 10 of the first embodiment is applied to the management of a transport robot 30 when the robot is used to carry in and out cargo in a warehouse. This transport robot 30 moves within the warehouse, which is a limited space. Below, an example will be described in which the transport robot 30 moves within the warehouse.

[0019] Fig. 1 is a block diagram showing the overall configuration of a robot management system 10 according to this embodiment. As shown in Fig. 1, the robot management system 10 includes a management device 22, which is an information processing device, an analysis device 24 that analyzes a travel trajectory, a transport robot 30 that transports luggage while traveling, and a server 40 that stores various information. In the robot management system 10, the management device 22, the analysis device 24, the transport robot 30, and the server 40 are interconnected via a communication line N. Note that the number of each device is not limited to the example in Fig. 1.

[0020] The management device 22 is a computer that outputs instructions regarding the travel of the transport robot 30. In the example of Fig. 1, the management device 22 is described as a device that is external to the transport robot 30, but is not limited to this.

[0021] The analysis device 24 is a computer that analyzes the travel trajectory of the transfer robot 30. The analysis device 24 is equipped with a liquid crystal display 80 (see FIG. 14) and the like that allows a user 90 (see FIG. 14) of the robot management system 10 to visually confirm the analysis results. The analysis device 24 may be provided anywhere as long as it can be operated and viewed by the user 90 of the robot management system 10.

[0022] The transport robot 30 is a robot or vehicle that transports cargo while traveling autonomously, and may be an AMR (Autonomous Mobile Robot) or an AGV (Automated Guided Vehicle). The transport robot 30 travels along a predetermined route or autonomously recognizes the environment, detecting and avoiding obstacles. For example, the transport robot 30 is equipped with a laser scanner, a camera, an ultrasonic sensor, etc. to recognize the surrounding environment. A plurality of transport robots 30 are provided in a limited space such as a warehouse, and the plurality of transport robots 30 travel simultaneously. The plurality of transport robots 30 each travel in a different direction. Of course, a plurality of transport robots 30 may also travel in a line in the same direction. The transport robot 30 is also equipped with a loading platform for loading cargo. The transport robot 30 is also a rechargeable robot and is equipped with a battery. The transport robot 30 is capable of contactless charging and is equipped with at least one of a power receiving coil, a power receiving electrode, etc. on the bottom surface of the transport robot 30. The transfer robot 30 constantly calculates the amount of power used per unit time, the remaining charge, and the remaining operation time as power information. Note that the power information varies depending on the workload of the transfer robot 30.

[0023] The server 40 is a computer that stores various types of information, and is an on-premise server or a cloud server. The information stored in the server 40 includes, for example, information about the luggage carried by the transport robot 30, past travel information about the transport robot 30, information about warehouses, etc. to which the transport robot 30 travels, and information about the destination to which the transport robot 30 travels. The luggage information includes the number, weight, type, and dimensions of luggage. The past travel information includes the travel trajectory, charging timing, and travel time. The information about the warehouse, etc. to which the transport robot 30 travels includes the amount of storage, available storage space, timing of receiving luggage, number of floors of the building, and location information of the building. The information about the destination includes, for example, information about the shelves or containers where the transport robot 30 places luggage, and information about the truck that transports luggage from the warehouse.

[0024] FIG. 2 shows an image of multiple transport robots 30 traveling within a warehouse. As an example, the warehouse floor is equipped with a grid and white lines, and the transport robots 30 are controlled to travel autonomously along the white lines. The warehouse floor also includes a power supply lane 50. The power supply lane 50 is located along the black lines in FIG. 2, and the transport robots 30 are charged by providing at least one of a power transmission coil and a power transmission electrode along the black lines. The location of the power supply lane 50 can be changed, meaning that the location of the power transmission coil, etc., can be changed. Because each transport robot 30 travels autonomously, each has a different charging status. In the example of FIG. 2, the charging status of the transport robot 30 is indicated by three levels: a "requires charging" legend indicating that the remaining charge is low; a "ready for operation" legend indicating that the remaining charge is sufficient for travel; and a "fully charged" legend indicating that the remaining charge is full. For example, as shown in FIG. 2, the transport robot 30A is in a state where it needs to be charged, the transport robots 30B, 30C, and 30E are in a state where they are fully charged, and the transport robot 30D is in a state where it is operable.

[0025] 2 indicate the traveling direction of the transport robot 30. For example, in FIG. 2, the transport robot 30B is traveling in the direction of the right arrow as viewed from the paper, and the transport robot 30E is traveling in the direction of the down arrow as viewed from the paper. The exclamation mark on the transport robot 30A indicates that it has received an instruction from the management device 22 to pass through the power supply lane 50 due to a need for charging.

[0026] Fig. 3 is a block diagram showing the hardware configuration of the management device 22 and the analysis device 24 of each embodiment. The management device 22 and the analysis device 24 will be collectively referred to as the information processing device 20 hereinafter. As shown in Fig. 3, the information processing device 20 includes a CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, an input / output I / F (Interface) 204, a storage 205, and a communication I / F 206. Each component is connected to each other via a bus 207 so as to be able to communicate with each other. The information processing device 20 is also connected to an input device 208 and a monitor 209 so as to be able to communicate with each other via the input / output I / F 204.

[0027] The CPU 201 is a central processing unit that executes various programs and controls each component. That is, the CPU 201 reads programs from the ROM 202 and executes the programs using the RAM 203 as a work area. The CPU 201 controls each component and performs various arithmetic processing in accordance with the programs stored in the ROM 202.

[0028] The storage device, which is constituted by the ROM 202, stores various programs including an operating system and various data. The ROM 202 stores processing programs for executing instruction processing, speed change processing, and analysis processing, which will be described later.

[0029] The memory configured by the RAM 203 temporarily stores programs and data as a working area.

[0030] The input / output I / F 204 is an interface for communicating with an input device 208 and a monitor 209 that are external to the information processing device 20 .

[0031] The storage 205 is configured with a hard disk drive (HDD), a solid state drive (SSD), etc., and stores various types of data.

[0032] The communication I / F 206 is an interface for communicating with other devices, such as the transfer robot 30 and the server 40, outside the information processing device 20. For this communication, a wireless communication standard such as 4G, 5G, or Wi-Fi (registered trademark) is used.

[0033] The input device 208 includes a pointing device such as a mouse and a keyboard, and is used to perform various inputs.

[0034] The monitor 209 is, for example, a liquid crystal display, and is a device for outputting various types of information. The monitor 209 may employ a touch panel system and function as the input device 208. The monitor 209 may also include a speaker or the like as an audio output means.

[0035] Next, the functional configuration of the management device 22 according to this embodiment will be described with reference to Fig. 4. As shown in Fig. 4, the management device 22 according to this embodiment includes an acquisition unit 221 and an instruction unit 223. The CPU 201 executes a processing program stored in the ROM 202, thereby functioning as the acquisition unit 221 and the instruction unit 223.

[0036] The acquisition unit 221 acquires charging information of the transport robot 30 traveling in a limited space. Specifically, the acquisition unit 221 acquires charging information sent from each transport robot 30 via the communication I / F 206. The charging information includes the ratio of the remaining charge amount to the charge amount where full charge is 100% (hereinafter referred to as "remaining charge amount"), the time of charging, and location information.

[0037] The acquisition unit 221 further acquires position information of the transfer robot 30. Specifically, the acquisition unit 221 acquires the position information of each transfer robot 30 recognized by image analysis of an image of a floor including a plurality of transfer robots 30 captured by a video camera installed on the ceiling of a warehouse or the like. Alternatively, for example, the transfer robot 30 may use SLAM (Simultaneous Localization and Mapping) technology to simultaneously map the environment and estimate its own position while traveling, and the acquisition unit 221 acquires the position information as a result. Note that each transfer robot 30 may be equipped with a GPS (Global Positioning System) so that the acquisition unit 221 acquires the position information from the transfer robot 30.

[0038] The acquisition unit 221 further acquires task information including information on the destination assigned to the transport robot 30. The task information is information related to the transport task, including information on the destination and the type of cargo. Each transport robot 30 is assigned information on the destination, which is the destination of the transport, and is also assigned the type of cargo to be transported depending on the destination. The acquisition unit 221 acquires the latest task information sent from each transport robot 30 via the communication I / F 206. Alternatively, the acquisition unit 221 acquires the latest task information stored in the storage 205 of the management device 22. Note that, in the initial setting of the task information for each transport robot 30, the instruction unit 224 of the management device 22 assigns the task information, and the instruction unit 224 transmits the task information to each transport robot 30. The task information is updated as necessary during transport by the transport robot 30, and the acquisition unit 221 acquires the updated task information from each transport robot 30 or the storage 205.

[0039] As described above, the acquisition unit 221 acquires the charging information, the position information, and the task information of the transport robots 30 from the plurality of transport robots 30.

[0040] Based on the charging information, the instruction unit 223 instructs the transport robot 30 to travel a travel route that passes through the power supply lane 50 for charging the transport robot 30, from among multiple travel routes that one transport robot 30 has, corresponding to the travel route. The instruction unit 223 first calculates the charging priority of the transport robots 30 in descending order of remaining charge based on the charging information of the multiple transport robots 30 acquired by the acquisition unit 221. Based on the calculated charging priority, the instruction unit 223 instructs the transport robots 30 to travel a travel route that passes through the power supply lane 50, starting with the transport robot with the highest priority. The instruction of the travel route by the instruction unit 223 will be described in detail below.

[0041] The instruction unit 223 instructs the transport robot 30, whose remaining charge amount based on the charging information is lower than a predetermined threshold, to take the power supply lane 50 closest to the transport robot 30 as the travel route for the transport robot 30. More specifically, this will be described with reference to FIG. 5.

[0042] As shown in Fig. 5, the instruction unit 223 instructs the transport robot 30A, whose remaining charge level is lower than a predetermined threshold (charging status: charging required), to pass through the power supply lane 50 (see the exclamation mark in Fig. 5). The instruction unit 223 instructs the transport robot 30A to pass through the power supply lane 50A, which is the power supply lane 50 closest to the transport robot 30A. In the example of Fig. 5, before receiving a travel instruction from the instruction unit 223, the transport robot 30A was attempting to proceed in the direction of the up arrow, but after receiving an instruction from the instruction unit 223 to pass through the power supply lane 50A, the transport robot 30A changes its direction of travel in the direction of the right arrow and passes through the power supply lane 50A.

[0043] Furthermore, for a transport robot 30 whose remaining charge amount in the charging information is lower than a predetermined threshold, the instructing unit 223 instructs the transport robot 30 to take a power supply lane 50 on the way to the destination as the travel route to be taken by the transport robot 30. Furthermore, for a transport robot 30 whose remaining charge amount in the charging information is lower than a predetermined threshold, the instructing unit 223 instructs the transport robot 30 to take a power supply lane 50 on the way to the destination as the travel route to be taken by the transport robot 30, rather than the power supply lane 50 closest to the current position of the transport robot 30. This will be specifically described with reference to FIG. 6.

[0044] 6, the instruction unit 223 instructs the transport robot 30A, whose remaining charge amount is lower than a predetermined threshold (charging status: charging required), to pass through the power supply lane 50A on the way to the travel destination 60, rather than the nearest power supply lane 50B. Therefore, the transport robot 30A does not travel in the direction of the upward arrow toward the nearest power supply lane 50B (see the cross in FIG. 6), but travels in the direction of the downward arrow so as to pass through the power supply lane 50A on the way to the travel destination 60.

[0045] The instruction unit 223 also instructs each transport robot 30 to travel along a travel route that has been updated so that the travel destinations of the multiple transport robots 30 are exchanged based on the charging information, position information, and task information of each transport robot 30. This will be specifically described with reference to FIG.

[0046] As shown in FIG. 7, the instruction unit 223 sends an instruction to the transport robot 30A (charging status: needs charging) whose remaining charge amount is lower than a predetermined threshold to exchange task information with the transport robot 30C (charging status: fully charged) whose remaining charge amount is higher than the predetermined threshold (see the exclamation mark in FIG. 7). The transport robot 30C was scheduled to travel in the direction of the up arrow, but the instruction unit 223 instructed it to exchange task information with the transport robot 30A, so it travels in the direction of the left arrow toward the transport robot 30A. After exchanging task information with the transport robot 30C in response to the instruction from the instruction unit 223, the transport robot 30A travels in the direction of the right arrow so as to pass through the power supply lane 50. Note that the exchange of task information includes not only the exchange of the destination, which is the destination of the transport, but also the exchange of cargo.

[0047] When the remaining charge of the transport robot 30 is almost zero (for example, when the remaining charge is 5% or less), the instructing unit 223 instructs the transport robot 30 to travel toward the charging station 70 instead of the power supply lane 50. Specifically, as shown in FIG. 8, when the charge status of the transport robot 30A indicates that charging is required and the remaining charge is 5% or less, the instructing unit 223 instructs the transport robot 30 to travel toward the charging station 70. When the transport robot 30A arrives at the charging station 70, it stops and charges itself, so that it does not interfere with the travel of other transport robots 30.

[0048] Next, the operation of the management device 22 according to this embodiment will be described. Fig. 9 is a flowchart showing the flow of instruction processing executed in the management device 22. Each process in the management device 22 is executed by the CPU 201 functioning as an acquisition unit 221 and an instruction unit 223. The instruction processing is an example of an information processing method of the present invention.

[0049] 9, the CPU 201 acquires charging information of each transfer robot 30. The charging information includes the remaining charge, the time of charging, and the location where charging occurred.

[0050] In step S103, the CPU 201 determines whether or not there is a transport robot 30 whose remaining charge amount is lower than a predetermined threshold among the multiple transport robots 30. If the CPU 201 determines that there is a transport robot 30 whose remaining charge amount is lower than the predetermined threshold (step S103: YES), the CPU 201 proceeds to step S105. On the other hand, if the CPU 201 determines that there is no transport robot 30 whose remaining charge amount is lower than the predetermined threshold, that is, that the remaining charge amounts of all the transport robots 30 are equal to or greater than the predetermined threshold (step S103: NO), the instruction process ends.

[0051] In step S105, the CPU 201 calculates the charging order of each transport robot 30. Specifically, based on the three-stage charging status (needs charging, operable, and fully charged) of the transport robot 30 described above, the CPU 201 calculates the charging order of the transport robots 30 such that the transport robots 30 needing charging are given top priority, followed by the operable transport robots 30, and finally the fully charged transport robots 30. More specifically, as an example, when the needing charging indicates a remaining charge of 30% or less, the operable indicates a remaining charge of 30 to 80%, and the fully charged indicates a remaining charge of 80 to 100%, the CPU 201 not only classifies the transport robots 30 into three stages of charging status, but also rearranges them within each stage in order of lowest remaining charge value.

[0052] In step S107, the CPU 201 calculates the required length of the power supply lane 50. Specifically, the CPU 201 calculates the required length of the power supply lane 50 based on the amount of power supply required to fully charge (100% remaining charge) calculated from the remaining charge of the transport robot 30. For example, if the remaining charge of the transport robot 30 is 20% and charging to replenish 80% is required, the CPU 201 calculates the required amount of power supply and calculates the required length of the power supply lane 50. Note that the CPU 201 calculates the required length of the power supply lane 50 assuming that the travel speed of the transport robot 30 is constant. The transport robot 30 travels along the power supply lane 50 for the calculated length.

[0053] In step S109, the CPU 201 acquires the position information of each transport robot 30. Specifically, for example, the CPU 201 acquires the position information of each transport robot 30 recognized from an image captured by a video camera or the like of a floor of a warehouse or the like on which the transport robot 30 is traveling.

[0054] In step S111, the CPU 201 acquires task information for each transport robot 30. The task information includes information about the destination and the type of cargo. The task information acquired by the CPU 201 is the latest task information. Note that initial setting information in the task information is stored in the storage 205 of the management device 22. Task information updated according to the charging status of each transport robot 30 is stored in the storage 205 and each transport robot 30. Note that each transport robot 30 may have the latest task information when the transport robot 30 autonomously updates the task, or when the latest task information stored in the storage 205 is transmitted by the CPU 201. The task information acquired by the CPU 201 may be the latest task information from either the storage 205 or each transport robot 30.

[0055] In step S113, the CPU 201 determines whether or not the transport robots 30 exchange task information with each other. The CPU 201 exchanges task information with the transport robots 30 when a transport robot 30 in a fully charged state is present and task information can be exchanged with another transport robot 30 in a state requiring charging. Note that exchanging task information may not only change the travel destination but also the cargo being loaded. If the CPU 201 determines that task information is to be exchanged (step S113: YES), the process proceeds to step S115. On the other hand, if the CPU 201 determines that task information is not to be exchanged (step S113: NO), the process proceeds to step S121.

[0056] In step S115, the CPU 201 selects a transport robot 30 with which task information can be exchanged. Specifically, as an example, based on the charging order calculated in step S105, the CPU 201 selects a transport robot 30 with which task information can be exchanged between the transport robot 30 at the top of the charging order (charging status: needs charging) and the transport robot 30 at the bottom of the charging order (charging status: fully charged). Note that the selection may be made taking into consideration not only the charging order but also the distance to the transport robot 30 that needs charging.

[0057] In step S117, the CPU 201 instructs the selected transfer robot 30 to exchange task information.

[0058] In step S119, based on the exchanged task information, the CPU 201 updates the travel route of the transfer robot 30. Note that since the travel destination changes, the CPU 201 also optimizes the travel route.

[0059] In step S121, the CPU 201 determines whether or not there is a power supply lane 50 along the travel destination of the transfer robot 30. If the CPU 201 determines that there is a power supply lane 50 along the travel destination of the transfer robot 30 (step S121: YES), the process proceeds to step S123. On the other hand, if the CPU 201 determines that there is no power supply lane 50 along the travel destination of the transfer robot 30 (step S121: NO), the process proceeds to step S125.

[0060] In step S123, the CPU 201 transmits an instruction to the transport robot 30 to pass through the power supply lane 50 on the way to the destination. If the remaining charge of the transport robot 30 is low and the transport robot 30 cannot travel to the power supply lane 50 on the way to the destination, the instruction unit 223 instructs the transport robot 30 to travel through the nearest power supply lane 50. Then, the process ends.

[0061] In step S125, the CPU 201 transmits an instruction to the transfer robot 30 to pass through the nearest power supply lane 50 to the transfer robot 30. Then, the process ends.

[0062] As described above, the management device 22 according to this embodiment includes an acquisition unit 221 that acquires charging information of the transport robot 30 traveling within a limited space, and an instruction unit 223 that, based on the charging information, instructs the transport robot 30 to travel along a route that passes through a power supply lane 50 for charging the transport robot 30, from among a plurality of travel routes for the transport robot 30, corresponding to the travel route. Thus, according to the management device 22, a predetermined travel route is instructed from among the plurality of power supply lanes 50, and charging can be performed without interfering with the travel of other transport robots 30, thereby improving the transport efficiency of the transport robot 30.

[0063] Furthermore, in the management device 22 according to this embodiment, the acquisition unit 221 further acquires the position information of the transport robot 30, and the instruction unit 223 instructs the transport robot 30, whose remaining charge amount based on the charging information is lower than a predetermined threshold, to take the power supply lane 50 closest to the transport robot 30 as the travel route for the transport robot 30. Therefore, according to the management device 22, the transport robot 30 with a low remaining charge amount is charged by passing through the nearest power supply lane 50, thereby preventing the transport robot 30 from stopping due to running out of charge.

[0064] Furthermore, in the management device 22 according to this embodiment, the acquisition unit 221 further acquires task information including information on a destination assigned to the transport robot 30, and the instruction unit 223 instructs a transport robot 30 whose remaining charge amount in the charging information is lower than a predetermined threshold to take a power supply lane 50 on the way to the destination as a travel route for the transport robot 30. Therefore, according to the management device 22, the transport robot 30 can be charged in the power supply lane 50 on the way to the destination, thereby improving the transport efficiency of the transport robot 30.

[0065] Furthermore, in the management device 22 according to this embodiment, the acquisition unit 221 further acquires position information of the transport robot 30, and the instruction unit 223 instructs, for a transport robot 30 whose remaining charge amount in the charging information is lower than a predetermined threshold, to select a power supply lane 50 on the way to the transport robot 30's destination, rather than the power supply lane 50 closest to the current position of the transport robot 30. Therefore, according to the management device 22, the transport robot 30 can head to its destination while being charged without taking a detour, thereby improving the transport efficiency of the transport robot 30.

[0066] Furthermore, in the management device 22 according to this embodiment, the acquisition unit 221 acquires position information, charging information, and task information of the transport robots 30 from each of the multiple transport robots 30, and the instruction unit 223 instructs each transport robot 30 to travel along an updated travel route so as to cause the multiple transport robots 30 to exchange their travel destinations based on the charging information, position information, and task information of each transport robot 30. Thus, according to the management device 22, the transport robots 30 exchange their travel destinations based on the charging information, position information, and task information, thereby improving the transport efficiency of the transport robots 30.

[0067] In this embodiment, the transport robot 30 is applied to a case where it travels on a flat surface in a warehouse, but this is not limited to this, and it may also be applied to a case where it travels across floors in a warehouse with multiple floors.

[0068] In the above, in the present embodiment, an example has been shown in which the management device 22 as an information processing device issues instructions regarding travel to the transport robot 30, but this is not limiting. For example, the analysis device 24 may serve as an information processing device with a management function and issue instructions regarding travel to the transport robot 30. Furthermore, for example, as shown in FIG. 10 , one of the transport robots 30 may serve as an information processing device with a management function equivalent to the management device 22, and the transport robot 30 that has become the information processing device may issue instructions regarding travel to the other transport robots 30.

[0069] (Second embodiment) In the second embodiment, a process will be described in which, when the remaining charge of the transport robot 30 is lower than a predetermined threshold, the travel speed of the transport robot 30 traveling along the power supply lane 50 is reduced. Note that parts having the same configuration as those in the first embodiment will be assigned the same reference numerals and description thereof will be omitted.

[0070] FIG. 11 is a diagram showing that the transport robot 30 is reducing its traveling speed while traveling along the power supply lane 50.

[0071] The instruction unit 223 instructs the transfer robot 30 to change the travel speed of the transfer robot 30 traveling along the power supply lane 50, according to the charging information of the transfer robot 30. Specifically, as shown in FIG. 11 , the instruction from the instruction unit 223 causes the transfer robot 30A to travel along the power supply lane 50A at a reduced travel speed. The travel speed is reduced when the length of the power supply lane 50 is insufficient for the transfer robot 30 to fully charge at a normal speed, or when the transfer robot 30 wants to travel a shorter distance while charging in order to avoid interfering with the travel of other transfer robots 30. By reducing the travel speed while passing through the power supply lane 50, the transfer robot 30 can stay in the power supply lane 50 for a longer period of time, and therefore can be fully charged even if the power supply lane 50 is not long enough.

[0072] In this way, the management device 22 manages the overall travel of the transport robots 30 based on the remaining charge of each transport robot 30, the length of the power supply lane 50, the relative positional relationship with other transport robots 30, and the travel predictions of all transport robots 30. The instruction unit 223 of this embodiment transmits an instruction to change the travel speed of the transport robot 30 based on the overall travel information of the transport robot 30 managed by the management device 22. Note that the first embodiment and the second embodiment may be combined based on the overall travel information of the transport robot 30 managed by the management device 22.

[0073] Next, a description will be given of the operation of the management device 22 according to this embodiment. Fig. 12 is a flowchart showing the flow of speed change processing executed in the management device 22. Each process in the management device 22 is executed by the CPU 201 functioning as an acquisition unit 221 and an instruction unit 223.

[0074] 12, the CPU 201 acquires charging information of each transfer robot 30. The charging information includes the remaining charge, the time of charging, and the location where charging occurred.

[0075] In step S203, the CPU 201 determines whether or not there is a transport robot 30 among the multiple transport robots 30 whose remaining charge amount is lower than a predetermined threshold. If the CPU 201 determines that there is a transport robot 30 whose remaining charge amount is lower than the predetermined threshold (step S203: YES), the process proceeds to step S205. On the other hand, if the CPU 201 determines that there is no transport robot 30 whose remaining charge amount is lower than the predetermined threshold, that is, that the remaining charge amounts of all the transport robots 30 are equal to or greater than the predetermined threshold (step S203: NO), the speed change process ends.

[0076] In step S205, the CPU 201 calculates the required length of the power supply lane 50. Specifically, the CPU 201 calculates the required length of the power supply lane 50 based on the amount of power supply required to fully charge (100% remaining charge) calculated from the remaining charge of the transport robot 30. For example, if the remaining charge of the transport robot 30 is 20% and charging to replenish 80% is required, the CPU 201 calculates the required amount of power supply and calculates the required length of the power supply lane 50. Note that the CPU 201 calculates the required length of the power supply lane 50 assuming that the travel speed of the transport robot 30 is constant.

[0077] In step S207, the CPU 201 acquires the position information of each transport robot 30. Specifically, for example, the CPU 201 acquires the position information of each transport robot 30 recognized from an image captured by a video camera or the like of a floor of a warehouse or the like on which the transport robot 30 is traveling.

[0078] In step S209, the CPU 201 acquires task information of each transfer robot 30. Specifically,

[0079] In step S211, the CPU 201 determines whether or not there is a power supply lane 50 along the travel destination of the transfer robot 30. If the CPU 201 determines that there is a power supply lane 50 along the travel destination of the transfer robot 30 (step S211: YES), the process proceeds to step S213. On the other hand, if the CPU 201 determines that there is no power supply lane 50 along the travel destination of the transfer robot 30 (step S211: NO), the process proceeds to step S215.

[0080] In step S213, the CPU 201 transmits an instruction to the transport robot 30 to pass through a power supply lane on the way to the destination. If the remaining charge of the transport robot 30 is low and the transport robot 30 cannot travel to the power supply lane 50 on the way to the destination, the instruction unit 223 instructs the transport robot 30 to travel through the nearest power supply lane 50.

[0081] In step S215, the CPU 201 transmits an instruction to the transfer robot 30 to pass through the power supply lane 50 closest to the transfer robot 30.

[0082] In step S217, the CPU 201 determines whether the length of the power supply lane 50 along which the transfer robot 30, whose remaining charge level is lower than a predetermined threshold, travels is sufficient. The CPU 201 determines that the length of the power supply lane 50 is sufficient when, based on the remaining charge level of the transfer robot 30, the amount of power required for full charging is calculated, and the transfer robot 30 travels along the power supply lane 50 at its current travel speed, the calculated amount of power can be supplied. If the CPU 201 determines that the length of the power supply lane 50 along which the transfer robot 30 travels is sufficient (step S217: YES), the process proceeds to step S219. On the other hand, if the CPU 201 determines that the length of the power supply lane 50 along which the transfer robot 30 travels is insufficient (step S217: NO), the process proceeds to step S221. In addition, even if the CPU 201 determines in step S217 that the length of the power supply lane 50 is sufficient (step S217: YES), if it determines that the power supply lane 50 should travel slowly because it will interfere with other transport robots 30, the process proceeds to step S221.

[0083] In step S219, the CPU 201 sends an instruction to the transport robot 30 not to slow down the speed of the transport robot 30. The transport robot 30 runs at the same speed, or runs at an increased speed. Running at an increased speed occurs when the transport robot 30 is running in the power supply lane 50 and is sufficiently charged, and when it is desired to pass through the power supply lane 50 quickly. Then, the process ends.

[0084] In step S221, the CPU 201 transmits an instruction to the transport robot 30 to slow down the travel speed of the transport robot 30. Specifically, the CPU 201 calculates the amount of electricity that will fully charge the transport robot 30 by having the transport robot 30 travel at a low speed along the power supply lane 50. The CPU 201 calculates the travel speed of the transport robot 30 that will allow the transport robot 30 to finish supplying the calculated amount of electricity to the transport robot 30, and transmits an instruction to travel along the power supply lane 50 at that speed. Then, the process ends.

[0085] As described above, in the management device 22 according to this embodiment, the instructing unit 223 issues an instruction to change the travel speed of the transport robot 30 traveling in the power supply lane 50 in accordance with the charging information. Therefore, according to the management device 22, the travel speed of the transport robot 30 is changed to charge the transport robot 30, thereby improving the transport efficiency of the transport robot 30.

[0086] (Third embodiment) While the robot management system 10 of the first embodiment is an example in which the transport robot 30 travels on a flat surface in a warehouse, the robot management system 10 of the third embodiment is applied to a warehouse in which the transport robot 30 travels that is made up of multiple floors. In this case, the transport robot 30 may travel across upper and lower floors, and the management device 22 instructs each transport robot 30 on a route to travel along the power supply lane 50 based on the charging information of the transport robot 30 traveling on each floor.

[0087] In this embodiment, the analysis device 24 acquires the trajectories of the multiple transport robots 30 that travel in a space having the power supply lane 50, and performs processing to display the multiple trajectories on a map 100 (see FIG. 14) corresponding to the space. Note that parts that have the same configuration as those in the first and second embodiments are given the same reference numerals, and descriptions thereof will be omitted.

[0088] The functional configuration of the analysis device 24 according to this embodiment will be described with reference to Fig. 13. As shown in Fig. 13, the analysis device 24 according to this embodiment includes an acquisition unit 241, a display control unit 243, and a proposal unit 245. The CPU 201 executes a processing program stored in the ROM 202, thereby functioning as the acquisition unit 241, the display control unit 243, and the proposal unit 245.

[0089] The acquisition unit 241 acquires trajectories of multiple transport robots 30 that have traveled in a warehouse or the like having a power supply lane 50 for charging the transport robots 30. The travel trajectories are trajectories of travel in multiple intersecting directions. Since the past travel trajectories of the transport robots 30 are stored in the server 40, the acquisition unit 241 acquires the past travel trajectories from the server 40. Note that the acquisition unit 241 may acquire the current travel trajectory of the transport robot 30 directly from the transport robot 30.

[0090] When a warehouse or the like is made up of multiple floors, the acquisition unit 241 acquires a trajectory for each floor from the transport robot 30 traveling on the multiple floors. For example, when the floor on which the transport robot 30 travels is made up of multiple floors, the acquisition unit 241 acquires the travel trajectory of the transport robot 30 for each floor, such as a trajectory for the first floor, a trajectory for the second floor, and a trajectory for the third floor.

[0091] The display control unit 243 displays the trajectory, which is frequency-distributed based on the travel information of the transport robot 30, on a map 100. Specifically, as shown in FIG. 14, the map 100 can be viewed by a user 90 on a liquid crystal display 80 or the like. In FIG. 14, the enlarged view on the left is an enlarged view of the map 100. In the map 100 of FIG. 14, a dark-colored area 101 indicates a high frequency of travel of the transport robot 30, a light-colored area 102 indicates a medium frequency of travel of the transport robot 30, and a dotted area 103 indicates a low frequency of travel of the transport robot 30.

[0092] The display control unit 243 displays a trajectory corresponding to the map 100 for each floor. Specifically, as shown in FIG. 15, the display control unit 243 displays a trajectory in which the travel of the transport robot 30 is frequency-distributed on the map 100 for each floor. Here, the display control unit 243 switches the display of the map 100 for each floor. For example, the map 100 for each floor shown in FIG. 15 can be switched and displayed for each floor by the user 90 operating an icon on the liquid crystal display 80.

[0093] The proposing unit 245 proposes an optimal arrangement of the power supply lanes 50 in space based on the frequency distribution of the travel trajectory. Specifically, for example, the proposing unit 245 proposes changing the arrangement of the power supply lanes 50A and 50B in the map 100A at the top of FIG. 16 to the arrangement of the power supply lanes 50C and 50D in the map 100B at the bottom of FIG. 16. The arrangement of the power supply lanes 50 in the map 100B at the bottom of FIG. 16 correlates with the travel frequency distribution trajectory shown in FIG. 14. That is, the power supply lanes 50 are arranged in places where travel is frequent (see map 100B in FIG. 16). In this way, the proposing unit 245 proposes the arrangement of the power supply lanes 50 so as to pass through areas where travel is frequent.

[0094] Next, the operation of the analysis device 24 according to this embodiment will be described. Fig. 17 is a flowchart showing the flow of analysis processing executed in the analysis device 24. Each process in the analysis device 24 is executed by the CPU 201 functioning as an acquisition unit 241, a display control unit 243, and a suggestion unit 245.

[0095] 17, the CPU 201 acquires travel information of each transport robot 30. Specifically, the CPU 201 acquires the past travel trajectory of the transport robot 30 from the server 40. The CPU 201 also acquires the current travel trajectory of the transport robot 30 from the transport robot 30. The CPU 201 also acquires the past charging timing and travel time of the transport robot 30 from the server 40.

[0096] In step S303, the CPU 201 creates a trajectory in which the travel information is frequency-distributed. Specifically, the CPU 201 calculates the passing frequency for each point as a numerical value based on the travel trajectory of the transfer robot 30, and expresses the frequency by changing the color or shade for each numerical value, like a heat map.

[0097] In step S305, the CPU 201 displays the created trajectory on the map 100 corresponding to the space through which the transport robot 30 has traveled. If the building through which the transport robot 30 travels has multiple floors, the map 100 can be switched for each floor.

[0098] In step S307, the CPU 201 proposes an optimal layout of the power supply lanes 50 based on the frequency distribution. The CPU 201 proposes to place the power supply lanes 50 in areas where the transport robot 30 travels frequently. Then, the process ends.

[0099] As described above, the analysis device 24 according to this embodiment includes an acquisition unit 241 that acquires trajectories of multiple transport robots 30 traveling in a space having a power supply lane 50 for charging the transport robots 30, and a display control unit 243 that displays the acquired trajectories of the multiple transport robots 30 on a map 100 corresponding to the space. The analysis device 24 visualizes the trajectories of multiple transport robots 30 traveling simultaneously, enabling comparisons by frequency distribution and by hierarchical level. Therefore, by checking the frequency distribution, the user 90 can consider, for example, changing the power supply lane 50 to a more efficient location.

[0100] In the above embodiment, an example in which multiple transport robots 30 travel simultaneously has been described, but the present invention is not limited to this. The analysis device 24 may visualize the trajectory of one transport robot 30 traveling in a space having a power supply lane 50. The analysis device 24 may also visualize the trajectories of multiple transport robots 30 traveling in sequence in a space having a power supply lane 50.

[0101] In the above embodiment, the display control unit 243 switches the display of the trajectory in which the travel of the transport robot 30 is frequency-distributed for each level, but the present invention is not limited to this. The display control unit 243 may switch the display of the frequency-distributed trajectory at predetermined time intervals. For example, the display control unit 243 switches the display of the frequency-distributed trajectory by day in response to an operation by the user 90. This allows the user 90 to compare the trajectories between dates and consider changing the position of the power supply lane 50 to a more efficient one. The unit of the switching display may be weekly, and can be adjusted as appropriate by the user 90.

[0102] In the above embodiment, the limited space in which the transport robot 30 operates has been described as an example in which the transport robot 30 travels within a warehouse, but this is not limiting. For example, the limited space may be a shopping mall. In this case, the robot management system 10 can be applied to the distribution of goods within the shopping mall. For example, the limited space may be a restaurant. In this case, the robot management system 10 can be applied to the distribution of food and the like in the restaurant. For example, the limited space may be a baggage claim area at an airport. In this case, the robot management system 10 can be applied to the distribution of bags and the like in the airport. In these cases as well, the management device 22 can instruct the transport robot 30 on a route to travel along the power supply lane 50 based on the charging information. [Explanation of symbols]

[0103] 10 Robot Management System 20 Information processing equipment 22 Management device 24 Analyzer 30 Transport robot 40 servers 50 Power Lane 60 Destination (destination) 70 Charging Station 90 users 100 maps 201 CPU 202 ROM 203 RAM 204 Input / Output Interface 205 Storage 206 Communication I / F 207 Bus 208 Input Device 209 Monitor 221 Acquisition Department 223 Instruction section 241 Acquisition Department 243 Display control unit 245 Proposal Department

Claims

1. an acquisition unit that acquires charging information of a robot traveling in a limited space; an instruction unit that instructs the robot to travel, based on the charging information, from among a plurality of travel routes of the robot, a travel route that passes through a power supply lane for charging the robot, corresponding to the travel route; An information processing device comprising:

2. The acquisition unit further acquires position information of the robot, the instruction unit instructs the robot, whose remaining charge amount based on the charging information is lower than a predetermined threshold, to take the power supply lane closest to the robot as the travel route along which the robot should pass. The information processing device according to claim 1 .

3. the acquisition unit further acquires task information including information on a destination assigned to the robot; the instruction unit instructs the robot, whose remaining charge amount in the charging information is lower than a predetermined threshold, to take the power supply lane on the way to the destination as the travel route for the robot. The information processing device according to claim 1 .

4. The acquisition unit further acquires position information of the robot, the instruction unit instructs the robot, whose remaining charge amount in the charging information is lower than a predetermined threshold, to take the power supply lane that is on the way to the destination of the robot rather than the power supply lane that is closest to the current position of the robot, as the travel route to be taken by the robot. The information processing device according to claim 3 .

5. the acquisition unit acquires position information, the charging information, and the task information of the robots from a plurality of the robots; the instruction unit instructs each of the robots to travel along a travel route updated to cause the plurality of robots to exchange the travel destinations based on the charging information, the position information, and the task information of each of the robots. The information processing device according to claim 3 .

6. the instruction unit issues an instruction to change the traveling speed of the robot traveling in the power supply lane in accordance with the charging information. The information processing device according to claim 1 .

7. An information processing device according to any one of claims 1 to 6; a plurality of the robots that communicate with the information processing device; Robot management system including

8. Obtain charging information for a robot moving in a limited space, instructing the robot to travel along a travel route that passes through a power supply lane for charging the robot, among a plurality of travel routes for the robot, based on the charging information; An information processing method in which processing is performed by a computer.

9. Obtain charging information for a robot moving in a limited space, instructing the robot to travel along a travel route that passes through a power supply lane for charging the robot, among a plurality of travel routes for the robot, based on the charging information; An information processing program that causes a computer to execute a process.

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