Management system, management method, and management program

Abstract

To smoothly provide hindrance information of traveling of an autonomous traveling robot to various cooperation destinations.SOLUTION: A management system includes at least a terminal 30 used by an operator who monitors and controls traveling of a plurality of types of robots 10A and 10B that autonomously travel outdoors and indoors, and a management server 40 capable of communicating with external devices including the terminal 30 and control servers 20A and 20B of the robots. A registration unit configured to, when hindrance to travel of a robot is detected based on a detection result detected by a sensor provided in each robot, classify a hindrance factor to the travel and a level of the hindrance factor, and register the hindrance factor and the level of the hindrance factor in a database as hindrance information in association with position information of the hindrance factor; SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In recent years, autonomous robots have been developed to address labor shortages. These robots can travel indoors and outdoors to perform a wide range of tasks, including delivering goods, providing security, guiding people, cleaning, and transferring people. Furthermore, autonomous robots are often provided by different robot companies depending on their type and task.

[0003] Through remote control and simultaneous control of multiple robots, the operating area of ​​autonomous robots has been expanded beyond the area within and around a single facility to include areas between multiple facilities and their surrounding areas, as well as multiple areas and traffic between those areas. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-078618 [Patent Document 2] Japanese Patent Application Publication No. 2019-079247 Summary of the Invention [Problem to be solved by the invention]

[0005] In some cases, a robot may encounter an obstacle or road irregularity while traveling and must stop traveling to its destination, or the operator may have to re-establish a detour route. In such cases, other robot operators' robots following behind may also be unable to avoid the same obstacle or road irregularity at the same location, causing problems in their travel, such as stopping.

[0006] The present invention has been made in consideration of the above, and aims to provide a management system, management method, and management program that can smoothly provide information on obstructions to the movement of an autonomously moving robot to various partner parties. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the objectives, the management system of the present invention is a management system that has at least a terminal device used by an operator to monitor and control the movement of multiple types of robots that move autonomously both indoors and outdoors, and a management server that is capable of communicating with the terminal device and external devices including the robots, and is characterized in that it has: a registration unit that, when an obstruction to the robot's movement is detected based on the detection results detected by sensors provided on each robot, classifies the obstruction factor to the movement and the level of the obstruction factor, associates it with the location information of the obstruction factor, and registers it as obstruction information in a database; and a collaboration unit that extracts obstruction information corresponding to the collaboration partner to be collaborated with from the obstruction information stored in the database, and transmits the extracted obstruction information to the collaboration partner. [Effects of the Invention]

[0008] According to the present invention, information about the obstruction to the movement of an autonomous mobile robot can be smoothly provided to various collaborating parties. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an outline of a management system according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of a configuration of a management system according to an embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of the configuration of the management server illustrated in FIG. [Figure 4] FIG. 4 is a diagram showing an example of the data structure of inhibition information stored in a database (DB). [Figure 5] FIG. 5 is a diagram illustrating examples of impediment factors. [Figure 6] FIG. 6 is a diagram illustrating an example of a level table of impediments. [Figure 7] FIG. 7 is a diagram illustrating an example of the data configuration of the collaboration destination information. [Figure 8] FIG. 8 is a diagram showing an example of the contents of the confirmation items. [Figure 9] FIG. 9 is a block diagram illustrating an example of the configuration of the terminal device illustrated in FIG. [Figure 10] FIG. 10 is a diagram showing an example of a screen of the terminal device. [Figure 11] FIG. 11 is a diagram showing an example of a screen of the terminal device. [Figure 12] FIG. 12 is a diagram showing an example of a screen of the terminal device. [Figure 13] FIG. 13 is a sequence diagram showing the procedure of the inhibition information registration process according to the embodiment. [Figure 14] FIG. 14 is a sequence diagram showing the processing procedure of the linking process according to the embodiment. [Figure 15] FIG. 15 is a diagram illustrating the cooperation process of the management server. [Figure 16] FIG. 16 is a diagram showing an example of a traveling route of the robot. [Figure 17] FIG. 17 is a block diagram illustrating an example of a configuration of a management server according to the second modification of the embodiment. [Figure 18] FIG. 18 is a block diagram illustrating an example of a configuration of a terminal device according to the second modification of the embodiment. [Figure 19] FIG. 19 is a sequence diagram illustrating a processing procedure of the inhibition information registration processing according to the second modification of the embodiment. [Figure 20] FIG. 20 is a diagram illustrating an example of a device for detecting and classifying travel obstructions. [Figure 21] FIG. 21 is a diagram illustrating an example of a computer that implements a terminal device and a management server by executing a program. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to this embodiment. In addition, in the description of the drawings, the same parts are designated by the same reference numerals.

[0011] [Embodiment Mode] First, an embodiment will be described. In the embodiment, a management system will be described that collectively monitors and controls the traveling of multiple types of robots that travel autonomously both indoors and outdoors on a platform.

[0012] [Overview of the management system] FIG. 1 is a diagram illustrating an outline of a management system according to an embodiment.

[0013] As shown in FIG. 1, in the management system according to the embodiment, the platform provider collectively monitors and controls the situation of the area and each robot as part of the management of, for example, smart town T1.

[0014] The platform operator collectively manages the operation of multiple types of robots provided by multiple robot operators. An operator P1 of the platform operator collectively monitors and controls, for example, a delivery robot 10A that travels between zones Z1, Z2, Z3, and Z4 of the smart town, a security robot 10C, a multi-purpose robot 10E for cleaning, guidance, security, etc., a cleaning robot 10B that travels within zone Z1, and a guidance robot 10D that travels within zone Z3 ((1) in Figure 1).

[0015] For example, robot 10A is provided by robot operator A, robot 10B is provided by robot operator B, robot 10C is provided by robot operator C, robot 10D is provided by robot operator D, and robot 10E is provided by robot operator E.

[0016] When the robot's movement is obstructed, the platform operator classifies, registers, and accumulates the obstruction information, and provides the obstruction information sorted according to each partner, including each robot operator A to E ((2) in Figure 1).

[0017] This allows information about obstructions to the autonomous robot's travel to be smoothly provided not only to each of the robot operators A to E, but also to other partners. The partners are administrative districts A and B where the robot travels, government agencies (for example, the Ministry of Land, Infrastructure, Transport and Tourism), service provider F that provides private services, and other robot operators H. Based on the obstruction information provided, the partners can take measures such as changing the travel routes of robots and transport vehicles, repairing roads, removing obstacles such as parked vehicles, and notifying pedestrians.

[0018] [Management system] Fig. 2 is a block diagram showing an example of the configuration of a management system according to an embodiment. Fig. 2 illustrates robots 10A and 10B, but the type of robot is not limited to robots 10A and 10B. When referring to robots 10A and 10B collectively, they are referred to as robot 10. Fig. 2 also illustrates robot businesses A and B, but actual robot businesses include businesses C to E or other businesses. When referring to control servers 20A and 20B collectively, they are referred to as control server 20.

[0019] The robots 10A and 10B are, for example, self-driving robots that autonomously travel outdoors and indoors in a smart town T1. The robots 10A and 10B have a global positioning system (GPS), various sensors (image capture devices, LIDAR (laser imaging detection and ranging), distance sensors, geomagnetic sensors, etc.) to detect the environment around the robots 10A and 10B. The robots 10A and 10B autonomously travel outdoors and indoors in the smart town T1 along travel routes set by an operator P1 via an application on the control servers 20A and 20B.

[0020] The control servers 20A, 20B communicate wirelessly with the robots 10A, 10B that are the control targets of each server. The control servers 20A, 20B communicate with the terminal device 30. The control servers 20A, 20B make the robots 10A, 10B travel in accordance with travel control by the terminal device 30 operated by an operator P1.

[0021] When the platformer (management system) detects an obstruction to the robot's travel based on the detection results (sensor information) detected by the sensors provided on each robot 10, it classifies the obstruction factor and the level of the obstruction factor, associates it with the location information of the obstruction factor, and registers it as obstruction information in DB 427 (described later).The platformer then extracts the obstruction information corresponding to the partner to be cooperated with from the obstruction information stored in DB 427, and transmits the extracted obstruction information to the partner.

[0022] The platformer includes a terminal device 30 used by an operator P1 who monitors and controls the situation in the area and each robot, and a management server 40 that registers and links information related to robot control.

[0023] The terminal device 30 communicates between the control servers 20A, 20B of the robots 10A, 10B and the management server 40. The terminal device 30 is operated by an operator P1 of the platform provider. Robot control applications used by robot businesses A, B to be monitored and controlled are installed in the terminal device 30, and the terminal device 30 accepts operations by the operator P1 related to monitoring and control of the movement of the robots 10A, 10B. In other words, the terminal device 30 collectively controls the movement of the robots 10A, 10B through operations by the operator P1 using the applications of the control servers 20A, 20B.

[0024] Furthermore, when the terminal device 30 detects an obstruction to the running of the robot 10A, it classifies the obstruction factor and the level of the obstruction factor, and requests the management server 40 to register the obstruction information associated with the location information of the obstruction factor in the DB 427. For example, in accordance with the operation of the operator P1, the terminal device 30 detects an obstruction to the running of the robot and classifies the obstruction factor and the level of the obstruction factor based on sensor information from the sensors of each robot 10.

[0025] The management server 40 sets tasks and recommends travel routes to support the travel of the robots 10A and 10B. When the travel of the robots is obstructed, the management server 40 accumulates obstruction information related to the obstruction in a DB 427 (described later).

[0026] The management server 40 recommends a travel route by, for example, referring to the obstruction information stored in the DB 427. The management server 40 registers the obstruction information in the DB 427 upon receiving a request from the terminal device 30 to register the obstruction information in the DB 427.

[0027] The management server 40 then sorts out the inhibition information according to the partner and transmits the sorted inhibition information to the partner, thereby coordinating the inhibition information. The partner may be, for example, an administrative district A (server 50), an administrative district B (server 60), the Ministry of Land, Infrastructure, Transport and Tourism (server 70), a private service provider F (server 80), or a robot provider H (server 90).

[0028] In this embodiment, an example will be described in which an operator P1 detects obstructions to the movement of the robots 10A and 10B based on sensor information from the sensors of each robot, classifies the obstruction factors and the level of the obstruction factors, and inputs the classification results into the terminal device 30.

[0029] The terminal device 30 can display, for example, the screens of robot control applications used by each robot business on different browsers. The terminal device 30 also requests the management server 40 to register inhibition information via an inhibition information registration application.

[0030] [Administration Server] Fig. 3 is a block diagram showing an example of the configuration of the management server 40 shown in Fig. 2. As shown in Fig. 3, the management server 40 includes a communication unit 41, a storage unit 42, and a control unit 43, for example.

[0031] The communication unit 41 controls communications related to various types of information. For example, the communication unit 41 controls communications with the terminal device 30, communications with the control server 20, and communications with the partner servers 50, 60, 70, 80, and 90. The communication unit 41 transmits set tasks and travel routes suitable for the tasks to the terminal device 30. The communication unit 41 also receives position information of the robot 10 via the control server 20. The communication unit 41 receives a request to register inhibition information for the robot 10 from the terminal device 30. The communication unit 41 transmits inhibition information corresponding to each partner server to the partner servers 50, 60, 70, 80, and 90.

[0032] The storage unit 42 stores data and programs necessary for various processes by the control unit 43. For example, the storage unit 42 may be a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 42 has robot information 421, map information 422, a task storage unit 423, traveling route information 424, robot position information 425, sensor information 426, a DB 427, and collaboration destination information 428.

[0033] The robot information 421 is information on the identification information, type, and sensors mounted on each robot 10 traveling in the smart town T1, and may also be information including executable tasks.

[0034] The map information 422 is map information including, for example, a map of each of the zones Z1 to Z4 in the smart town T1 and a map of traffic between the zones Z1 to Z4. The map information 522 may be acquired in advance and updated as appropriate based on various sensor information and information transmitted from the robot 10. The map information 422 may include the facilities in each of the zones Z1 to Z4, areas within and around the facilities where the robot 10 can travel, and areas between the zones Z1 to Z4 where the robot 10 can travel.

[0035] The task storage unit 423 stores history information of tasks executed by each robot 10. The task storage unit 423 may also include tasks currently being executed by each robot 10. For example, tasks include item delivery, security, guidance, cleaning, and transferring people, and the task storage unit 423 stores identification information of the robot 10, identification information of the task, task execution period, etc.

[0036] The travel route information 324 is information indicating the travel route of the robot 10. For example, a plurality of representative travel routes are set in advance according to the zone, task, and / or type of the robot 10, and can be appropriately modified or added according to the travel situation.

[0037] The robot position information 425 is information that associates the identification information of the robot 10 with the position and position detection time of the robot 10. The position of the robot 10 is expressed, for example, in latitude and longitude coordinates or a plane rectangular coordinate system. The robot position information 425 is transmitted from the control servers 20A and 20B.

[0038] The sensor information 426 is sensor information obtained by a sensor provided on each robot 10. The sensor information 426 includes, for example, items such as identification information of the robot 10 on which it is mounted, identification information of the sensor, the type of sensor, the detection result detected by the sensor, the detection time, and the position of the robot 10 at the time of detection. The sensor information includes, for example, an image, the distance to the target object, the properties of the target object, the reflection intensity, feature points, and the position.

[0039] The DB 427 stores the obstruction information. The obstruction information is information that associates at least obstruction factors, levels of the obstruction factors, and location information of the obstruction factors. The obstruction information may further associate with the object obstructing the travel, whether the obstruction factor is a road abnormality and / or an obstacle, the area where the obstruction factor is located, the type of the obstruction factor, an image of the obstruction factor, and the height of the obstruction factor.

[0040] Fig. 4 is a diagram showing an example of the data configuration of the inhibition information stored in the DB 427. As shown in inhibition information 427-1 in Fig. 4, the inhibition information has the following items: an ID (identification) of the inhibition information, an inhibition factor, an area where the inhibition factor is located, location information of the inhibition factor (for example, longitude and latitude information), a level of the inhibition factor, details of the inhibition factor, a type of the inhibition factor, an image of the inhibition factor, and a height of the inhibition factor.

[0041] The obstacle items include a major item indicating whether the obstacle is an abnormality and / or an obstacle on the road, and a minor item further detailing the type of obstacle. Fig. 5 is a diagram illustrating the obstacle items.

[0042] For example, as shown in FIG. 5, among the items of obstacles, whether the obstacle is an obstacle or a road abnormality is registered as a major item. Then, minor items are set for each major item. For example, if the major item is "obstacle," minor items such as "fallen object," "parked car," and "chair" are set. Note that the obstacles at each level in FIG. 5 are only a partial list, and in reality, a wide variety of obstacles are set.

[0043] The contents of the sub-items are set according to the data users expected by the partner (for example, robot operators, citizens (pedestrians, wheelchair users, etc.)), and are adjusted as appropriate according to the partner's requests and the trends in data usage at the partner. Specifically, each data user may request that a wheelchair user using private service provider F only wants "step" information among the obstacle information, while road surface dirt information among road abnormality information from robot operator H is not required. Sub-items (types) are provided so that obstruction information can be sorted according to each such request. Furthermore, each sub-item type is associated with the attributes of the expected data users, making it possible to sort based on the data user attributes.

[0044] For example, in the case of an administrative district (say, administrative district A), there may be a desire to share roadblock information for not only administrative district A but also the neighboring administrative district B, which is the living area of ​​the residents. In this way, a region item is provided as a roadblock information item in order to quickly share roadblock information for the area desired by the partner.

[0045] For example, if the Ministry of Land, Infrastructure, Transport and Tourism requests that the location of a road depression be identified, it is necessary to provide location information of the obstruction factors with a certain degree of accuracy. For this reason, latitude and longitude fields are provided as items of obstruction information. Note that, as long as the location information of the obstruction factors can be expressed with sufficient accuracy, it is not limited to latitude and longitude, and location information based on a plane rectangular coordinate system may also be used.

[0046] Some partners may only want information about obstacles of a certain level, such as road irregularities and obstacles that hinder the travel of large trucks.

[0047] Therefore, in the embodiment, when the possible objects are robots, automobiles, bicycles, and pedestrians, the level is set to multiple stages depending on whether or not there are possible objects and the type of possible object, so that it is possible to provide obstruction information that precisely meets the wishes of the partner.

[0048] The levels will now be explained. FIG. 6 is a diagram illustrating an example of a level table of obstructive factors. As shown in the level table of FIG. 6, the levels are divided into S+ (serious obstacle), A (medium obstacle), B (minor obstacle), and info (obstacle for information only). Each level is associated with a corresponding state or obstacle depending on the drivable object (for example, large vehicle, standard vehicle, bicycle, remote-controlled small vehicle (robot 10), pedestrian). Note that the obstacles at each level in FIG. 6 are only a partial list, and in reality, a wide variety of obstacles are set.

[0049] The details of the obstruction information are recorded to respond to requests from partners (e.g., local governments) to learn what kind of obstacles or road abnormalities there were. For example, detailed information on the minor obstruction factors, such as an obstacle running up onto the road or a step on the road that is too high for the robot to overcome, is registered in the obstruction information details.

[0050] There are cases where a partner (for example, a local government) requests to know the road surface condition before conducting a road surface survey to repair a "road depression." In this case, in order to respond to requests from a partner for images showing what obstacles or road abnormalities there are, images of obstruction factors are registered in the obstruction information.

[0051] For example, a robot operator may request height information because the robot they are running is 1.2 m high and cannot pass through vegetation lower than 1.2 m. In addition, if the data user is a pedestrian, they may request information on whether there are any obstacles high enough to obstruct people's walking. In this way, to meet the requests of the partner, height information of obstacles (obstruction factors) is registered in the obstruction information. Note that the height of the obstacle can be determined by image analysis, and can also be determined based on the image, sensor information from other sensors on the robot 10, and sensor information from various sensors installed in smart town T1.

[0052] The collaboration destination information 428 associates information about collaboration destinations with inhibition information to be sent to the collaboration destinations. FIG. 7 is a diagram showing an example of the data configuration of the collaboration destination information 428.

[0053] 7, the link destination information 428-1 includes items such as the link destination, the region where the obstruction factor is located, the location of the obstruction factor, the level of the obstruction factor, the type of the obstruction factor, the data user of the link destination, the data format of the link information to be provided to the link destination, whether image linkage is required, whether linkage of the level of the obstruction factor is required, and whether detailed information is required. The link destination information 428 is registered in advance by the link destination via an application for registering obstruction information. Alternatively, the management server 40 may automatically set and / or update the link destination information 428 based on estimates from past linkage content.

[0054] The control unit 43 has an internal memory for storing programs that define various processing procedures and necessary data, and executes various processes using these. Here, the control unit 43 may be, for example, an electronic circuit such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), or an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0055] The control unit 43 includes a traveling support unit 431 that supports the traveling of the robot 10, a registration unit 432 that registers the obstruction information, and a linking unit 433 that links the obstruction information to a linking destination.

[0056] The driving support unit 431 includes a task setting unit 4311 , a data viewing unit 4312 , a driving route recommendation unit 4313 , a driving control support unit 4314 , and a robot position acquisition unit 4315 .

[0057] For example, when the task setting unit 4311 receives a request for service provision from a user, it sets a task to be executed and selects the robot 10 that will execute this task.

[0058] The data viewing unit 4312 views information related to the robot 10 that executes the task from the travel route information 424 and the DB 427.

[0059] The travel route recommendation unit 4313 selects a travel route according to the task for the robot 10 selected by the task setting unit 231, for example, and recommends it to the terminal device 30. At this time, the travel route recommendation unit 4313 selects a travel route suitable for the robot 10 selected by the task setting unit 4311, based on the travel route and obstruction information viewed by the data viewing unit 4312. The travel route recommendation unit 4313 excludes from the recommended travel routes, among the travel routes corresponding to the task set by the task setting unit 4311 and the selected robot 10, routes in which the travel of the robot 10 is obstructed by obstruction factors.

[0060] The driving control support unit 4314 supports the operator P1 in controlling the driving of the robot 10. For example, if the terminal device 30 requests a route change because the driving of the traveling robot 10 is obstructed, the driving control support unit 4314 recommends a detour route to the terminal device 30. Also, for example, if an obstruction factor occurs at the planned driving position of another traveling robot 10 as a result of the registration process of the registration unit 432, the driving control support unit 4314 transmits identification information of the robot 10 whose driving may be obstructed, details of the obstruction factor, and / or a detour route to the terminal device 30, thereby supporting the smooth driving of each robot 10.

[0061] The robot position acquisition unit 4315 acquires position information of each robot 10 traveling in the smart town T1 through communication with the control servers 20A, 20B. The robot position acquisition unit 4315 acquires the current position of each robot 10 to be controlled, for example, using a positioning system such as GPS. The robot position acquisition unit 4315 may associate the position and position detection time of the robot 10 with the identification information of the robot 10 and store them in the storage unit 42.

[0062] The registration unit 432 registers the inhibition information in the DB 427. The registration unit 432 includes a registration request receiving unit 4321 and an inhibition information registration unit 4322.

[0063] The registration request receiving unit 4321 receives a request to register obstruction information from the terminal device 30. The registration request includes the obstruction information to be registered. The obstruction information includes obstruction factors (major items, minor items), area, location, level, details, type, image, and height.

[0064] The inhibition information registration unit 4322 assigns an inhibition information ID to the inhibition information requested for registration by the terminal device 30 and registers it in the DB 427. For items of inhibition information to be registered that are missing data, the inhibition information registration unit 4322 may acquire or estimate the missing data based on images, sensor information of other robots 10, sensor information provided in the smart town T1, etc., to complete the data.

[0065] Furthermore, the request for registering the obstruction information from the terminal device 30 may be to update (delete) the obstruction information due to the elimination of the obstruction factor or the update of the obstruction information due to a change in the obstruction factor. In this case, the obstruction information registration unit 4322 updates the obstruction information registered in the DB 427, in which the obstruction to the travel of the robot 10 has been eliminated or the registered obstruction information in which the obstruction factor has changed, to the most recent information.

[0066] The collaboration unit 433 extracts the inhibition information corresponding to the collaboration destination of the collaboration target from the inhibition information stored in the DB 427, and transmits the extracted inhibition information to the collaboration destination.

[0067] The linking unit 433 includes a link destination registration unit 4331 (acquisition unit), an extraction unit 4332, a formatting unit 4333, and an information linking unit 4334 (transmission unit).

[0068] The collaboration destination registration unit 4331 acquires the type of obstruction factor, the level of obstruction factor, the area where the obstruction factor was detected, and the attributes of the data user at the collaboration destination, which correspond to the collaboration destination. Then, based on the acquired information, the collaboration destination registration unit 4331 sets collaboration conditions for each collaboration destination that wishes to collaborate on the obstruction information data, and registers them in the collaboration destination information 428.

[0069] Here, in order to sort out the inhibition information desired by each collaboration destination, the collaboration destination registration unit 4331 sets details of the inhibition information desired by the collaboration destination. For example, the collaboration destination registration unit 4331 sets, for each collaboration destination, the region indicated by the inhibition information of the collaboration target, the location indicated by the inhibition information of the collaboration target, the level of the inhibition information of the collaboration target, the type of inhibition factor of the inhibition information of the collaboration target, the data user of the collaboration destination, the data format of the collaboration information to be provided to the collaboration destination, whether or not to link images included in the inhibition information, whether or not to link height included in the inhibition information, and whether or not detailed information is required.

[0070] For example, the link destination registration unit 4331 displays a pull-down menu to the link destination via an application for registering obstruction information, allowing the link destination to select the region of the obstruction factor, whether or not the obstruction factor is located, the level of the obstruction factor, the type, the data format, whether or not an image is required, whether or not height is required, and whether or not detailed information is required. The link destination can set the link conditions simply by selecting an item from the displayed menu. In other words, the data user is asked in advance about the desired obstacle / road abnormality level, and when obstruction information of the corresponding level is registered, the link destination can link that obstruction information.

[0071] The collaboration destination registration unit 4331 may also estimate collaboration conditions based on the collaboration content of past obstruction information and the attributes of data users (such as users who want to know about dirt, steps, etc.), and automatically set and / or update the collaboration conditions of collaboration destinations. The collaboration destination registration unit 4331 may also collect movement histories of citizens and estimate collaboration conditions based on movement trends.

[0072] FIG. 8 is a diagram showing an example of the contents of the confirmation items. As shown in FIG. 8, if the data user is a robot business operator (e.g., robot business operator H), it is desirable to confirm whether the robot being used is a two-wheel drive or four-wheel drive. For this reason, if the data user is a robot business operator, the collaboration registration unit 4331 provides a selection field for whether the robot is a two-wheel drive or four-wheel drive robot in a pull-down menu. In the case of a two-wheel drive robot, even a small step can cause a hindrance to driving, so it is understood that it is better to send even minor obstacle information. For this reason, if the robot used by robot business operator H is a two-wheel drive robot, the collaboration registration unit 4331 includes the transmission of minor obstacle information (e.g., steps) in the collaboration conditions.

[0073] Furthermore, if the data user is a member of the public, it is desirable to confirm the user's walking ability. Since the level of obstacle information and road abnormality information desired varies depending on the data user, such as able-bodied people, wheelchair users, people with low vision, the elderly, and cyclists, it is desirable to provide information that meets their needs by filtering. For this reason, if the data user is a member of the public, the collaboration registration unit 4331 may provide, for example, a field for confirming walking ability in the pull-down menu. Then, the collaboration registration unit 4331 may set collaboration conditions, such as the type of obstacle information and whether or not detailed information should be sent, depending on the walking ability selected by the member of the public.

[0074] In this way, by registering linkage conditions so that the management server 40 can determine whether or not data should be provided based on the attributes of the data user, data linkage that meets the needs of various data users can be realized.

[0075] The extraction unit 4332 extracts inhibition information corresponding to the type of inhibition factor, the level of inhibition factor, the area where the inhibition factor was detected, and the attributes of the data user at the collaboration destination, which are desired by the collaboration destination, from the inhibition information stored in the DB 427. The extraction unit 4332 refers to the collaboration destination information 428 and extracts the inhibition information desired by the collaboration destination from the inhibition information stored in the DB 427.

[0076] The extraction unit 4332 refers to the major and minor items of the inhibition information to narrow down the data desired by the data user. The extraction unit 4332 may also extract inhibition information by narrowing down the data desired by each data user for each data user with reference to the level table in Fig. 6.

[0077] The shaping unit 4333 shapes the inhibition information extracted by the extraction unit 4332 into a data model corresponding to the collaboration destination. The shaping unit 4333 refers to the collaboration destination information 428 and shapes the inhibition information extracted by the extraction unit 4332 in the data model set by the collaboration destination.

[0078] The information linking unit 4334 transmits the inhibition information formatted by the formatting unit 4333 to the linking destination at the timing and via the communication path requested by the linking destination.

[0079] [Terminal Device] Fig. 9 is a block diagram showing an example of the configuration of the terminal device 30 shown in Fig. 2. As shown in Fig. 9, the terminal device 30 includes, for example, a communication unit 31, a storage unit 32, a control unit 33, and an input / output unit 34.

[0080] The communication unit 31 controls communications related to various types of information. For example, the communication unit 31 controls communications with the management server 40 and communications with the control server 20. The communication unit 31 transmits to each robot 10, via the control server 20, instructions for setting a travel route and travel control information according to a set task. The communication unit 31 also receives sensor information from the sensors of each robot 10 via the control server 20. The communication unit 31 transmits a request to register inhibition information for the robot 10 to the management server 40.

[0081] The input / output unit 34 outputs various types of information. The input / output unit 34 accepts input of information through operations by the operator P1. The input / output unit 34 includes, for example, a liquid crystal display, a mouse, a keyboard, a touch panel, a speaker, a microphone, etc.

[0082] The memory unit 32 stores data and programs necessary for various processes performed by the control unit 33. For example, the memory unit 32 may be a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The memory unit 32 has robot information 321, map information 322, a task memory 323, traveling route information 324, robot position information 325, sensor information 326, and classification results 327.

[0083] The robot information 321 is information on the identification information, type, and sensors mounted on each robot 10 controlled by the control server 20, and may also include executable tasks.

[0084] The map information 322 is the same information as the map information 422 .

[0085] The task storage unit 323 stores history information of tasks executed by each robot 10. The task storage unit 323 may also include tasks currently being executed by each robot 10. For example, tasks include item delivery, security, guidance, cleaning, and transferring people, and the task storage unit 323 stores identification information of the robot 10, identification information of the task, task execution period, etc.

[0086] The travel route information 324 is information indicating the travel route of the robot 10. For example, a plurality of representative travel routes are set in advance according to the zone, task, and / or type of the robot 10, and can be appropriately modified or added according to the travel situation.

[0087] The robot position information 325 is information that associates the identification information of the robot 10 with the position and position detection time of the robot 10. The position of the robot 10 is expressed, for example, in latitude and longitude coordinates or a plane rectangular coordinate system.

[0088] The sensor information 326 is the detection results (sensor information) detected by various sensors provided on the robot 10. The sensor information is received from each robot 10 via each control server 20.

[0089] The control unit 33 has an internal memory for storing programs that define various processing procedures and necessary data, and executes various processes using these. Here, the control unit 33 may be, for example, an electronic circuit such as a CPU or MPU, or an integrated circuit such as an ASIC or FPGA.

[0090] The control unit 33 includes a travel control unit 331 that controls the travel of the robot 10, and a registration request unit 332 that requests the DB 427 to register obstruction information that obstructs the travel of the robot 10.

[0091] The traveling control unit 331 includes a task receiving unit 3311 that receives a task to be executed from the management server 40, a traveling route setting unit 3312, a traveling control unit 3313, a robot position acquiring unit 3314, and a sensor information acquiring unit 3315.

[0092] The task receiving unit 3311 receives a task to be executed from the management server 40. The task receiving unit 3311 may select a robot 10 that executes the received task based on instruction information from the management server 40.

[0093] The travel route setting unit 3312 sets a travel route corresponding to the task for the selected robot 10. For example, the travel route setting unit 3312 sets a travel route recommended by the management server 40 as the travel route of the robot 10. Also, for example, the travel route setting unit 3312 selects one of the routes set in advance as the travel route in response to an operation by the operator P1. Also, for example, the travel route setting unit 3312 may set a route obtained by modifying a route set in advance in response to an operation by the operator P1.

[0094] The travel control unit 3313 controls the travel of the robot 10 to be controlled, for example, to make the robot 10 to be controlled travel along the travel route set by the travel route setting unit 3312. The travel control unit 3313 controls the travel of the robot 10 by communicating with the control server 20.

[0095] Similar to the robot position acquisition unit 4315, the robot position acquisition unit 3314 acquires the position information of each robot 10 traveling in the smart town T1 via the control server 20. The robot position acquisition unit 3314 may associate the identification information of the robot 10 with the position and the time of position detection of the robot 10 and store the information in the storage unit 32.

[0096] The sensor information acquisition unit 3315 receives, via the control server 20, the detection results (sensor information) detected by the sensors provided on each robot 10.

[0097] The position of the robot 10 is displayed in real time on the screen of the terminal device 30 on the application screen for controlling the robot of each robot operator. The position of the robot 10 is superimposed on a map. This map may also have superimposed thereon the travel route of the robot 10, the facilities of each of the zones Z1 to Z4, the travelable area of ​​the robot 10 within and around the facilities, and the travelable area of ​​the robot 10 between each of the zones Z1 to Z4. The position of the robot 10 is displayed in real time on the screen of the terminal device 30 on the application screen for controlling the robot of each robot operator. In addition, sensor information is displayed in a predetermined area on the application screen for controlling each robot.

[0098] The registration request unit 332 includes an information collection unit 3321 , a detection unit 3322 , a classification unit 3323 , and an inhibition information registration request unit 3324 .

[0099] The information collection unit 3321 collects the position information of each robot 10 and the sensor information of each robot 10. The information collection unit 3321 collects images captured by each robot 10.

[0100] The detection unit 3322 detects whether or not the running of the robot 10 is being obstructed based on the images captured by the imaging device of each robot 10.

[0101] The classification unit 3323 classifies the obstacles to travel and the level of the obstacles detected by the detection unit 3322. Based on the images captured by the imaging device of each robot 10, the classification unit 3323 classifies whether the obstacles are road abnormalities and / or road obstacles, the level of the obstacles, and the objects that are obstructing the travel of the robot.

[0102] The obstruction information registration request unit 3324 requests the management server 40 to register the obstruction information that obstructs the travel of the robot 10 in the DB 427. The management server 40 registers the obstruction information in the DB 427 in response to this registration request, thereby accumulating the obstruction information. The obstruction information is information that associates the obstruction factor and the level of the obstruction factor with the location information of the obstruction factor. Specifically, the obstruction information is information that associates at least the obstruction factor, the level of the obstruction factor, and the object that is obstructing the travel of the robot with the location information of the obstruction factor. Specifically, as described above, the obstruction information includes the obstruction factor (major item, minor item), area, location, level, details, type, image, and height.

[0103] The processing in the terminal device 30 from the detection of a travel obstruction to the request for obstruction information will be described. FIGS. 10 to 12 are diagrams showing examples of screens of the terminal device 30. Menu M1 in FIGS. 10 to 12 is an application screen for registering obstruction information. As shown in FIG. 10, the menu M1 displays, for example, the travel route of the robot 10A superimposed on a map. Note that the terminal device 30 displays, for example, an application screen for robot control (not shown) in addition to the application screen for registering obstruction information.

[0104] The operator P1 visually checks the images captured by the imaging devices of the robots 10 via the robot control application screen displayed on the terminal device 30, thereby detecting whether or not the traveling of the robot 10A is being obstructed.

[0105] Then, when the operator P1 detects via the robot control application screen that the travel of the robot 10A has been obstructed, he or she right-clicks on the route in the menu M1 to place a pin at the location where the travel obstruction has occurred ((1) in FIG. 11). As a result, the information that the travel of the robot 10A has been obstructed and the location information where the travel obstruction has occurred are input to the terminal device 30, and the detection unit 3322 detects that the travel of the robot 10A has been obstructed.

[0106] If no pin is dropped by the operator P1 while the robot 10A is traveling along the route of the menu M1, the detection unit 3322 detects that the traveling of the robot 10A is not being obstructed. If obstruction information is registered for this traveling route, the obstruction information registration request unit 3324 requests the management server 40 to update the obstruction information to eliminate the obstruction information.

[0107] Next, the operator P1 checks the images captured by each robot 10 via the robot control application screen, and determines the obstruction factor, the level of the obstruction factor, and the object that is obstructing the robot's travel.

[0108] The operator P1 selects in the road condition column L1 whether the road condition that is hindering the robot's travel is a road abnormality or an obstacle. Then, the operator P1 writes in the free description column what is hindering the travel of the robot 10A and the level of the obstruction factor ((2) in FIG. 12). Then, when the operator P1 selects the registration button N1, a registration request for the pin data (obstruction information) in the road condition column L1 is sent from the terminal device 30 to the management server 40, and the pin data is registered in the DB 427.

[0109] In addition to the free description field, the menu M1 may be provided with a pull-down menu that allows the operator P1 to specifically select road abnormalities and obstacles. In this case, the selectable road abnormalities and obstacles may be displayed according to the level of the obstruction factor. Furthermore, the latitude and longitude of the point where the operator P1 drops a pin are automatically reflected in the system ((3) in Figure 12).

[0110] As a result, whether the obstruction factor to the travel of the robot 10A is a road abnormality and / or an obstacle on the road, the level of the obstruction factor, and the object obstructing the travel of the robot 10A are input to the terminal device 30. Based on the input information, the classification unit 3323 classifies the obstruction factor, the level of the obstruction factor, and the object obstructing the travel of the robot.

[0111] Here, as shown in Figure 6, the level of the obstruction factor is set to multiple levels depending on the presence or absence of drivable objects and the type of drivable object, assuming that robots, cars, bicycles, and pedestrians are drivable objects.

[0112] The classification unit 3323 may refer to the level table shown in FIG. 6 and classify the level of the obstruction factor according to the object obstructing the robot's travel input by the operator P1.

[0113] Furthermore, the classification unit 3323 may classify the type of obstruction factor, that is, the type of obstacle or the type of road abnormality, according to the information input by the operator P1.

[0114] The classification unit 3323 may classify the height of the obstruction factor based on the image in which the obstruction factor is captured, or the position on the robot 10A of the image capturing device that captured the image, or the capturing direction.

[0115] [Inhibition information registration process] FIG. 13 is a sequence diagram showing the procedure of the inhibition information registration process according to the embodiment.

[0116] For example, when the management server 40 receives a request for service provision from a user, it sets a task to be executed (step S1). The management server 40 may select a robot 10 to execute this task. The management server 40 browses information related to the robot 10 that executes the task from the travel route information 424 and the DB 427 (step S2).

[0117] Then, the management server 40 selects a travel route for the robot 10 according to the task, and transmits recommended information about the travel route together with the set task to the terminal device 30 (step S3).

[0118] The terminal device 30 receives the recommendation information on the tasks and travel routes based on the operation by the operator P1, and sets the travel routes for the selected robot 10 (for example, the robots 10A and 10B) (step S4).

[0119] Then, the terminal device 30, under the operation of the operator P1, controls the traveling of the robot 10 to be controlled via the control servers 20A and 20B (steps S5-1, S5-2, S6-1, S6-2).

[0120] The terminal device 30 receives the position information and sensor information of each robot 10 via the control server 20 (steps S7-1, S7-2, S9-1, S9-2). The management server 40 receives the position information of each robot 10 via the control server 20 (steps S8-1, S8-2, S10-1, S10-2).

[0121] The terminal device 30 displays the received position information and sensor information of each robot on the screen (step S11). Then, the terminal device 30 repeats steps S5-1, S5-2, S6-1, S6-2, S7-1, S7-2, S9-1, and S9-2 to collect the position information and sensor information of each robot 10 (step S12).

[0122] When the operator P1 places a pin on the travel route, the terminal device 30 detects that the travel of the robot 10 has been obstructed at the position where the pin was placed (step S13: Yes). Then, the terminal device 30 classifies the obstruction factor, the level of the obstruction factor, and the object obstructing the travel of the robot based on the input by the operator P1 of the obstruction factor, the level of the obstruction factor, and the object obstructing the travel of the robot (step S14).

[0123] Next, the terminal device 30 requests the management server 40 to register in the DB 427 the obstruction information that obstructs the travel of the robot 10 (steps S15, S16). If the terminal device 30 does not detect that the travel of the robot 10 has been obstructed (step S13: No), and if obstruction information has been registered for this travel route, the terminal device 30 requests the management server 40 to update the obstruction information by eliminating the obstruction information (steps S15, S16). Furthermore, if the obstruction factor has changed, the terminal device 30 also requests the management server 40 to update the obstruction information.

[0124] The management server 40 registers the inhibition information in the DB 427 in response to a request to register the inhibition information in the DB 427 (step S17). Alternatively, the management server 40 updates the inhibition information in the DB 427 in response to a request to update the inhibition information in the DB 427.

[0125] [Linkage processing] FIG. 14 is a sequence diagram showing the processing procedure of the linking process according to the embodiment.

[0126] The management server 40 registers the collaboration conditions of each collaboration partner that desires to share data on inhibition information in the collaboration partner information 428 (step S21).

[0127] The management server 40 determines whether it is time to link for each link destination (step S22). The link timing is set for each link destination. Alternatively, the link timing may be set according to the level or type of the inhibition information. For example, if inhibition information of level S+ is registered, the inhibition information is transmitted to each link destination at the registered timing.

[0128] If it is not the timing for cooperation (step S22: No), the management server 40 returns to the determination in step S22.

[0129] For example, if it is time for collaboration between administrative districts A and B (step S22: Yes), the management server 40 refers to the collaboration destination information 428 and extracts inhibition information desired by the collaboration destination (administrative districts A and B) as the collaboration target (step S23). Then, the management server 40 formats the extracted inhibition information into a data model corresponding to the collaboration destination (step S24), and transmits it to the collaboration destination (e.g., servers 50 and 60 in administrative districts A and B) (steps S25 and S26).

[0130] [Effects of the embodiment] 15 is a diagram illustrating the collaboration process of management server 40. As shown in Fig. 15, management server 40 refers to collaboration destination information 428 and extracts inhibition information K1 from DB 427. Management server 40 transmits the inhibition information K1 to collaboration destinations registered in collaboration destination information 428, such as administrative districts A and B, the Ministry of Land, Infrastructure, Transport and Tourism, the road traffic information and communication system, and service provider F.

[0131] By receiving this obstruction information K1, administrative districts A and B can notify their residents that roads are unusable due to fallen trees and recommend detour routes. Furthermore, by receiving the obstruction information K1, the Ministry of Land, Infrastructure, Transport and Tourism can quickly and accurately determine the locations where fallen trees need to be removed, and can arrange for the removal of the fallen trees. Furthermore, service provider F can notify users that there are roads that are unusable due to fallen trees.

[0132] FIG. 16 is a diagram showing an example of a travel route of the robot 10. As shown in FIG. 16, the robot 10 travels through multiple areas (administrative districts A and B). This allows the management server 40 to collect obstruction information across multiple areas. Furthermore, for example, if the living area of ​​residents of administrative district A includes the neighboring administrative district B, the management server 40 can provide information suited to the actual lifestyle of the residents of administrative district A by linking the obstruction information of administrative district A to not only administrative district A but also administrative district B.

[0133] For example, the Ministry of Land, Infrastructure, Transport and Tourism does not need information on road dirt or bumps that do not hinder normal users' walking or driving, but there is a demand for rapid acquisition of obstruction information on serious obstacles such as potholes, collapsed buildings, and accident vehicles for road repairs. Wheelchair users also want to acquire only obstruction information on bumps on sidewalks. Robot operators also want to avoid obstruction information on road abnormalities other than dirt on the road surface.

[0134] In response to this, the management server 40 extracts the level of inhibition information according to the partner and transmits the inhibition information to the partner, thereby enabling appropriate and smooth provision of the inhibition information desired by each partner for robots, automobiles, bicycles, and pedestrians. The management server 40 may also extract inhibition information corresponding to the attributes of the data user from the DB 427 and transmit the extracted inhibition information to the data user and the business operator from which the data user receives a service.

[0135] The list of partners is an example. Partners may be prefectures, cities, towns, and villages, other government agencies (e.g., the National Police Agency), transportation companies, map manufacturers, beacon manufacturers, navigation manufacturers, drone operating companies, ordinary citizens, etc. For residents living in the area where smart town T1 is deployed, the management server 40 may provide the obstruction information directly via a smart town-related application downloaded to the resident's mobile device. In this case, the obstruction information can be provided to residents quickly, as it does not need to go through the administrative district.

[0136] In this way, according to the embodiment, efficient collection and distribution of inhibition information can contribute to cost reduction and service improvement in various industries, and can contribute to improving the quality of life of end users.

[0137] For example, according to the embodiments, road conditions can be understood without visiting the site, which can reduce operating costs for the Ministry of Land, Infrastructure, Transport and Tourism, which is responsible for road repairs, and for businesses that provide services using robots that travel on public roads. Furthermore, according to the embodiments, real-time information such as road accessibility can be reflected in car navigation and map services, which can provide users with more accurate navigation. Furthermore, according to the embodiments, wheelchair users and others can understand road conditions in advance, which can enable safe and secure travel, and can contribute to smart city development and barrier-free access.

[0138] [Variation 1] Furthermore, the terminal device 30 may detect and classify the inhibition information using various machine learning models, thereby reducing the burden on the operator P1.

[0139] The detection unit 3322 uses a trained image analysis model to detect that the traveling of the robot 10 has been obstructed. For example, the detection unit 3322 uses the image analysis model to compare an image captured by the robot 10 to be controlled, the location where the image was captured, and an image captured in the past at the same location where it was detected that no obstruction factor had occurred. Then, the detection unit 3322 may detect that the traveling of the robot 10 has been obstructed when there are a predetermined number of differences or more.

[0140] Furthermore, the detection unit 3322 may use a trained object determination model to detect an object and its position in an image captured by the robot 10, and determine whether the traveling of the robot 10 is obstructed based on the object and its position. When the detection unit 3322 detects that the traveling of the robot 10 has been obstructed, it issues an alert to the terminal device 30 used by the operator P1 to prompt the operator P1 to check the traveling state of the robot 10. By checking this alert, the operator P1 can quickly recognize that the traveling of the robot 10 has been obstructed.

[0141] In addition, the classification unit 3323 uses the trained classification model to classify, based on the images captured by the imaging device of the robot 10, whether the obstruction factor is a road abnormality and / or an obstacle on the road, the level of the obstruction factor, and the object that is obstructing the movement of the robot 10, and outputs the classification result.

[0142] A case will be described where an operator P1 puts a pin at a position where a travel obstruction has occurred on the application screen for controlling the robot.

[0143] In this case, the classification unit 3323 displays either road abnormalities or obstacles in the road condition column L1 (FIG. 12). Then, the classification unit 3323 displays road abnormalities and obstacles in the free entry column of the road condition column L1 based on the classification results. After checking the road conditions, road abnormalities, and obstacles displayed in the road condition column L1, the operator P1 can request the management server 40 to register obstruction information by simply pressing a registration request button. The road conditions, road abnormalities, and obstacles displayed in the road condition column L1 can also be corrected, changed, or added by the operator P1.

[0144] [Variation 2] In addition, in order to reduce the processing load on the terminal device 30, the management server 40 may also collect information, detect and classify obstructive factors for the robot 10, and send alerts and classification results to the terminal device 30.

[0145] Fig. 17 is a block diagram showing an example of the configuration of a management server according to Modification 2 of the embodiment. As shown in Fig. 17, management server 40A according to Modification 2 of the embodiment includes a control unit 43A having a registration unit 432A, as compared with control unit 43 of Fig. 3.

[0146] The registration unit 432A includes an information collection unit 4321A, a detection unit 4322A, a classification unit 4323A, a registration request reception unit 4321, and an inhibition information registration unit 4322.

[0147] The information collection unit 4321A collects the position information of each robot 10 and the sensor information of each robot 10 through communication with the control server 20.

[0148] The detection unit 4322A detects whether the traveling of the robot 10 is obstructed based on images captured by the imaging device of each robot 10. The detection unit 4322A determines whether the traveling of the robot 10 is obstructed using a trained image analysis model and an object determination model. When the detection unit 4322A detects that the traveling of the robot 10 is obstructed, it transmits an alert to be used by the operator P1 to prompt the operator P1 to check the traveling status of the robot 10. The detection unit 4322A may perform detection based on sensor information from other sensors of each robot and sensor information from various sensors installed in smart town T1.

[0149] The classification unit 4323A uses the trained classification model to classify, based on the image captured by the imaging device of the robot 10, whether the obstruction factor is a road abnormality and / or a road obstacle, the level of the obstruction factor, and the object obstructing the travel of the robot 10. The classification unit 4323A outputs the classification result to the terminal device 30A. The classification unit 4323A may perform classification based on sensor information from other sensors of each robot and sensor information from various sensors installed in smart town T1.

[0150] Fig. 18 is a block diagram showing an example of the configuration of a terminal device according to Modification 2 of the embodiment. As shown in Fig. 18, compared to the terminal device 30 of Fig. 9, the terminal device 30A according to Modification 2 of the embodiment has a control unit 33A having a registration request unit 332A.

[0151] The registration request unit 332A includes an information collection unit 3321, an alert reception unit 3322A, a classification result reception unit 3323A, and an inhibition information registration request unit 3324.

[0152] The alert receiving unit 3322A receives and outputs an alert transmitted from the management server 40. The alert is information indicating that the traveling of the robot 10 has been obstructed. By checking this alert, the operator P1 can recognize that the traveling of the robot 10 has been obstructed. Then, the operator P1 can quickly pin the position where the traveling obstruction has occurred on an application screen for registering obstruction information (for example, FIGS. 10 to 12).

[0153] The classification result receiving unit 3323A receives and outputs the classification result transmitted from the management server 40. For example, similar to the first modification, the classification result receiving unit 3323A displays either road abnormalities or obstacles in the road condition field L1 (FIG. 12) of the application screen for registering obstruction information based on the classification result, and displays the road abnormalities or obstacles in the free entry field.

[0154] FIG. 19 is a sequence diagram illustrating a processing procedure of the inhibition information registration processing according to the second modification of the embodiment.

[0155] Steps S31 to S37-2, S39-1, and S39-2 in FIG. 19 are the same processes as steps S1 to S7-2, and S9-1 and S9-2 in FIG.

[0156] The management server 40 receives the position information and sensor information of each robot 10 via the control server 20 (steps S38-1, S38-2, S40-1, S40-2).

[0157] The terminal device 30A displays the received position information and sensor information of each robot (step S41).

[0158] The management server 40A collects the position information of each robot 10 and the sensor information of each robot 10 (step S42).

[0159] The management server 40A detects whether or not the traveling of the robot 10 is obstructed based on the images captured by the imaging device of each robot 10 (step S43). Then, when the management server 40A detects that the traveling of the robot 10 is obstructed (step S43: Yes), it transmits an alert to the terminal device 30A (step S44).

[0160] An alert is output to the terminal device 30, and a process of confirming the location where the alert occurred is performed in response to an operation by the operator P1 (step S45). For example, in step S45, the operator P1 places a pin on the location where the travel obstruction occurred on the application screen for registering obstruction information.

[0161] Based on the image captured by the imaging device of the robot 10, the management server 40 classifies the obstruction factor into whether it is a road abnormality and / or an obstacle on the road, the level of the obstruction factor, and the object obstructing the travel of the robot 10 (step S46). The management server 40 transmits the classification result to the terminal device 30A (step S47).

[0162] The terminal device 30 displays the classification results, and performs a confirmation process of the classification results in response to an operation by the operator P1 (step S48). At this time, either road abnormalities or obstacles are automatically displayed in the road condition field L1 (FIG. 12) on the application screen for registering obstruction information, and the road abnormalities or obstacles are automatically displayed in the free-form comment field. Then, the operator P1 checks the road condition field L1, and if he or she determines that the contents are correct, selects the registration button N1 (FIG. 12).

[0163] As a result, the terminal device 30A requests the management server 40A to register the pin data (obstruction information) in the road condition column L1 in the DB 427 (steps S49, S50). In response to the request to register the obstruction information in the DB 427, the management server 40A registers the obstruction information in the DB 427 (step S51).

[0164] If the management server 40A does not detect that the travel of the robot 10 has been obstructed (step S43: No), and if obstruction information has been registered for this travel route, the management server 40A updates or deletes the obstruction information by eliminating the obstruction information. The management server 40A also updates the obstruction information when the obstruction factor changes.

[0165] [Variation 3] The management server 40A may automatically register inhibition information in the DB 427 based on the processing results of the detection unit 4322A and the classification unit 4323A. The inhibition information is registered in the DB 427 regardless of an inhibition information registration request from the terminal device 30. Note that the management server 40A transmits an alert and a classification result to the terminal device 30.

[0166] [Variation 4] Fig. 20 is a diagram showing an example of a device that detects and classifies travel obstructions. In Modifications 1 to 3, the terminal device 30 detects and classifies travel obstructions in response to an operation by an operator P1 or automatically ((1) in Fig. 20), and the management server 40A detects and classifies travel obstructions on the cloud ((2) in Fig. 20). However, it is also possible to detect and classify travel obstructions on the control server 20 (or as edge computing processing installed on the robot 10) ((3) and (4) in Fig. 20).

[0167] The area in which the robot 10 travels is not limited to the smart town T1.

[0168] [System configuration of the embodiment] The terminal devices 30, 30A and management servers 40, 40A are conceptual functional entities and do not necessarily need to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of the functions of the terminal devices 30, 30A and management servers 40, 40A is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed or integrated in any unit depending on various loads, usage conditions, etc.

[0169] Furthermore, all or any part of the processes performed by the terminal devices 30, 30A and the management servers 40, 40A may be realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a program analyzed and executed by the CPU and the GPU (Graphics Processing Unit). Furthermore, each process performed by the terminal devices 30, 30A and the management servers 40, 40A may be realized as hardware using wired logic.

[0170] Furthermore, among the processes described in the embodiments, all or part of the processes described as being performed automatically can be performed manually. Alternatively, all or part of the processes described as being performed manually can be performed automatically using a known method. In addition, the processing procedures, control procedures, specific names, and information including various data and parameters described above and illustrated can be changed as appropriate unless otherwise specified.

[0171] [program] 21 is a diagram showing an example of a computer in which the terminal devices 30, 30A and management servers 40, 40A are realized by executing a program. The computer 1000 has, for example, a memory 1010 and a CPU 1020. The computer 1000 also has a hard disk drive interface 1030, a disk drive interface 1040, a serial port interface 1050, a video adapter 1060, and a network interface 1070. These components are connected by a bus 1080.

[0172] The memory 1010 includes a ROM 1011 and a RAM 1012. The ROM 1011 stores a boot program such as a BIOS (Basic Input Output System). The hard disk drive interface 1030 is connected to a hard disk drive 1090. The disk drive interface 1040 is connected to a disk drive 1100. A removable storage medium such as a magnetic disk or optical disk is inserted into the disk drive 1100. The serial port interface 1050 is connected to a mouse 1110 and a keyboard 1120, for example. The video adapter 1060 is connected to a display 1130, for example.

[0173] The hard disk drive 1090 stores, for example, an OS (Operating System) 1091, application programs 1092, program modules 1093, and program data 1094. That is, the programs that define the processes of the terminal devices 30, 30A and the management servers 40, 40A are implemented as program modules 1093 in which code executable by the computer 1000 is written. The program modules 1093 are stored, for example, in the hard disk drive 1090. For example, the program modules 1093 for executing processes similar to those of the functional configurations of the terminal devices 30, 30A and the management servers 40, 40A are stored in the hard disk drive 1090. The hard disk drive 1090 may be replaced by an SSD (Solid State Drive).

[0174] Furthermore, setting data used in the processing of the above-described embodiment is stored as program data 1094, for example, in memory 1010 or hard disk drive 1090. Then, CPU 1020 reads program module 1093 and program data 1094 stored in memory 1010 or hard disk drive 1090 into RAM 1012 as necessary and executes them.

[0175] The program module 1093 and program data 1094 are not limited to being stored in the hard disk drive 1090, but may also be stored in, for example, a removable storage medium and read by the CPU 1020 via the disk drive 1100 or the like. Alternatively, the program module 1093 and program data 1094 may be stored in another computer connected via a network (such as a local area network (LAN) or a wide area network (WAN)). The program module 1093 and program data 1094 may then be read by the CPU 1020 from the other computer via the network interface 1070.

[0176] Although the present invention has been described above as an embodiment, the present invention is not limited to the descriptions and drawings that form part of the disclosure of the present invention. In other words, other embodiments, examples, and operational techniques that can be made by those skilled in the art based on the present invention are all included in the scope of the present invention. [Explanation of symbols]

[0177] 10, 10A, 10B, 10C, 10D, 10E Robot 20, 20A, 20B control server 24,34 Input / output section 30, 30A terminal equipment 31,41 Communications Department 32,42 Storage part 33, 33A, 43, 43A Control unit 40,40A Management Server 50,60,70,80,90 servers 231,4311 Task setting section 321,421 Robot Information 322,422,522 Map Information 323,423 Task memory section 332,332A Registration Request Section 324,424 driving route information 325,425 robot location information 326,426 Sensor Information 327 Classification results 331, 3313 Travel control unit 427 DB 427-1,K1 Inhibition Information 428,428-1 Partner Information 431 Driving Support Department 432,432A Registration Department 433 Collaboration Department 3311 Task Receiving Unit 3312 Driving route setting unit 3314,4315 Robot position acquisition unit 3315 Sensor information acquisition unit 3321,4321A Information Collection Department 3322, 4322A detection unit 3322A Alert Receiver 3323,4323A Classification Department 3323A Classification result receiving unit 3324 Inhibition information registration request section 4312 Data Viewing Department 4313 Driving Route Recommendation Department 4314 Driving Control Support Unit 4321 Registration Request Receiving Unit 4322 Inhibition Information Registration Department 4331 Partner Registration Department 4332 Extraction part 4333 Plastic surgery department 4334 Information and Communications Department

Claims

1. A management system including at least a terminal device used by an operator to monitor and control the traveling of a plurality of types of robots that travel autonomously indoors and outdoors, and a management server that can communicate with external devices including a control server for the terminal device and the robots, a registration unit that, when an obstruction to the running of the robot is detected based on the detection result detected by the sensor provided on each robot, classifies the obstruction factor and the level of the obstruction factor, and registers the obstruction information in a database in association with position information of the obstruction factor; a collaboration unit that extracts, from the inhibition information stored in the database, inhibition information corresponding to a collaboration target, and transmits the extracted inhibition information to the collaboration target; A management system comprising:

2. the sensor includes an imaging device; The registration unit a detection unit that detects whether or not the robot's movement is obstructed based on the image captured by the imaging device; a classification unit that classifies, based on the image captured by the imaging device, whether the obstruction factor is a road abnormality and / or an obstacle on the road, the level of the obstruction factor, and the object obstructing the travel of the robot; an information registration unit that registers at least the obstruction factor, the level of the obstruction factor, and the object obstructing the travel of the robot in association with position information of the obstruction factor as the obstruction information in the database; 2. The management system according to claim 1, further comprising:

3. 3. The management system according to claim 2, wherein the registration unit updates the obstruction information registered in the database in which the obstruction to the robot's travel has been resolved or in which the registered obstruction factor has changed to the most recent information.

4. 3. The management system according to claim 2, wherein the obstruction information includes, as items, identification information of the obstruction information, whether the obstruction factor is a road abnormality and / or an obstacle, the area in which the obstruction factor is located, location information of the obstruction factor, the level of the obstruction factor, the type of the obstruction factor, an image of the obstruction factor, and the height of the obstruction factor.

5. The management system according to claim 2, characterized in that the level is set in a plurality of stages depending on the presence or absence of the drivable object and the type of the drivable object when the robot, automobile, bicycle, or pedestrian is considered as the drivable object.

6. The linking unit is an extraction unit that extracts, from the obstruction information stored in the database, obstruction information corresponding to the type of the obstruction factor, the level of the obstruction factor, the region where the obstruction factor was detected, and the attributes of the data user at the cooperative destination, as desired by the cooperative destination; a formatting unit that formats the inhibition information extracted by the extraction unit into a data model corresponding to the collaboration destination; a transmitting unit that transmits the inhibition information shaped by the shaping unit to the cooperation destination at a timing and via a communication path requested by the cooperation destination; 2. The management system according to claim 1, further comprising:

7. The linking unit is an acquisition unit that acquires the type of the impediment, the level of the impediment, the region where the impediment was detected, and the attributes of the data user at the collaboration destination, corresponding to the collaboration destination; The management system according to claim 6, further comprising:

8. A management method executed by a management system having at least a terminal device used by an operator who monitors and controls the traveling of multiple types of robots that travel autonomously outdoors and indoors, and a management server that is capable of communicating with external devices including the terminal device and a control server for the robots, a step of classifying factors that impede the running of the robot and the level of the factors when an obstruction to the running of the robot is detected based on the detection results detected by the sensors provided on each robot, and registering the factors as obstruction information in a database in association with location information of the factors; extracting inhibition information corresponding to a collaboration target from the inhibition information stored in the database, and transmitting the extracted inhibition information to the collaboration target; A management method comprising:

9. When an obstruction to the movement of the robot is detected based on the detection results detected by sensors provided on each of a plurality of types of robots that autonomously move indoors and outdoors, classifying the obstruction factor and the level of the obstruction factor, and registering the obstruction information in a database in association with location information of the obstruction factor; extracting inhibition information corresponding to a collaboration target from the inhibition information stored in the database, and transmitting the extracted inhibition information to the collaboration target; A management program that allows a computer to execute the following.

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