Robots and robot management systems

Abstract

The objective is to efficiently set a movement path even when constraint areas are set on the robot's movement path. [Solution] The robot 10 includes a state acquisition means 171 that acquires usage status information indicating the usage status of one or more areas set in the robot 10's movement area, which are areas where the robot's actions are restricted, and a path setting means 172 that sets a movement path from the robot 10's starting point to the destination point based on the usage status information acquired by the state acquisition means 171.

Description

Technical Field

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

Background Art

[0002] There is known a robot management system that manages an autonomously traveling robot that autonomously travels within a facility and performs patrol security, inspection work, etc. instead of a resident security guard (see, for example, Patent Document 1). When a person passing through a security gate during an open period in which the security gate is open due to a robot transmitting an open request signal is detected, the robot management system described in Patent Document 1 detects the person as an unauthorized intruder without passage authority. Thereby, the robot management system described in Patent Document 1 can prevent intrusion by association or passing-by intrusion by an unauthorized intruder when the robot passes through the security gate.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a plurality of robots capable of autonomous travel are operated in a facility, when two robots pass through a passage where it is difficult for two robots to pass through simultaneously, such as a narrow passage, a deadlock may occur in which the robots are in a waiting state. In order to prevent the occurrence of a deadlock, it is desirable that a passage where it is difficult for two robots to pass through simultaneously be appropriately managed as a restricted area that restricts the actions of a plurality of robots, such as an area where only one robot can pass through.

[0005] The present invention aims to efficiently set a robot's movement path, even when a constraint area is set on the robot's movement path. [Means for solving the problem]

[0006] The robot according to the present invention includes a state acquisition means for acquiring usage status information indicating the usage status by other robots in one or more restricted areas set in the robot's movement area, which are areas where the robot's actions are restricted; and a path setting means for setting a movement path from the robot's starting point to a destination point based on the usage status information acquired by the state acquisition means.

[0007] Furthermore, in the robot according to the present invention, it is preferable that the path setting means searches for a plurality of paths from the robot's starting point to the destination point, the state acquisition means acquires usage state information for constraint areas in at least the plurality of paths that have been searched, and the path setting means sets one of the plurality of paths that have been searched as the movement path based on the usage state information acquired by the state acquisition means.

[0008] Furthermore, in the robot according to the present invention, it is preferable that the state acquisition means acquires usage state information for one or more constraint areas within the movement area, and the path setting means sets the movement path based on the path length of the path from the starting point to the destination point and the usage state information acquired by the state acquisition means.

[0009] Furthermore, in the robot according to the present invention, the state acquisition means preferably acquires at least one of the following states as usage status information: the "in use" state, where the constraint area is being used by another robot; the "reserved" state, where the use of the constraint area is reserved by another robot; and the "waiting" state, where the constraint area is waiting until the use by another robot is finished. The path setting means preferably sets a movement path based on at least one of the following: the number of constraint areas in the "in use" state; the number of constraint areas in the "reserved" state; and the number of constraint areas in the "waiting" state.

[0010] Furthermore, in the robot according to the present invention, the state acquisition means preferably acquires at least one of the following as usage status information: a first usage time, which is the time when another robot in the usage state uses the constraint area; a second usage time, which is the time when another robot in the reserved state uses the constraint area; and a third usage time, which is the time when another robot in the standby state uses the constraint area. The path setting means preferably sets a movement path based on at least one of the first usage time, the second usage time, and the third usage time.

[0011] Furthermore, in the robot according to the present invention, the state acquisition means preferably acquires, as usage state information, at least one of the following for each constraint area: the number of robots in use, the number of robots reserved, and the number of robots in standby. The path setting means preferably sets a movement path based on at least one of the number of robots in use, the number of robots reserved, and the number of robots standby.

[0012] Furthermore, in the robot according to the present invention, it is preferable that the path setting means sets the movement path based on statistical information of the usage status in one or more constraint areas over a predetermined period in the past.

[0013] Furthermore, in the robot according to the present invention, it is preferable that the path setting means sets the movement path based on the distance between the starting point and the constraint area.

[0014] Furthermore, the robot management system according to the present invention is a robot management system composed of a plurality of robots and a management server, and includes a state acquisition means for acquiring usage status information indicating the usage status by other robots of one or more restricted areas set in the robot's movement area, which are areas where restrictions are imposed on the robot's actions, and a path setting means for setting a movement path from the robot's starting point to a destination point based on the usage status information acquired by the state acquisition means. [Effects of the Invention]

[0015] The robot according to the present invention can efficiently set a movement path even when a constraint area is set in the movement path. [Brief explanation of the drawing]

[0016] [Figure 1] This figure shows the overall system configuration of the robot management system according to the embodiment. [Figure 2] (A) is a diagram showing an example of node information as shown in Figure 1, (B) is a diagram showing an example of edge information as shown in Figure 1, and (C) is a diagram showing the graph structure of the paths within the facility as shown by the node information and edge information as shown in Figure 1. [Figure 3] (A) is a diagram showing an example of the data structure of the robot table shown in Figure 1, and (B) is a diagram showing an example of the data structure of the edge table shown in Figure 1. [Figure 4] Figure 1 is a flowchart showing an example of the operation of the detection process performed by the management server. [Figure 5] Figure 1 is a sequence diagram illustrating an example of the operation of the movement path setting process performed by the robot shown. [Figure 6] (A) is a diagram showing the graph structure corresponding to the process indicated by S204 in Figure 5, (B) is a diagram showing the graph structure corresponding to the process indicated by S207 in Figure 5, (C) is a diagram showing the graph structure corresponding to the process indicated by S210 in Figure 5, and (D) is a diagram showing the graph structure when the usage state of the constraint region is different from the state shown in (C). [Figure 7] (A) is a graph structure showing the state after the process indicated in S210 in the movement path setting process according to the first modified example has been executed, (B) is a graph structure showing the state when the utilization state of the constraint area is different from the state shown in (A), (C) is a graph structure showing the state after the process indicated in S210 in the movement path setting process according to the second modified example has been executed, and (D) is a graph structure showing the state when the utilization state of the constraint area is different from the state shown in (C). [Figure 8]It is a sequence diagram showing an example of the operation of the movement path setting process according to the third modification example. [Figure 9] It is a sequence diagram showing an example of the operation of the movement path setting process according to the fourth modification example. [Figure 10] (A) is a diagram showing a graph structure corresponding to the process shown by S413 in FIG. 9, (B) is a diagram (part 1) showing a graph structure corresponding to the process shown by S414 in FIG. 9, and (C) is a diagram (part 2) showing a graph structure corresponding to the process shown by S414 in FIG. 9.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, the robot and the robot management system according to the present invention will be described with reference to the drawings. However, note that the technical scope of the present invention is not limited to those embodiments, and extends to the invention described in the claims and its equivalents.

[0018] (Configuration and Function of the Robot According to the Embodiment) FIG. 1 is a diagram showing the overall system configuration of a robot management system according to an embodiment composed of a plurality of robots and a management server.

[0019] The robot management system 1 includes multiple robots 10 and a management server 20 that manages the multiple robots 10. The robot management system 1 is a system that performs security, cleaning, or management of facilities such as companies, apartments, and commercial facilities by controlling the multiple robots 10. The robot management system 1 sets the movement paths of each of the multiple robots 10 based on the usage status of constraint areas by other robots other than its own robot, which are included in the movement path of each of the multiple robots 10 from their respective starting point to their destination point. A constraint area is one or more areas set in the movement area of ​​the robots 10, in which the actions of the multiple robots 10 are restricted. A constraint area is, for example, an exclusive area that only one robot can enter, an area where passing is prohibited, an area where overtaking is prohibited, and an area where U-turns are prohibited, in which the actions of the robots 10 are restricted. The constraint area may be changed according to the situation inside the facility, such as the arrangement of items and the congestion level.

[0020] Each of the multiple robots 10 moves autonomously within its designated area of ​​operation within the facility and performs a predetermined task. The robots 10 include security robots that perform security within the facility, cleaning robots that perform cleaning within the facility, guidance robots that provide information to facility users, and transport robots that transport items such as AEDs within the facility. Each of the robots 10 moves along a predetermined route according to a predetermined schedule to a predetermined point (location) and performs a predetermined task.

[0021] The management server 20 is located in a control console or similar device inside or outside the facility and controls or manages multiple robots 10. Each robot 10 and the management server 20 are interconnected via a communication network N such as an intranet or the Internet. The robots 10 are connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network.

[0022] 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 storage unit 16, and a first processing unit 17, etc. The position sensor 11 is a sensor used to acquire the current position of the robot 10. The position sensor 11 includes one or more laser sensors (LiDAR). Each laser sensor is mounted on the front, side, back, and / or top surface of the robot 10. Each laser sensor includes an irradiator that emits light such as near-infrared light, visible light, or ultraviolet light in a predetermined direction, and a receiver that receives the reflected light. The direction in which each irradiator emits light is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each laser sensor measures the distance to objects present around the robot 10 based on the time from when the irradiator emits light until the receiver receives the reflected light. The position sensor 11 outputs a position detection signal to the first processing unit 17 at a predetermined period, which includes multiple combinations of each direction in which the laser sensor emitted light and the measured distance. 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 multiple navigation satellites and outputs them to the first processing unit 17.

[0023] 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.

[0024] The input unit 13 includes one or more sensors for detecting the surrounding conditions of 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 includes, for example, a photoelectric conversion element sensitive to visible light, such as a CCD element or CMOS 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 includes, 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.

[0025] 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. If the robot 10 is a cleaning robot or a transport robot, the robot 10 does not need to have the output unit 14.

[0026] 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.

[0027] The first storage unit 16 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as 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. The first storage unit 16 also stores data such as node information 161, edge information 162, current status information 163, reserved status information 164, and schedule information 165.

[0028] Figure 2(A) shows an example of node information 161, Figure 2(B) shows an example of edge information 162, and Figure 2(C) shows the graph structure of the paths within the facility indicated by node information 161 and edge information 162. Node information 161 is a table having a "Node ID" column and a "Location" column. The "Node ID" column stores the identification numbers "N001" to "N009" for each of the multiple nodes. The "Location" column stores the three-dimensional coordinates for each of the identification numbers "N001" to "N009" and associates them with each identification number "N001" to "N009". Edge information 162 is a table having an "Edge ID" column and a "Location" column. The "Edge ID" column stores the identification numbers "E001" to "E010" for each of the multiple edges. The "Location" column stores the locations of each identification number "E001" to "E010" as defined by the nodes indicated by the identification numbers "N001" to "N009" included in node information 161, and is stored in association with each of the identification numbers "N001" to "N010". The edge indicated by identification number "E001" is defined as the edge between the node indicated by identification number "N001" and the node indicated by identification number "N002". The edge indicated by identification number "E002" is defined as the edge between the node indicated by identification number "N001" and the node indicated by identification number "N003". The same applies to the following, where the edge indicated by identification number "E010" is defined as the edge between the node indicated by identification number "N006" and the node indicated by identification number "N007". In addition to node information 161 and edge information 162, the first storage unit 16 may further store map information indicating the shape of corridors or rooms within the facility, the location of fixed obstacles such as equipment or partitions, etc. The current state information 163 indicates the current state of the robot 10, such as "Preparing," indicating that it is waiting in a predetermined home position without performing any work; "Working," indicating that it is performing work; "Moving," indicating that it is moving to a desired position; or "Waiting," indicating that it is waiting to enter an edge which is a constraint area. The reservation status information 164 indicates the edges that are currently reserved for use as constraint regions on the movement path of the robot 10, which is in motion, and which are scheduled to pass through. For example, when the robot 10 moves from a node indicated by identification number "N001" to a node indicated by identification number "N006" via the edges indicated by identification numbers "E001", "E003", and "E005", the reservation status information 164 indicates that the edges indicated by identification numbers "E001", "E003", and "E005" are reserved. Schedule information 165 indicates the schedule for robot 10. The schedule includes, for each task, the departure time, departure point, work start time, work location, work content, work end time, return time, return point, and travel route. Schedule information 165 is set by the management server 20. The departure point and return point are set to predetermined home positions, for example, nodes indicated by identification number "N001". The departure point may also be the robot's current location.

[0029] 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 state acquisition means 171 and path setting means 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.

[0030] 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 paths defined by the node information 161 and edge information 162. Periodically, the first processing unit 17 acquires position detection signals or navigation signals from the position sensors 11 to detect the current position and direction of the robot 10. The first processing unit 17 identifies the current position and direction from the combination of the direction in which each laser sensor irradiated light and the distance to the object, as well as the positions of paths, rooms, obstacles, etc., shown in the map information. Alternatively, the first processing unit 17 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signals. 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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. Furthermore, the second storage unit 24 stores data such as node information 241, edge information 242, robot table 243, edge table 244, etc. Node information 241 and edge information 242 are the same information as node information 161 and edge information 162 stored by the robot 10, respectively.

[0035] Figure 3(A) shows an example of the data structure of the robot table 243. As shown in Figure 3(A), the robot table 243 contains, for each of the multiple robots 10 owned by the robot management system 1, the identification number (robot ID), function, size, movement speed, current position, movement direction, current status, reservation status, battery level, schedule information, etc., which are all linked and set together. The functions of each robot 10 are the functions that each robot is capable of performing. The identification number, functions, size, and movement speed of each robot 10 are set in the robot management system 1 when each robot 10 is put into use. The current position, direction of movement, current status, 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 by the controller at predetermined intervals such as daily, weekly, or monthly.

[0036] Figure 3(B) shows an example of the data structure of edge table 244. As shown in Figure 3(B), the edge table 244 contains, in relation to each edge, the identification number, constraint area, number of units using, first usage time, number of reserved units, second usage time, number of standby units, third usage time, cost value, etc., for each edge as it is stored in the edge information 242. In the edge table 244, the "Constraint Area" column indicates whether or not an edge is a constraint area. When the "Constraint Area" column is "YES", the corresponding edge is a constraint area, and when the "Constraint Area" column is "NO", the corresponding edge is not a constraint area. The "Number of Units Using" column indicates the number of robots 10 using the constraint area, and the "First Usage Time" column indicates the time that robots 10 use the constraint area. The first usage time may be a predetermined usage time required for robots 10 to pass through the entire constraint area, or it may be the remaining time required for robots 10 to pass through the rest of the constraint area when robots 10 are passing through the constraint area. The "Number of Reserved Units" column indicates the number of robots 10 that have reserved the constraint area, and the "Second Usage Time" column indicates the time that the reserved robots 10 will use the constraint area. The "Number of Standby Units" column indicates the number of robots 10 waiting to enter the constraint area, and the "Third Usage Time" column indicates the time that the robots 10 will wait to enter the constraint area. The "Cost Value" column indicates the cost value, which is a weighted value based on the length of each edge, i.e., the distance value. The cost value is set to be larger as the edge length increases. For example, the cost value may be set proportionally to the edge length. The identification number, constraint area, and cost value of each edge are set in the robot management system 1 when the movement area of ​​the robot 10 is defined. The constraint area may be changed according to the arrangement of items and the conditions within the facility, such as congestion. The number of units in use, the number of units reserved, the number of units on standby, and the usage time for each edge are periodically transmitted from each robot 10 to the management server 20 and updated.

[0037] 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 detection means 251, aggregation means 252, and transmission means 253, 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.

[0038] The second processing unit 25 receives the schedule setting for the robot 10 from the controller using the operation unit 21, and transmits the schedule information indicating the received schedule to the robot 10 via the second communication unit 23 to set the schedule for the robot 10. The second processing unit 25 also detects the status of multiple robots 10 and stores the status of each of the detected robots 10 in the robot table 243.

[0039] Figure 4 is a flowchart showing an example of the operation of the detection process performed by the management server 20. The detection process shown in Figure 4 is mainly performed by the second processing unit 25 in cooperation with each element of the management server 20, based on a program that is stored in the second storage unit 24 in advance. The detection process shown in Figure 4 is performed at predetermined detection cycles, such as every 10 seconds.

[0040] First, the detection means 251 acquires detection information from the robot 10 assigned the identification number "R001" (S101). The detection information includes current position information and current direction information indicating the current position and direction of movement, current state information indicating the current state, reservation information indicating the current reservation state, and battery level information. The detection means 251 transmits a detection information request signal to the robot 10 assigned the identification number "R001" indicating the transmission of a detection signal indicating detection information. In response to receiving the detection information request signal, the robot 10 assigned the identification number "R001" acquires a position detection signal from the position sensor 11 and detects its current position and direction. The robot 10 assigned the identification number "R001" also acquires current state information 163 and reservation state information 164 stored in the first storage unit. The robot 10 assigned the identification number "R001" also acquires battery level information indicating the remaining battery level. Robot 10, assigned identification number "R001", transmits a detection signal to the management server 20 indicating detection information including current location information and current direction information showing the detected current position and direction, acquired current status information 163 and reserved status information 164, and battery level information. Detection means 251 acquires detection information corresponding to the received detection signal and stores the current location information, current direction information, current status information, reserved status information and battery level information included in the acquired detection information in the robot table 243, associating them with identification number "R001".

[0041] Next, the detection means 251 determines whether or not it has acquired detection information from all robots 10 (S102). The processes shown in S101 and S102 are repeated until the detection means 251 determines that it has acquired detection information from all robots 10 (S102-YES). As the processes shown in S101 and S102 are repeated, detection information is sequentially acquired from multiple robots 10 corresponding to identification numbers "R002", "R003", and "R004", respectively.

[0042] When the detection means 251 determines that detection information has been obtained from all robots 10 (S102-YES), the aggregation means 252 aggregates the state of the robots 10 at each edge (S103). First, the aggregation means 252 refers to the node information 241 and the robot table 243 to estimate whether the current position of the robot 10 with identification number "R001" is one of the edges associated with identification numbers "E001" to "E010". Next, the aggregation means 252 refers to the robot table 243 to determine whether the current state of the robot 10 with identification number "R001" is either "in use" or "on standby" in the constraint area. Next, the aggregation means 252 counts up the number of current states of the constraint area included in the estimated edge (number of units in use, number of units on standby) by one and stores the counted number in the second storage unit 24. Next, the aggregation means 252 refers to the reservation status information stored in the robot table 243 and extracts the edges that are the constraint regions reserved by the robot 10 with identification number "R001". Then, the aggregation means 252 increments the number of "reserved" edges (number of reserved units) by one and stores the incremented number in the second storage unit 24.

[0043] Next, the aggregation means 252 determines whether or not the states of all robots 10 have been aggregated (S104). The processes shown in S103 and S104 are repeated until the aggregation means 252 determines that the states of all robots 10 have been aggregated (S104-YES). As the processes shown in S103 and S104 are repeated, the current states of the robots 10 located at each edge associated with identification numbers "E001" to "E010" are aggregated. When the aggregation means 252 determines that the states of all robots 10 have been aggregated (S104-YES), the detection process ends.

[0044] Figure 5 is a sequence diagram showing an example of the operation of the movement path setting process performed by the robot 10. The movement path setting process shown in Figure 5 is mainly performed by the first processing unit 17 in cooperation with each element of the robot 10, based on a program stored in the first storage unit 16 in advance. The movement path setting process shown in Figure 5 is performed when the robot 10, also called the self-robot, starts work according to the schedule information and moves from the home position to the work start point.

[0045] First, the status acquisition means 171 sends a schedule request signal to the management server 20 requesting the robot 10 to send a schedule signal indicating the schedule of the next task to be performed (S201). The status acquisition means 171 sends a schedule request signal to the management server 20, for example, when the previous task is completed and the robot returns to a predetermined standby position. The schedule request signal includes information indicating the transmission of a schedule signal, the time the schedule signal was transmitted, and an identification number indicating the robot 10 that transmitted the schedule signal.

[0046] Next, the transmitting means 253 transmits a schedule signal to the robot 10 indicating the schedule of the next task to be performed by the robot 10 (S202). The transmitting means 253 obtains schedule information indicating the schedule of the next task to be performed by the robot 10 that transmitted the schedule signal in the process shown in S201, by referring to the "Schedule Information" column of the robot table 243. Next, the transmitting means 253 generates a schedule signal corresponding to the acquired schedule information and transmits the generated schedule signal to the robot 10 that transmitted the schedule request signal.

[0047] Next, the state acquisition means 171 acquires schedule information indicating the schedule of the next task to be performed by the robot 10 (S203). The state acquisition means 171 acquires schedule information corresponding to the schedule signal transmitted in the process shown in S202 and stores the acquired schedule information as schedule information 165 in the first storage unit 16. The robot 10 acquires schedule information 165 indicating that the node indicated by identification number "N001" is the starting point and the node indicated by identification number "N006" is the destination point.

[0048] Next, the route setting means 172 searches for multiple routes from the robot 10's starting point to the destination point (S204). The route setting means 172 refers to the schedule information 165 and executes a process to search for multiple routes at a predetermined set time earlier than the departure time set in the schedule information 165. The route setting means 172 uses the graph structure shown in Figure 2(C) to identify all routes from the node indicated by identification number "N001", which is the home position of each robot 10, to the node indicated by identification number "N006", which is the work position. The route setting means 172 searches for multiple routes using known graph search techniques, such as Dijkstra's algorithm or A* (A-star) search algorithm. The route setting means 172 extracts the first route R1 and the second route R2 as search results and stores the first route information and the second route information, which represent the extracted first route R1 and second route R2, respectively, in the first storage unit 16. As shown in Figure 6(A), the route setting means 172 searches for a route that passes through the edges indicated by identification numbers "E001", "E003", and "E005" in order as the first route R1. The route setting means 172 also searches for a route that passes through the edges indicated by identification numbers "E002", "E004", "E007", and "E010" in order as the second route R2.

[0049] Next, the state acquisition means 171 sends a constraint area request signal to the management server 20 requesting the transmission of constraint area signals indicating the constraint areas included in the first path R1 and the second path R2, respectively, which were searched in the process shown in S204 (S205). At this time, the management server 20 may also be sent a constraint area request signal requesting the transmission of constraint area signals indicating the constraint areas included in all paths (edges).

[0050] Next, the transmitting means 253 transmits constraint area signals to the robot 10 indicating the constraint areas included in the first path R1 and the second path R2, respectively (S206). The transmitting means 253 extracts constraint area information indicating the constraint areas included in the first path R1 and the second path R2, respectively, by referring to the edge information 242 and the "Constraint Area" column of the edge table 244. The transmitting means 253 transmits constraint area signals corresponding to the extracted constraint area information to the robot 10. The transmitting means 253 extracts information indicating identification numbers "E001", "E003", "E005", and "E007" as constraint area information. The transmitting means 253 transmits constraint area signals indicating the constraint area information to the robot 10.

[0051] Next, the state acquisition means 171 acquires constraint area information corresponding to the constraint area signal transmitted in the process shown in S206 (S207). The state acquisition means 171 stores in the first storage unit 16 the constraint area information corresponding to the constraint area signal transmitted in the process shown in S206, that is, information indicating the identification numbers "E001", "E003", "E005", and "E007". As shown in Figure 6(B), the state acquisition means 171 acquires constraint region information indicating that the edges indicated by identification numbers "E001", "E004", "E005", and "E007" are constraint regions C1 to C4.

[0052] Next, the state acquisition means 171 sends a usage status request signal to the management server 20 requesting the transmission of a usage status signal indicating the usage status of the constraint area by other robots, corresponding to the constraint area information acquired in the process shown in S207 (S208).

[0053] Next, the transmitting means 253 transmits usage status signals to the robot 10 indicating the usage status of the constraint areas included in the first path R1 and the second path R2 by other robots (S209). The transmitting means 253 extracts usage status information indicating the usage status of the constraint areas included in the first path R1 and the second path R2 by referring to the "Edge ID" column, "Number of Users" column, "Number of Reserved Users" column and "Number of Standby Users" column of the edge table 244. The transmitting means 253 transmits usage status signals corresponding to the extracted usage status information to the robot 10.

[0054] Next, the status acquisition means 171 acquires usage status information corresponding to the usage status signal transmitted in the process shown in S209 (S210). The status acquisition means 171 stores the usage status information corresponding to the usage status signal transmitted in the process shown in S209 in the first storage unit 16. As shown in Figure 6(C), the state acquisition means 171 acquires usage status information indicating that the constraint region C1, whose status is (1,0,1), is in use and in standby mode, the constraint region C2, whose status is (1,0,0), the constraint region C3, whose status is (1,0,0), and the constraint region C4, whose status is (1,0,0).

[0055] Then, in the process shown in S210, the route setting means 172 evaluates the first route R1 and the second route R2 based on the usage status information acquired by the status acquisition means and sets a movement route from the robot 10's starting point to the destination point (S211). The route setting means 172 determines that two constraint areas C1 and C3 included in the first route R1 are in use, and that constraint area C1 is in standby. The route setting means 172 determines that two constraint areas C2 and C4 included in the second route R2 are in use. The route setting means 172 determines that the number of constraint areas in use in the first route R1 and the second route R2 are the same, and that the number of constraint areas in standby in the first route R1 is greater than the number of constraint areas in standby in the second route R2. The route setting means 172 determines that the number of constraint regions in a waiting state included in the first route R1 is greater than the number of constraint regions in a waiting state included in the second route R2, and therefore, selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will result in a lower probability of waiting for other robots 10 to pass and that the destination node indicated by identification number "N006" can be reached earlier.

[0056] Figure 6(D) shows the graph structure when the usage state of constraint regions C1 to C4 is different from the state shown in Figure 6(C). In the state shown in Figure 6(D), constraint regions C1 and C3, whose status is indicated as (1,0,0), are in use, and constraint regions C2 and C4, whose status is indicated as (0,0,0), are unused. In Figure 6(D), the state acquisition means 171 determines that the number of constraint regions in use included in the first path R1 is greater than the number of constraint regions in use included in the second path R2, and that the number of constraint regions in reserved and waiting states is the same in both the first path R1 and the second path R2. Since the number of constraint regions in use included in the first path R1 is greater than the number of constraint regions in use included in the second path R2, the state acquisition means 171 determines that selecting the second path R2 is less likely to result in waiting for other robots 10 to pass. The state acquisition means 171 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will reduce the likelihood of waiting for other robots 10 to pass and allow the robot to reach the destination node indicated by identification number "N006" earlier.

[0057] The robot management system 1 can efficiently set a movement path even when a constraint area is set in the movement path by setting a movement path based on usage status information that indicates the usage status of the constraint area by other robots. The robot management system 1 can also efficiently set a movement path even when a constraint area is set in the movement path by setting a movement path based on the number of constraint areas that are in use, reserved, and on standby.

[0058] The robot management system 1 evaluates each of the multiple paths based on the number of constraint areas in use, the number of constraint areas in reservation, and the number of constraint areas in standby, and sets a movement path. However, the robot management system according to this embodiment may evaluate each of the multiple paths based on at least one of the following states: the number of constraint areas in use, the number of constraint areas in reservation, and the number of constraint areas in standby, and set a movement path.

[0059] Furthermore, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint regions in use, the number of constraint regions in a reserved state, and the number of constraint regions in a standby state by a weighting coefficient. For example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint regions in use by a weighting coefficient of 1.0, and the number of constraint regions in a reserved state and the number of constraint regions in a standby state by a weighting coefficient of 1.5.

[0060] Furthermore, the robot management system according to this embodiment may set a movement path based on a first usage time in the active state, a second usage time in the reserved state, and a third usage time in the standby state. Figure 7(A) shows the graph structure of the state after the process shown in S210 in the travel path setting process according to the first modified example has been executed. In the movement path setting process according to the first modified example, in the process shown in S210, the transmitting means 253 obtains usage status information indicating the usage time of the constraint areas included in the first path R1 and the second path R2, by referring to the "Edge ID" column, "First Usage Time" column, "Second Usage Time" column and "Third Usage Time" column of the edge table 244. The transmitting means 253 transmits a usage status signal corresponding to the acquired usage status information to the robot 10. In the state shown in Figure 7(A), in the process shown in S210, the route setting means 172 acquires usage status information indicating that the first usage time of constraint area C1, whose status is displayed as (130,0,60), is 130 seconds and the third usage time is 60 seconds; the first usage time of constraint area C2, whose status is displayed as (160,0,0), is 160 seconds; the first usage time of constraint area C3, whose status is displayed as (130,0,0), is 130 seconds; and the first usage time of constraint area C4, whose status is displayed as (120,0,0), is 120 seconds. In Figure 7(A), the route setting means 172 determines that since the total usage time from the first to the third is longer for the first route R1 than for the second route R2, selecting the first route R1 will result in a longer waiting time than selecting the second route R2. The route setting means 172 determines that selecting the first route R1 results in a longer waiting time than selecting the second route R2, and therefore, selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will result in a lower likelihood of waiting for other robots 10 to pass and that the destination node indicated by identification number "N006" will be reached sooner.

[0061] Figure 7(B) shows the graph structure when the usage state of the constraint regions C1 to C4 is different from the state shown in Figure 7(A). In the state shown in Figure 7(B), the first usage time for constraint region C1, whose state is indicated as (60,0,0), is 60 seconds; the first usage time for constraint region C2, whose state is indicated as (30,0,0), is 30 seconds; the first usage time for constraint region C3, whose state is indicated as (130,0,0), is 130 seconds; and the first usage time for constraint region C4, whose state is indicated as (10,0,0), is 10 seconds. In Figure 7(B), the route setting means 172 determines that since the total usage time from the first to the third is longer for the first route R1 than for the second route R2, selecting the first route R1 will result in a longer waiting time than selecting the second route R2. The route setting means 172 determines that since selecting the first route R1 will result in a longer waiting time than selecting the second route R2, selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will reduce the likelihood of waiting for other robots 10 to pass and allow the robot to reach the destination node indicated by identification number "N006" earlier. In the travel route setting process according to the first modified example, the robot management system sets the travel route based on the usage time of the constraint area which is in use, reserved, and on standby, thereby enabling efficient travel route setting even when constraint areas are set on the travel route.

[0062] In the movement path setting process according to the first modified example, the robot management system sets the movement path based on the first usage time, the second usage time, and the third usage time. However, the robot management system according to the embodiment may evaluate each of the multiple paths based on at least one of the first usage time, the second usage time, and the third usage time, and set the movement path.

[0063] Furthermore, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the first usage time, second usage time, and third usage time by a weighting coefficient. For example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the first usage time by a weighting coefficient of 1.0 and the second and third usage times by a weighting coefficient of 1.5.

[0064] Furthermore, the robot management system according to this embodiment may set movement paths based on the number of robots 10 in use, the number of robots 10 reserved, and the number of robots 10 on standby. Figure 7(C) shows the graph structure of the state after the process shown in S210 has been executed in the travel path setting process according to the second modified example. In the movement path setting process according to the second modified example, in the process shown in S210, the transmitting means 253 obtains usage status information indicating the number of units using, the number of units reserved, and the number of units waiting in the constraint areas included in the first path R1 and the second path R2, respectively, by referring to the "Edge ID" column, the "Number of Units Using", the "Number of Units Reserved", and the "Number of Units Waiting" column of the edge table 244. The transmitting means 253 transmits a usage status signal corresponding to the acquired usage status information to the robot 10. In the state shown in Figure 7(C), in the process shown in S210, the route setting means 172 acquires usage status information indicating that the number of units using constraint area C1, which is displayed as (1,0,1), is 1 and the number of units waiting is 1; the number of units using constraint area C2, which is displayed as (1,0,0), is 1; the number of units using constraint area C3, which is displayed as (1,0,0), is 1; and the number of units using constraint area C4, which is displayed as (1,0,0), is 1. In Figure 7(C), the route setting means 172 determines that since the total number of units using, reserved, and waiting is greater for the first route R1 than for the second route R2, selecting the first route R1 will result in a longer waiting time than selecting the second route R2. The route setting means 172 determines that since selecting the first route R1 will result in a longer waiting time than selecting the second route R2, selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will reduce the likelihood of having to wait for other robots 10 to pass, and will allow the robot to reach the destination node indicated by identification number "N006" earlier.

[0065] Figure 7(D) shows the graph structure when the usage state of constraint regions C1 to C4 is different from the state shown in Figure 7(C). In the state shown in Figure 7(D), the number of units using constraint area C1, whose state is displayed as (1,0,2), is 1 and the number of units waiting is 2; the number of units using constraint area C2, whose state is displayed as (2,0,0), is 2; the number of units using constraint area C3, whose state is displayed as (1,0,0), is 1; and the number of units using constraint area C4, whose state is displayed as (1,0,0), is 1. In Figure 7(D), the route setting means 172 determines that since the total number of units using, reserved, and waiting is greater for the first route R1 than for the second route R2, selecting the first route R1 will result in a longer waiting time than selecting the second route R2. The route setting means 172 determines that since selecting the first route R1 will result in a longer waiting time than selecting the second route R2, selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will reduce the likelihood of waiting for other robots 10 to pass and allow the robot to reach the destination node indicated by identification number "N006" earlier. In the travel route setting process according to the second modified example, the robot management system can set the travel route efficiently even when a constraint area is set on the travel route by setting the travel route based on the number of robots in use, the number of robots reserved, and the number of robots on standby.

[0066] In the movement path setting process according to the second modified example, the robot management system sets the movement path based on the number of robots in use, the number of robots reserved, and the number of robots on standby. However, the robot management system according to the embodiment may evaluate each of the multiple paths based on at least one of the number of robots in use, the number of robots reserved, and the number of robots on standby, and set the movement path.

[0067] Furthermore, the robot management system according to the embodiment may evaluate each of the multiple routes by multiplying the number of robots in use, the number of robots reserved, and the number of robots on standby by a weighting coefficient. For example, the robot management system according to the embodiment may evaluate each of the multiple routes by multiplying the number of robots in use by a weighting coefficient of 1.0, and the number of robots reserved and the number of robots on standby by a weighting coefficient of 1.5.

[0068] Furthermore, the robot management system according to this embodiment may set a movement path based on statistical information of the usage status of other robots in the constrained area over a predetermined period in the past. Figure 8 is a sequence diagram showing an example of the operation of the movement path setting process according to the third modified example. The movement path setting process shown in Figure 8 is executed mainly by the first processing unit 17 in cooperation with each element of the robot 10, based on a program that is stored in the first storage unit 16 in advance. The processes shown in S301 to S308 are the same as the processes shown in S201 to S208, so a detailed explanation is omitted here.

[0069] Following the process shown in S308, the transmitting means 253 transmits a usage status signal to the robot 10 indicating the usage status of the constraint areas included in the first path R1 and the second path R2 by other robots over a predetermined past period, such as one week (S309). The transmitting means 253 extracts usage status information indicating the usage status of the constraint areas included in the first path R1 and the second path R2 over a predetermined past period by referring to the "Edge ID" column, "Number of Users" column, "Number of Reserved Units" column and "Number of Standby Units" column of the edge table 244 over a predetermined period. The transmitting means 253 transmits a usage status signal corresponding to the extracted usage status information over a predetermined past period to the robot 10.

[0070] Next, the status acquisition means 171 acquires usage status information over a predetermined past period corresponding to the usage status signal transmitted in the process shown in S309 (S310). The status acquisition means 171 stores the usage status information corresponding to the usage status signal transmitted in the process shown in S309 in the first storage unit 16.

[0071] Then, the route setting means 172 evaluates the first route R1 and the second route R2 based on the usage status information over a predetermined period in the past obtained in the process shown in S310, and sets a travel route for the robot 10 from the starting point to the destination point (S311). First, the route setting means 172 aggregates the number of times the robot was in use, the number of times each of the constraint areas C1 to C4 was reserved, and the number of times it was on standby during the predetermined period in the past. Next, the route setting means 172 calculates the total number of times each of the constraint areas C1 and C3 was reserved and on standby, and the total number of times each of the constraint areas C2 and C4 was reserved and on standby. The route setting means 172 determines that if the total number of times constraint areas C1 and C3 have been in a reserved state and a waiting state is greater than the number of times constraint areas C2 and C4 have been in a reserved state and a waiting state, then selecting the second route R2 is less likely to result in waiting for other robots 10 to pass. The route setting means 172 sets the second route R2 as the travel route because it is expected that selecting the second route R2 will result in a lower likelihood of waiting for other robots 10 to pass and that the destination node indicated by identification number "N006" can be reached earlier. Furthermore, the route setting means 172 determines that selecting the first route R1 is less likely to result in waiting for other robots 10 to pass, when the total number of times constraint areas C1 and C3 have been in the reserved and waiting states is less than the number of times constraint areas C2 and C4 have been in the reserved and waiting states. The route setting means 172 sets the first route R1 as the travel route because it is expected that selecting the first route R1 will result in a lower probability of waiting for other robots 10 to pass, and that the destination node indicated by identification number "N006" can be reached early. In the travel route setting process according to the third modified example, the robot management system sets the travel route based on the number of constraint areas that have been in use, the number of constraint areas that have been reserved, and the number of constraint areas that have been waiting over a predetermined period in the past, thereby enabling efficient travel route setting even when constraint areas are set on the travel route.

[0072] In the movement path setting process according to the third modification, the robot management system evaluates each of a plurality of paths based on the number of constraint areas that have been in use over a predetermined period in the past, the number of constraint areas that have been reserved, and the number of constraint areas that have been in standby, and sets the movement path. However, the robot management system according to the embodiment may set the movement path based on at least one of the number of constraint areas that have been in use over a predetermined period in the past, the number of constraint areas that have been reserved, and the number of constraint areas that have been in standby.

[0073] Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint areas in use, the number of constraint areas in reservation, and the number of constraint areas in standby by a weighting coefficient. For example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint areas in use by a weighting coefficient of 1.0, and the number of constraint areas in reservation and standby by a weighting coefficient of 1.5.

[0074] Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may aggregate the number of constraint areas in use, the number of constraint areas in a reserved state, and the number of constraint areas in a standby state for each hour, and set the movement path based on the aggregated value of constraint areas for the time corresponding to the current time. By setting the path based on the aggregated value of constraint areas for the time corresponding to the current time, the robot management system according to the embodiment can set the path based on the state of constraint areas according to the time of day, such as during off-peak periods such as at night.

[0075] Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may set a movement path based on at least one of the first usage time, second usage time, and third usage time over a predetermined past period. Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying each of the first usage time, second usage time, and third usage time over a predetermined past period by a weighting coefficient. Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may aggregate the first usage time, second usage time, and third usage time hour by hour and set a movement path based on the aggregated value of the constraint area at the time corresponding to the current time.

[0076] Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may set the movement path based on at least one of the number of units used, the number of units reserved, and the number of units on standby over a predetermined period in the past. Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying each of the number of units used, the number of units reserved, and the number of units on standby over a predetermined period in the past by a weighting coefficient. Furthermore, in the movement path setting process according to the third modified example, the robot management system according to the embodiment may aggregate the number of units used, the number of units reserved, and the number of units on standby for each hour and set the movement path based on the aggregated value of the constraint area for the time corresponding to the current time.

[0077] Furthermore, while the robot management system 1 evaluates the utilization status of constraint regions C1 to C4 under the same conditions, the robot management system according to the embodiment may evaluate the utilization status of constraint regions C1 to C4 with weights. For example, the robot management system according to the embodiment may evaluate the utilization status of constraint regions C1 to C4 with weights according to the distance between each constraint region C1 to C4 and the starting point. For example, constraint regions that are closer to the starting point may be given more weight. The robot management system according to the embodiment may weight the utilization status in the order of constraint region C1, constraint region C2, constraint region C4 and constraint region C3.

[0078] Furthermore, the robot management system according to this embodiment may set the travel path based on the path length from the starting point to the destination point and the usage status acquired by the status acquisition means. Figure 9 is a sequence diagram showing an example of the operation of the movement path setting process according to the fourth modified example. The movement path setting process shown in Figure 9 is executed mainly by the first processing unit 17 in cooperation with each element of the robot 10, based on a program stored in the first storage unit 16 in advance. The processes shown in S401 to S409 are the same as the processes shown in S201 to S203 and S205 to S210, except that constraint area information showing all constraint areas is extracted in the process shown in S405 and constraint area information showing all constraint areas is acquired in the process shown in S406. Therefore, a detailed explanation of the processes shown in S401 to S409 is omitted here.

[0079] Following the process shown in S409, the status acquisition means 171 sends a cost value request signal to the management server 20 requesting the transmission of a cost value signal indicating the cost value of an edge included in the route within the facility (S410).

[0080] Next, the transmitting means 253 transmits a cost value signal to the robot 10 indicating the cost value of the edge included in the route within the facility (S411). The transmitting means 253 extracts cost value information indicating the cost value of the edge included in the route within the facility by referring to the edge information 242 and the "cost value" column of the edge table 244. The transmitting means 253 transmits a constraint area signal corresponding to the extracted cost value information to the robot 10. Note that the transmitting means 253 may extract cost value information indicating only the cost value of the edge existing between the starting point and the destination point, rather than extracting cost value information indicating the cost value of all edges included in the route within the facility.

[0081] Next, the state acquisition means 171 acquires cost value information corresponding to the cost value signal transmitted in the process shown in S412 (S412). The state acquisition means 171 stores the cost value information corresponding to the cost value signal transmitted in the process shown in S411 in the first storage unit 16. As shown in Figure 10(A), the status acquisition means 171 acquires cost value information indicating the respective cost values ​​"C001" to "C010" for each of the identification numbers "E001" to "E010" included in the route within the facility.

[0082] Then, the route setting means 172 sets a travel route based on the route length from the starting point to the destination point and the usage status acquired by the status acquisition means (S413). The route setting means 172 determines that all of the constraint areas C1 to C4 are in use and that constraint area C1 is in standby. The route setting means 172 corrects the cost values ​​of the edges indicated by identification numbers "E001", "E004", "E005", and "E007" according to the usage status of each of the constraint areas C1 to C4. Since all of the constraint areas C1 to C4 are in use, the route setting means 172 corrects the cost values ​​of the edges indicated by identification numbers "E001", "E004", "E005", and "E007" to increase them. Furthermore, since the constraint region C1 is still in a waiting state, the route setting means 172 corrects the cost value of each edge indicated by identification number "E001" to twice the cost value of the edges indicated by "E004", "E005", and "E007". As shown in Figure 10(B), the route setting means 172 increases the cost value of the edge indicated by identification number "E001", which is a constraint region C1 that is in use and in standby state, from "C001" to "C001+A2". The route setting means 172 increases the cost value of the edge indicated by identification number "E004", which is a constraint region C2 that is in use, from "C004" to "C004+A1". The increase in the cost value of the edge indicated by "E004", "A1", is half the increase in the cost value of the edge indicated by "E001", "A2". Similarly, the route setting means 172 increases the cost value of the edges indicated by identification number "E004", which are constraint regions C3 and C4 that are in use, from "C004" to "C04+A1". Next, the route setting means 172 identifies the entire route from the node indicated by identification number "N001", which is the home position of each robot 10, to the node indicated by identification number "N006", which is the work position. The route setting means 172 uses known graph search techniques, such as Dijkstra's algorithm or A* (A-star) search algorithm, to search for the route that minimizes the sum of the corrected cost values. As shown in Figure 10(C), the route setting means 172 sets a travel path that sequentially passes through the edges indicated by identification numbers "E001", "E003", and "E005". In the travel path setting process according to the fourth modified example, the robot management system sets the travel path based on the route length of the path from the starting point to the destination point and the usage status information acquired by the status acquisition means, thereby enabling efficient travel path setting even when a constraint area is set in the travel path.

[0083] In the movement path setting process according to the fourth modification, the robot management system evaluates each of the multiple paths based on the number of constraint areas in use, the number of constraint areas in a reserved state, and the number of constraint areas in a standby state, and sets the movement path. However, the robot management system according to the embodiment may set the movement path based on at least one of the number of constraint areas in use, the number of constraint areas in a reserved state, and the number of constraint areas in a standby state.

[0084] Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint areas in use, the number of constraint areas in reservation, and the number of constraint areas in standby by a weighting coefficient. For example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying the number of constraint areas in use by a weighting coefficient of 1.0, and the number of constraint areas in reservation and standby by a weighting coefficient of 1.5.

[0085] Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may aggregate the number of constraint areas in use, the number of constraint areas in a reserved state, and the number of constraint areas in a standby state for each hour, and set a movement path based on the aggregated value of constraint areas at the time corresponding to the current time.

[0086] Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may set the movement path based on at least one of the first usage time, second usage time, and third usage time over a predetermined past period. Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying each of the first usage time, second usage time, and third usage time over a predetermined past period by a weighting coefficient. Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may aggregate the first usage time, second usage time, and third usage time hour by hour and set the movement path based on the aggregated value of the constraint area at the time corresponding to the current time.

[0087] Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may set the movement path based on at least one of the number of units used, the number of units reserved, and the number of units on standby over a predetermined period in the past. Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may evaluate each of the multiple paths by multiplying each of the number of units used, the number of units reserved, and the number of units on standby over a predetermined period in the past by a weighting coefficient. Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may aggregate the number of units used, the number of units reserved, and the number of units on standby hourly and set the movement path based on the aggregated value of the constraint area for the time corresponding to the current time.

[0088] Furthermore, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may evaluate the utilization status of constraint regions C1 to C4 by weighting them. For example, in the movement path setting process according to the fourth modified example, the robot management system according to the embodiment may evaluate the utilization status of constraint regions C1 to C4 by weighting them according to the distance between each constraint region C1 to C4 and the starting point. For example, constraint regions that are closer to the starting point may be evaluated more heavily. The robot management system according to the embodiment may weight the utilization status of constraint region C1, constraint region C2, constraint region C4 and constraint region C3 in that order.

[0089] Furthermore, in the robot management system 1, the robot 10 performs the process of setting a movement path, but in the robot management system according to this embodiment, the management server may perform the process of setting a movement path. When the management server 20 performs the process of setting a movement path, the management server has a state acquisition means and a path setting means. In this case, the state acquisition means of the management server acquires usage status information that indicates the usage status by other robots of one or more areas set in the robot's movement area, which are areas where the robot's actions are restricted. The path setting means of the management server sets a movement path from the robot's starting point to the destination point based on the usage status information acquired by the state acquisition means. The transmission means of the management server transmits the movement path set by the path setting means to the robot. The robot can efficiently set a movement path by controlling its movement based on the received movement path.

[0090] Furthermore, one of the multiple robots 10, designated as the master robot, may perform the process of setting the movement paths of the other robots 10. When the master robot performs the process of setting the movement paths of the other robots, the master robot stores a robot table 243 and an edge table 245, and has state acquisition means and path setting means to acquire usage status information and set the movement path for each of the other robots. In this case, the master robot transmits the movement paths of the other robots set by the path setting means to each of the other robots. Alternatively, a robot control server different from the management server 20 may have at least one of the state acquisition means and path setting means, and the management server 20 and the robot control server may cooperate to set the movement paths of each robot. Also, all of the multiple robots 10 may store a robot table 243 and an edge table 244, and have state acquisition means and path setting means to acquire robot status information of the other robots and set the movement paths for each of the other robots.

[0091] Furthermore, the robot management system described sets the movement path based on the presence or absence of constraint areas along the path and the status of other robots. However, the robot management system according to the embodiment may set the movement path based on the arrangement information of constraint areas and the status of other robots. The arrangement information of constraint areas may be information indicating the presence or absence of constraint areas along the path, information indicating the number of constraint areas along the path, or information indicating the position of constraint areas in the movement area, including the coordinates of each constraint area in a map showing the movement area.

[0092] A robot management system according to one embodiment of the present invention can contribute to solving social issues such as the declining workforce and long working hours. Furthermore, a 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]

[0093] 1. Robot Management System 10 Robots 20 Management Server 171 State acquisition means 172 Route setting means

Claims

1. A state acquisition means for acquiring usage status information indicating the usage status by other robots in one or more areas set in the robot's movement area, which are areas where the robot's actions are restricted. A path setting means sets a movement path from the robot's starting point to the destination point based on the usage status information acquired by the status acquisition means, A robot equipped with [the following features].

2. The route setting means searches for multiple routes from the robot's starting point to the destination point, The state acquisition means acquires the usage state information for the constraint regions in at least the plurality of paths that have been explored, The robot according to claim 1, wherein the route setting means sets one of the searched plurality of routes as the movement route based on the usage status information acquired by the status acquisition means.

3. The state acquisition means acquires the usage state information for one or more of the constraint areas within the movement area, The robot according to claim 1, wherein the route setting means sets the movement route based on the route length from the starting point to the destination point and the usage status information acquired by the status acquisition means.

4. The state acquisition means acquires at least one of the following states as usage state information: the "in use" state, where the constraint area is being used by another robot; the "reserved" state, where the constraint area is reserved for use by another robot; and the "waiting" state, where the constraint area is waiting until the other robot has finished using it. The robot according to any one of claims 1 to 3, wherein the route setting means sets the movement path based on at least one of the number of constraint areas in the active state, the number of constraint areas in the reserved state, and the number of constraint areas in the standby state.

5. The state acquisition means acquires at least one of the following as usage state information: a first usage time which is the time the other robot in the "in use" state uses the constraint area; a second usage time which is the time the other robot in the "reserved" state uses the constraint area; and a third usage time which is the time the other robot in the "standby" state uses the constraint area. The robot according to claim 4, wherein the route setting means sets the travel route based on at least one of the first usage time, the second usage time, and the third usage time.

6. The state acquisition means acquires, as usage state information, at least one of the following for each of the constraint areas: the number of robots in use, which is the number of other robots in use; the number of robots reserved, which is the number of other robots in the reserved state; and the number of robots in standby, which is the number of other robots in standby. The robot according to claim 4, wherein the route setting means sets the travel route based on at least one of the number of units in use, the number of units reserved, and the number of units on standby.

7. The robot according to any one of claims 1 to 3, wherein the route setting means sets the movement path based on statistical information of the usage status in one or more of the constraint areas over a predetermined period in the past.

8. The robot according to any one of claims 1 to 3, wherein the path setting means sets the movement path based on the distance between the starting point and the constraint area.

9. A robot management system comprising multiple robots and a management server, A state acquisition means for acquiring usage status information indicating the usage status by other robots in one or more areas set in the robot's movement area, which are areas where the robot's actions are restricted. A path setting means sets a movement path from the robot's starting point to the destination point based on the usage status information acquired by the status acquisition means, A robot management system equipped with the following features.

10. A management server that manages multiple robots, A state acquisition means for acquiring usage status information indicating the usage status by other robots in one or more areas set in the robot's movement area, which are areas where the robot's actions are restricted. A path setting means sets a movement path from the robot's starting point to the destination point based on the usage status information acquired by the status acquisition means, A transmission means for transmitting the movement path set by the route setting means to the robot itself. A robot management system equipped with the following features.

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