Robot management system, robot and management server

Abstract

This invention provides a robot management system, robots, and a management server that can appropriately manage the operation of multiple robots. [Solution] The robot management system comprises a plurality of autonomously moving robots and a management server that manages the plurality of robots, wherein each robot has a detection unit that detects environmental information around itself and a control unit that transmits the environmental information to the management server, and the management server has a receiving unit that receives environmental information from the robots and a management unit that, based on the environmental information, creates or modifies the work process of a robot among the plurality of robots that is different from the robot that transmitted the environmental information.

Description

Technical Field

[0001] The present invention relates to a robot management system, a robot, and a management server.

Background Art

[0002] Conventionally, robots that autonomously move within a facility, such as security robots, cleaning robots, guiding robots, and transport robots, have been developed. In particular, in recent years, a robot management system that uses a plurality of robots within the same facility has been developed.

[0003] Patent Document 1 discloses a mobile robot control system including a plurality of mobile robots and a server device that communicates between the mobile robots. This mobile robot control system searches for a movement route based on map information and gives an instruction to move to the mobile robot based on the movement route. The mobile robot control system determines whether interference may occur between the movements of the plurality of mobile robots based on the states and route information of the mobile robots, and if interference may occur, changes the route information so as to avoid interference.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a robot management system, it is required to appropriately manage the operations of a plurality of robots.

[0006] An object of the present invention is to provide a robot management system, a robot, and a management server that can appropriately manage the operations of a plurality of robots.

Means for Solving the Problems

[0007] To solve these problems, the present invention provides a robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving environmental information from the robots and a management unit for creating or modifying the work process of a robot among the plurality of robots that is different from the robot that transmitted the environmental information, based on the environmental information.

[0008] In this robot management system, the detection unit preferably detects events that affect the robot's work process as environmental information.

[0009] In this robot management system, the detection unit detects abnormalities occurring around the robot or congestion around the robot as environmental information, and the management unit preferably creates or modifies the work process for a robot different from the one that transmitted the environmental information, depending on the area where the abnormality occurred or the area is congested.

[0010] In this robot management system, it is preferable for the management unit to create or modify the work process of a robot different from the one that transmitted the environmental information, so as to bypass the area where an anomaly is occurring or the area is congested, prioritize work outside that area, or shorten part of the work in that area.

[0011] In this robot management system, it is preferable for the management unit to determine whether or not to change the work process of a target robot, depending on the combination of environmental information and the type or task of the target robot that is different from the robot that transmitted the environmental information.

[0012] To solve these problems, the present invention provides an autonomously moving robot comprising: a detection unit that detects environmental information around the robot; and a control unit that transmits environmental information detected by the detection unit that affects the work processes of other robots to a management server that manages a plurality of autonomously moving robots, including the robot itself, so that the management server can create or modify the work processes of other robots.

[0013] To solve these problems, the present invention provides an autonomously moving robot having a detection unit that detects environmental information around the robot itself, and a control unit that transmits the environmental information detected by the detection unit, which affects the work processes of other robots, to one or more other robots.

[0014] To solve these problems, the present invention provides a robot that moves autonomously based on a work process, and includes an acquisition unit that acquires environmental information about the surroundings of other robots detected by other robots, and a management unit that, when it acquires environmental information that affects the work process of its own robot, creates or modifies the work process based on that environmental information.

[0015] To solve these problems, the present invention provides a management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a management unit that, based on the environmental information, creates or modifies the work process of a robot among the plurality of robots that is different from the robot that transmitted the environmental information. [Effects of the Invention]

[0016] The robot management system, robots, and management server according to the present invention enable appropriate management of the operation of multiple robots. [Brief explanation of the drawing]

[0017] [Figure 1] This diagram shows the overall system configuration of the robot management system 1. [Figure 2](A) is a diagram showing an example of the data structure of the correspondence table 242, and (B) is a diagram showing an example of the data structure of the robot table 243. [Figure 3] It is a schematic diagram for explaining the method of setting the movement path. [Figure 4] It is a sequence showing an example of the operation of the update process. [Figure 5] It is a flowchart showing an example of the operation of the management process.

Embodiments for Carrying Out the Invention

[0018] Hereinafter, the robot management system according to the embodiment will be described with reference to the drawings.

[0019] FIG. 1 is a diagram showing the overall system configuration of the robot management system 1 according to the embodiment. As shown in FIG. 1, the robot management system 1 includes a plurality of robots 10, a management server 20, and the like. The robot management system 1 is a system for performing security, cleaning, or management of facilities such as companies, condominiums, and commercial facilities. The robot management system 1 controls and manages a plurality of robots 10. Each robot 10 autonomously moves (runs) inside the facility and executes a predetermined operation. The robot 10 includes a security robot that executes security inside the facility, a cleaning robot that executes cleaning of the facility, a guiding robot that guides users of the facility, a transporting robot that transports loads such as AEDs inside the facility, and the like. Each robot 10 moves along a predetermined path according to a predetermined schedule and moves to a predetermined point (position) to execute a predetermined operation. The management server 20 is arranged on a control desk or the like installed inside or outside the facility, and controls or manages a plurality of robots 10. Each robot 10 and the management server 20 are connected to each other via a communication network N such as an intranet or the Internet. The robot 10 is connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network.

[0020] The robot 10 includes a position sensor 11, a drive unit 12, an input unit 13, an output unit 14, a first communication unit 15, a first memory unit 16, a first processing unit 17, and the like.

[0021] The position sensor 11 is a sensor for acquiring the current position of the robot 10. The position sensor 11 includes one or more laser sensors (LiDAR). Each laser sensor is provided on the front, side, back, and / or top surface of the robot 10. Each laser sensor includes an irradiator that irradiates light such as near-infrared light, visible light, ultraviolet light, etc. in a predetermined direction, and a light receiver that receives the reflected light. The direction in which each irradiator irradiates light is set to have various azimuth angles and elevation angles with respect to the traveling direction of the robot 10. Each laser sensor measures the distance to an object existing around the robot 10 based on the time from when the irradiator irradiates light until the light receiver receives the reflected light. The position sensor 11 outputs a position detection signal including a plurality of combinations of each direction in which each laser sensor irradiates light and the measured distance to the first processing unit 17 at a predetermined period. The position sensor 11 may include a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System). The receiver receives navigation signals transmitted from a plurality of navigation satellites and outputs them to the first processing unit 17.

[0022] The drive unit 12 includes a motor for rotating the tires of the robot 10, a motor for changing the direction of the tires, and / or a motor for changing the angle of the arm of the robot 10. The drive unit 12 receives a drive signal from the first processing unit 17, rotates according to the received drive signal, and drives the tires and / or the arm.

[0023] The input unit 13 includes one or more sensors for detecting the situation around the robot 10. The input unit 13 includes one or more laser sensors, similar to the laser sensor in the position sensor 11, for example. Each laser sensor outputs a detection signal to the first processing unit 17 at a predetermined interval, which includes multiple combinations of the direction in which light was irradiated and the measured distance. The input unit 13 may include one or more visible light cameras provided on the front, side, back, and / or top surface of the robot 10. The imaging direction of each visible light camera is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each visible light camera has, for example, a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter. Each visible light camera sequentially generates a visible light image based on visible light at a predetermined frame period and outputs it to the first processing unit 17. In addition, the input unit 13 may include a thermal imaging camera that acquires thermal images, either in place of or in addition to the visible light cameras. The thermal imaging camera has, for example, two-dimensionally arranged sensors that detect the radiant energy of two wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies the electrical signal output from the sensors and performs analog-to-digital (A / D) conversion. The thermal imaging camera generates a thermal image based on temperature values ​​determined by the ratio of two types of radiant energies, and outputs it to the first processing unit 17 at a predetermined frame period. The input unit 13 may include a microphone. The microphone has an A / D converter, generates an audio signal based on the detected sound, and outputs it to the first processing unit 17 at a predetermined interval. The input unit 13 may include a temperature sensor. The temperature sensor detects the temperature around the robot 10 and outputs a temperature signal indicating the detected temperature to the first processing unit 17 at a predetermined interval. Robot 10 uses sensor data and image data output from various sensors in the input unit 13 to determine its own movement path and to perform predetermined tasks. Furthermore, since this information is also useful for the movement and work of other robots 10, it is not limited to its own use but is also utilized by other robots 10. As described later, based on the output information, it detects events occurring around its own robot as environmental information, transmits the detected environmental information to the management server 20 via the first communication unit 15, and the management server 20 aggregates the environmental information acquired from each robot 10.

[0024] The output unit 14 includes an LED that lights up or turns off according to instructions from the first processing unit 17. The output unit 14 also includes a display including a liquid crystal, organic EL, etc., and an interface circuit that outputs image data to the display, and may display various information such as images and text according to instructions from the first processing unit 17. The output unit 14 also includes a speaker and an interface circuit that outputs audio data to the speaker, and may output audio according to instructions from the first processing unit 17.

[0025] The first communication unit 15 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. Alternatively, the first communication unit 15 has, for example, a communication interface circuit compliant with the W-CDMA or LTE method, and is connected to the communication network N via a communication network such as a base station and a mobile communication network. The first communication unit 15 outputs data received from the communication network N to the first processing unit 17 and transmits data input from the first processing unit 17 to the communication network N.

[0026] The first storage unit 16 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The first storage unit 16 stores a computer program and various data for controlling the robot 10, and inputs and outputs this information to and from the first processing unit 17. The computer program may be installed in the first storage unit 16 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0027] Furthermore, the first memory unit 16 stores map information 161 and schedule information 162, etc., as data. Map information 161 shows the shape of corridors or rooms within the facility, the location of fixed obstacles such as equipment or partitions, etc. Map information 161 shows a graph structure that includes information about nodes and edges set in the corridors within the facility. Map information 161 is set by the management server 20. Schedule information 162 indicates the work schedule for robot 10. The work schedule includes, for each of one or more tasks, a departure time, departure location, work start time, work location, work content, work end time, return time, return location, and movement route. Schedule information 162 is set by the management server 20. The departure and return locations are set to predetermined home positions, etc. The method for setting the movement route will be described later.

[0028] The first processing unit 17 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and performs various signal processing for the robot 10. The first processing unit 17 includes a detection unit 171 and a control unit 172, etc., which are implemented as functional modules of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the first processing unit 17.

[0029] The first processing unit 17 receives schedule information for the robot 10 from the management server 20 via the first communication unit 15, and drives the drive unit 12 according to the received schedule information to move the robot 10. The first processing unit 17 moves along the path shown in the map information 161. Periodically, the first processing unit 17 acquires a position detection signal or navigation signal from the position sensor 11 to detect the current position and direction of the robot 10. The first processing unit 17 determines the current position and direction from the combination of the direction in which each laser sensor irradiated light and the distance to the object, and the positions of the path, room, obstacles, etc. shown in the map information 161. Alternatively, the first processing unit 17 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signal. When the robot 10 arrives at the work position shown in the schedule information, the first processing unit 17 executes the work related to the work content shown in the schedule information.

[0030] The management server 20 includes an operation unit 21, a display unit 22, a second communication unit 23, a second storage unit 24, and a second processing unit 25, among others.

[0031] The operation unit 21 includes an input device such as a touch panel or keyboard, and an interface circuit that acquires signals from the input device. It accepts user operations and outputs a signal corresponding to the accepted operation to the second processing unit 25. The display unit 22 includes a display including a liquid crystal or organic EL display, and an interface circuit that outputs image data to the display. It displays various information such as images and text according to instructions from the second processing unit 25.

[0032] The second communication unit 23 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the communication network N. Alternatively, the second communication unit 23 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. The second communication unit 23 outputs data received from the communication network N to the second processing unit 25 and transmits data input from the second processing unit 25 to the communication network N.

[0033] The second storage unit 24 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The second storage unit 24 stores computer programs and various data for controlling the management server 20, and inputs and outputs this information to and from the second processing unit 25. The computer program may be installed in the second storage unit 24 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network. The second memory unit 24 also stores data such as map information 241, correspondence table 242, and robot table 243. Map information 241 is the same information as map information 161 stored by robot 10. Details of correspondence table 242 and robot table 243 will be described later.

[0034] The second processing unit 25 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and executes various processes of the management server 20. The second processing unit 25 includes a receiving unit 251 and a management unit 252, etc., which are implemented as functional modules of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the second processing unit 25.

[0035] The second processing unit 25 receives the setting of the robot 10's work schedule from the control operator using the operation unit 21, and transmits the schedule information indicating the received work schedule to the robot 10 via the second communication unit 23 to set it on the robot 10. The second processing unit 25 also receives environmental information indicating events occurring within the facility from the robot 10 via the second communication unit 23, and based on the received environmental information, creates or modifies the work process for a different robot 10 than the one that transmitted the environmental information.

[0036] Figure 2(A) shows an example of the data structure of correspondence table 242. As shown in Figure 2(A), the correspondence table 242 contains settings indicating whether or not the work process of each robot 10 needs to be changed for each combination of the event shown in the environmental information and the type of robot 10, or for each combination of the event shown in the environmental information and the task performed by the robot 10.

[0037] Environmental information indicates events occurring within the facility. The events shown in the environmental information are those that affect the work process of robots 10, which move around the facility and perform predetermined tasks, such as the occurrence of a fire, the presence of a suspicious person, or congestion. Environmental information is information that affects the work processes of other robots. Examples of abnormalities are not limited to these; any situation where obstacles or other factors hinder the movement or work of robots 10 may also be considered an abnormality. Environmental information is detected by each robot 10 of the robot management system 1 and notified to the management server 20. The types of robots 10 include security robots, cleaning robots, guidance robots, and transport robots. The tasks performed by robots 10 include security, cleaning, guidance, and transport. Security includes standing guard, which monitors the surroundings without moving from a predetermined position, and patrol guard, which monitors while moving within a predetermined range.

[0038] For example, if cleaning, guidance, transport, etc., are performed by robot 10 when an anomaly occurs, secondary damage may occur. Therefore, the cleaning robot, guidance robot, transport robot, and the cleaning, guidance, and transport robots are configured to change their work processes. On the other hand, to ensure that security is carried out as scheduled when an anomaly occurs, the security robots and each security system are configured not to change their work processes. If congestion occurs, cleaning robots may not be able to clean adequately, so the work procedures for cleaning robots and cleaning will be modified. Also, if congestion occurs, security robots performing patrols may obstruct facility users, so the work procedures for patrols will be modified. On the other hand, even if congestion occurs, transport robots can transport without any particular problems, so the work procedures for transport robots and transport will not be modified. Furthermore, if congestion occurs, guidance or standing guard should be actively carried out, so the work procedures for guidance robots, as well as guidance and standing guard, will not be modified.

[0039] Figure 2(B) shows an example of the data structure of the robot table 243. As shown in Figure 2(B), the robot table 243 contains, for each of the multiple robots 10 owned by the robot management system 1, the identification number (robot ID), type, function, current position, battery level, schedule information, etc., of each robot 10, all of which are linked and configured accordingly. The functions of each robot 10 are the functions that each robot can perform. The identification number, type, and functions of each robot 10 are set in the robot management system 1 when each robot 10 is put into use. The current location and battery level of each robot 10 are periodically transmitted from each robot 10 to the management server 20 and updated. The schedule information for each robot 10 is set in the robot table 243 when it is set from the management server 20 to each robot 10.

[0040] Figure 3 is a schematic diagram illustrating how to set up a travel path. As described above, the map information 161 and 241 stored in each robot 10 and the management server 20 show a graph structure containing information about nodes and edges set up in the passages within the facility. Figure 3 shows the current position (home position) S of a particular robot 10 and the work position E of a particular task performed by that particular robot 10. In Figure 3, each white circle represents a node, and the line connecting two white circles represents an edge. Nodes are set at any location on the passage, such as branching points, corners, and locations where certain equipment is installed. For each pair of mutually adjacent nodes, a path connecting the nodes is set as an edge. Each edge is assigned a weight (cost value) corresponding to the length of the edge (the distance between the nodes located at both ends of each edge). The map information 161 and 241 show information about nodes and edges, such as the position of each node and the weight (cost value) of each edge.

[0041] When the controller sets the task to be performed, the start time, the work location, and the end time for each robot 10, the management server 20 uses the graph structure shown in the map information 241 to identify the entire route from the home position S to the work location E for each robot 10. The management server 20 uses known graph search techniques, such as Dijkstra's algorithm or the A* (A-star) search algorithm, to identify the route from the home position S to the work location E for each robot 10 that has the minimum sum of cost values ​​(total distance). In the example shown in Figure 3, among the multiple routes R1 to R3, route R2, which has the minimum total distance, is identified. The management server 20 uses the identified route as the travel route and calculates the travel time for each robot 10's travel route. From the calculated travel time, work start time, and work end time, the management server 20 calculates the departure time and return time for the robot 10. The management server 20 sets the robot 10 and the robot table 243 as schedule information, including the work content, work start time, work location, and work end time set by the controller, the specified movement route, and the calculated departure and return times. Note that the movement route may be determined by the robot 10 instead of the management server 20.

[0042] Figure 4 shows a sequence illustrating an example of the operation of the update process by the robot management system 1. This sequence is executed mainly by the first processing unit 17 and the second processing unit 25 in cooperation with each element of the robot 10 and the management server 20, based on a program pre-stored in the first storage unit 16 and the second storage unit 24. The update process is performed periodically.

[0043] First, the detection unit 171 detects environmental information around the robot (step S101). The detection unit 171 detects environmental information around the robot based on the information output from the input unit 13.

[0044] For example, the detection unit 171 detects the occurrence of an abnormality (fire) based on the temperature signal received from the input unit 13. The detection unit 171 determines that a fire has occurred if the temperature indicated in the temperature signal is above a temperature threshold that is considered to indicate the occurrence of a fire.

[0045] Furthermore, the detection unit 171 detects the occurrence of an anomaly (the presence of a suspicious person) based on the detection signal received from the input unit 13. The detection unit 171 determines whether or not there are objects other than those shown in the map information 161 around the robot, based on the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and the positions of passages, rooms, obstacles, etc., shown in the map information 161. The detection unit 171 identifies the size of the object from the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and if the identified size is considered to be the size of a person, it determines that a person is located around the robot. The detection unit 171 tracks the identified person and detects that person as a suspicious person if the person stays in the same location for a predetermined time or longer, or if the person moves back and forth within a predetermined range. The detection unit 171 may detect the occurrence of an anomaly (presence of a suspicious person) based on the visible light image or thermal image received from the input unit 13. The detection unit 171 detects change regions in the sequentially acquired images by inter-frame difference processing or background difference processing, and identifies the change region as a person region if it has a predetermined size that is considered to be a person. The robot 10 pre-sets in the first storage unit 16 an equation or table that shows the relationship between the position and size of the change region in the image, the distance from the robot 10, and the direction with respect to the imaging direction of the camera of the input unit 13. The detection unit 171 refers to that equation or table to determine the distance to the object corresponding to the change region and the direction of that object. The detection unit 171 tracks the corresponding person region between each sequentially acquired image, and detects the person in that person region as a suspicious person if the person region stays in the same position for a predetermined time or longer, or if it moves back and forth within a predetermined range.

[0046] Furthermore, the detection unit 171 detects the occurrence of congestion based on the detection signal, visible light image, or thermal image received from the input unit 13. The detection unit 171 determines that congestion is occurring if the number of people or areas of people detected based on the detection signal, visible light image, or thermal image is equal to or greater than a predetermined number considered to indicate congestion. The detection unit 171 may detect the occurrence of congestion based on the sound signal received from the input unit 13. The detection unit 171 analyzes the sound indicated in the sound signal at predetermined intervals and determines that congestion is occurring if the proportion of the amplitude (sound level) at frequencies considered to be human voices that is above a predetermined value is above a predetermined percentage.

[0047] In this way, the detection unit 171 detects abnormalities occurring around the robot or congestion conditions around the robot as environmental information.

[0048] Next, the control unit 172 of the robot 10 that detected the environmental information transmits the detected environmental information to the management server 20 via the first communication unit 15 (step S102). By transmitting the environmental information to the management server 20, the control unit 172 causes the management server 20 to create or modify a work process for a different robot 10 (another robot) from the robot 10 that transmitted the environmental information, among the multiple robots 10 owned by the robot management system 1.

[0049] Next, the receiving unit 251 of the management server 20 receives environmental information from the robot 10 via the second communication unit 23 (step S103).

[0050] Next, the management unit 252 executes management processing (step S104). In the management processing, the management unit 252 creates or modifies the work process for a robot 10 that is different from the robot 10 that transmitted the environmental information, among the multiple robots 10 owned by the robot management system 1, based on the environmental information received by the receiving unit 251. Then, the management unit 252 updates the schedule information in the robot table 243 for the robot 10 whose work process or movement path has been changed. Details of the management processing will be described later.

[0051] Next, the management unit 252 transmits a request signal to the robot 10, which has updated its schedule information, via the second communication unit 23, requesting that it update its work process (step S105). The request signal includes the schedule information updated in the management process.

[0052] Next, the control unit 172 of the robot 10, which is the destination of the request signal, receives the request signal from the management server 20 via the first communication unit 15 (step S106).

[0053] Next, the control unit 172, upon receiving the request signal, acquires the schedule information contained in the request signal and updates the schedule information 162 stored in the first storage unit 16 with the newly acquired schedule information (step S107). With this, the update process is completed.

[0054] Figure 5 is a flowchart illustrating an example of the operation of the management process by the management server 20. This flowchart is executed mainly by the second processing unit 25 in cooperation with each element of the management server 20, based on a program pre-stored in the second storage unit 24. The management process is executed in step S104 of Figure 4.

[0055] First, the control unit 252 identifies the detection area where environmental information has been detected (step S201). The control unit 252 refers to the robot table 243 to identify the current position of the robot 10 that transmitted the environmental information, and identifies a predetermined area including the identified position as the detection area. The predetermined area is set, for example, to the floor or (pre-divided within the floor) block including the identified position. The predetermined area may also be set to an area within a predetermined distance from the identified position. The predetermined distance may be set, for example, to the width of each corridor in the facility or the average or maximum value of one side of each room.

[0056] The processes in steps S202 to S206 are executed for each robot 10 among the multiple robots 10 owned by the robot management system 1 that is different from the robot 10 that transmitted the environmental information. Hereinafter, the robots 10 owned by the robot management system 1 that are subject to the processes in steps S202 to S206 and are different from the robot 10 that transmitted the environmental information may be referred to as the target robot. Note that the processes in steps S202 to S206 may also be executed for the robot 10 that transmitted the environmental information.

[0057] First, the control unit 252 determines whether the target robot will pass through the detection area (step S202). The control unit 252 refers to the robot table 243 to identify the schedule information of the target robot and identifies the tasks currently being performed and tasks to be performed in the future from among the tasks set in the identified schedule information. If the movement path related to any of the identified tasks is included in the detection area, the control unit 252 determines that the target robot will pass through the detection area. If the movement paths related to all of the identified tasks are not included in the detection area, the control unit 252 determines that the target robot will not pass through the detection area. If the control unit 252 determines that the target robot will not pass through the detection area, it proceeds to step S204 without performing any special processing.

[0058] On the other hand, if the control unit 252 determines that the target robot will pass through the detection area, it sets a travel path for the target robot that bypasses the detection area, that is, bypasses the area where an abnormality is occurring or the area that is congested (step S203).

[0059] The management unit 252 uses the graph structure shown in the map information 241 to identify all routes from the departure position to the work position related to the corresponding work, and then identifies the routes that do not pass through the detection area from among all identified routes. The management unit 252 uses known graph search techniques, such as Dijkstra's algorithm or A* (A-star) search algorithm, to identify the route with the smallest sum of cost values ​​(total distance) among the identified routes. In the example shown in Figure 3, when the schedule information was first set, route R2, which has the smallest total distance among the multiple routes R1 to R3, was identified. If node N2 included in route R2 is included in the detection area, then route R1, which has the smallest total distance among routes R1 and R3 that do not pass through the detection area, is identified as a detour route. If node N2 included in route R2 and node N1 included in route R1 are included in the detection area, then route R3, which does not pass through the detection area, is identified as a detour route. The management unit 252 updates the corresponding movement path in the robot table 243's schedule information to an alternative path, calculates the movement time, departure time, and return time based on the updated movement path, and updates the departure time and return time. As a result, the robot management system 1 can prevent the target robot from passing through areas where abnormalities are occurring or areas that are congested, thus preventing delays in its arrival at the work location. Therefore, the robot management system 1 can prevent delays in work within the facility.

[0060] Next, the control unit 252 determines whether the target robot will perform an operation that utilizes the detection area (step S204). The control unit 252 refers to the robot table 243 to identify the schedule information of the target robot and identifies the operations currently being performed and those to be performed in the future from among the operations set in the identified schedule information. If the work position or movement path related to any of the identified operations is included in the detection area, the control unit 252 determines that the target robot will perform an operation that utilizes the detection area. On the other hand, if the work positions and movement paths related to all of the identified operations are not included in the detection area, the control unit 252 determines that the target robot will not perform an operation that utilizes the detection area. If the control unit 252 determines that the target robot will not perform an operation that utilizes the detection area, it terminates processing for that target robot without performing any special processing.

[0061] On the other hand, if the control unit 252 determines that the target robot will perform an operation that utilizes the detection area, it determines whether the operation of the target robot is subject to change (step S205). The control unit 252 identifies the type of target robot by referring to the robot table 243. The control unit 252 also identifies the schedule information of the target robot and identifies the operations currently being performed and those to be performed in the future from among the operations set in the identified schedule information. The control unit 252 determines that the operation of the target robot is subject to change if the operation is set in the correspondence table 242 to change the work process for the combination of the detected environmental information and the identified type of target robot or any of the identified operations. On the other hand, the control unit 252 determines that the operation of the target robot is not subject to change if the operation is set in the correspondence table 242 to not change the work process for the combination of the detected environmental information and the identified type of target robot or all of the identified operations. If the control unit 252 determines that the operation of the target robot is not subject to change, it terminates processing for that target robot without performing any special processing.

[0062] On the other hand, if the control unit 252 determines that the work of the target robot is subject to change, it creates or changes the work process of the target robot (step S206). The control unit 252 creates or changes the work process of the target robot according to the detection area, i.e., the area where the abnormality is occurring or the area that is congested. The control unit 252 changes the work process of the target robot to prioritize work that does not use the detection area, i.e., work that does not use the area where the abnormality is occurring or the area that is congested (work outside the area where the abnormality is occurring or the area that is congested). In other words, the control unit 252 changes the work process of the target robot to execute work performed outside the detection area first and work performed in the detection area later. Furthermore, the control unit 252 changes the work process of the target robot to execute work that should be performed in the detection area or work that may be performed in the detection area first and work that should not be performed in the detection area later. For example, if congestion occurs in the detection area, the management unit 252 modifies the target robot's work process so that tasks that should be performed in the detection area, such as standing guard, are performed first, and tasks that should not be performed in the detection area, such as patrol security, are performed later. This allows the robot management system 1 to make the target robot perform tasks that should not be performed when an anomaly or congestion occurs only after the anomaly or congestion has been resolved. The management unit 252 may also modify the target robot's work process to shorten some of the tasks performed in the area where the anomaly or congestion is occurring. For example, the management unit 252 may shorten some of the work path or some of the work movements for tasks performed in the detection area. This allows the robot management system 1 to control the target robot so that it does not get in the way in the area where the anomaly or congestion is occurring. The management unit 252 may also delete tasks that have been determined to be subject to change in the schedule information and / or create new tasks that have been pre-set as executable tasks for the detected environmental information. This allows the robot management system 1 to control the target robot so that it does not get in the way in the area where the anomaly or congestion is occurring.The management unit 252 updates the departure time, work start time, work end time, and return time, etc., related to the changed work within the schedule information of the target robot in the robot table 243.

[0063] In this way, the management unit 252 creates or modifies the work process of the target robot based on environmental information. In particular, the management unit 252 determines whether or not to change the work process depending on the combination of environmental information and the type of robot or task. As a result, the robot management system 1 can modify the work process only for tasks that should not be performed when a specific event occurs, without changing the work process for tasks that can be performed even when that event occurs. Therefore, the robot management system 1 can enable each robot 10 to perform tasks appropriately while suppressing a reduction in the work efficiency of each robot 10.

[0064] Once steps S202 to S206 have been executed for all target robots, the management process will be terminated.

[0065] Note that the processes in steps S202 to S203 in Figure 5 may be omitted. Also, the process in step S204 in Figure 5 may be omitted, and the control unit 252 may create or modify the work process for the target robot regardless of whether the target robot performs work that utilizes the detection area. Also, the process in step S205 in Figure 5 may be omitted, and the control unit 252 may create or modify the work process for the target robot regardless of whether the work of the target robot is subject to modification.

[0066] As described above, the robot management system 1 creates or modifies the work processes of other robots 10 based on environmental information surrounding a specific robot 10. This allows the robot management system 1 to efficiently acquire the status of various locations within the facility from each robot 10 and determine whether each robot 10 should perform work at each location based on the acquired status of each location. Therefore, the robot management system 1 can appropriately manage the operation of multiple robots.

[0067] The robot management system 1 instructs the robots 10 to perform tasks that should not be executed at locations where specific events are occurring, delaying their execution and allowing other tasks to be performed first. Therefore, the robot management system 1 can improve the work efficiency of each robot 10 while ensuring that each robot 10 performs all the tasks it should.

[0068] Although preferred embodiments have been described above, the embodiments are not limited to the examples described above. For example, in the robot management system 1, the management server 20 may be omitted, and the robot 10 may create or modify work processes. In that case, the first storage unit 16 of the robot 10 stores the information stored in the second storage unit 24 of the management server 20. The first processing unit 17 of the robot 10 has a receiving unit and a management unit having functions similar to those of the receiving unit 251 and the management unit 252, respectively. Steps S102 to S105 in Figure 4 are omitted, and instead, the management unit of robot 10 performs the processing of steps S103 to S105 in Figure 4. That is, the detection unit 171 of each robot 10 detects environmental information around each robot 10 that affects the work processes of other robots 10, such as abnormalities or congestion. When the detection unit 171 detects environmental information, the control unit 172 transmits the detected environmental information to one or more other robots 10 owned by the robot management system 1 via the first communication unit 15 and access points. The receiving unit receives the environmental information around the other robots 10 that the other robots 10 have detected, via the first communication unit 15. When the receiving unit receives environmental information that affects the work process of its own robot, the management unit creates or modifies the work process of its own robot based on that environmental information and updates the schedule information according to that work process. Furthermore, the robot 10 to be communicated (the robot 10 to which environmental information is transmitted) may be a robot 10 located within a predetermined range (for example, within a predetermined distance or within the same area) from each robot 10, or a robot 10 that has been registered in advance as a robot to be coordinated. In this case as well, the robot management system 1 can efficiently acquire the status of various locations within the facility from each robot 10, and based on the acquired status of each location, it can determine whether or not each robot 10 should perform work at each location.

[0069] Furthermore, in addition to robot management by the management server 20, the robot management system 1 may also perform communication between robots and create or modify work processes. For example, if the detection unit 171 of robot 10 detects an abnormality or congestion as environmental information, it may notify other robots 10 if they are in the same area as the robot in question, or notify the management server if no other robots 10 are present.

[0070] In the above embodiment, a detection unit 171 of the robot 10 was described as detecting environmental information based on information output from the input unit 13, but it is not limited to this. For example, the information output from the input unit 13 may be environmental information. In this case, the robot 10 may transmit some (e.g., image data) or all of the information output from the input unit 13 (i.e., environmental information) to the management server 20, and the management server 20 may detect events that affect the work process (e.g., abnormalities or congestion) based on the received environmental information.

[0071] A robot management system according to one embodiment of the present invention can contribute to solving social issues such as the declining labor force and long working hours. Furthermore, the robot management system according to one embodiment of the present invention can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation." [Explanation of Symbols]

[0072] 1 robot management system, 10 robots, 171 detection unit, 172 control unit, 20 management server, 251 receiving unit, 252 management unit

Claims

1. A robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, The aforementioned robot, A detection unit that detects environmental information around the robot, It includes a control unit that transmits the environmental information to the management server, The aforementioned management server A receiving unit that receives the environmental information from the robot, A management unit that, based on the aforementioned environmental information, creates or modifies the work process of a robot among the multiple robots that is different from the robot that transmitted the environmental information, A robot management system characterized by having the following features.

2. The robot management system according to claim 1, wherein the detection unit detects events that affect the robot's work process as environmental information.

3. The detection unit detects abnormalities occurring around the robot or congestion around the robot as environmental information. The robot management system according to claim 1 or 2, wherein the management unit creates or modifies the work process of a robot different from the robot that transmitted the environmental information, depending on the area where the abnormality is occurring or the area is congested.

4. The robot management system according to claim 3, wherein the management unit creates or modifies the work process of a robot different from the robot that transmitted the environmental information, so as to bypass the area where the abnormality is occurring or the area is congested, prioritize work outside the area, or shorten part of the work in the area.

5. The robot management system according to claim 1 or 2, wherein the management unit determines whether or not to change the work process of the target robot according to the combination of the environmental information and a different type of target robot or task from the robot that transmitted the environmental information.

6. It is an autonomously moving robot, A detection unit that detects environmental information around the robot, A control unit transmits environmental information detected by the detection unit, which affects the work processes of other robots, to a management server that manages multiple autonomously moving robots, including its own robot, so that the management server can create or modify the work processes of other robots based on the environmental information. A robot characterized by having the following features.

7. It is an autonomously moving robot, A detection unit that detects environmental information around the robot, A control unit that transmits the environmental information detected by the detection unit, which affects the work processes of other robots, to one or more other robots, A robot characterized by having the following features.

8. A robot that moves autonomously based on the work process, A receiving unit that receives environmental information about the surroundings of another robot detected by that other robot, When the aforementioned environmental information that affects the robot's work process is received, the management unit creates or modifies the work process based on the environmental information, A robot characterized by having the following features.

9. A management server for managing multiple autonomously moving robots, A receiving unit that receives environmental information about the surroundings of each of the aforementioned multiple robots, A management unit that, based on the aforementioned environmental information, creates or modifies the work process of a robot among the multiple robots that is different from the robot that transmitted the environmental information, A management server characterized by having the following features.

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