Facility management system, facility management method, and facility management program

Abstract

By accurately determining the time it takes for a robot to pass through entrance and exit gates and providing visual information in advance, the system enables smooth movement between facility users and robots within the facility. [Solution] A facility management system that manages the passage of robots moving within a facility acquires operational information of robots passing through priority gates installed within the facility, and performs notification processing to provide visual information to distinguish whether or not a robot has passed through a priority gate based on the acquired operational information. Examples of notification processing include turning on a lamp installed at the priority gate, changing the color of the light emitted from the light-emitting part of the priority gate, widening the gate width of the priority gate, displaying a priority gate sign, a robot running image, or a still image of the robot on a display, and changing the gate height of the priority gate.

Description

[Technical Field]

[0001] The present disclosure relates to the technology of a facility management system that manages the passage of robots moving within a facility. [Background Art]

[0002] Patent Document 1 discloses a technology related to a robot-linked facility management system. The technology of this system allocates an entry / exit gate suitable for the passage of a robot among a plurality of entry / exit gates, and controls the robot to use the allocated entry / exit gate. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2023-159667 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] The system of Patent Document 1 issues a notification when a beacon detects that a robot has approached a gate. However, the position detection accuracy of beacons is not necessarily high depending on the surrounding environment. Therefore, if the passage of the robot through the gate cannot be recognized in advance by a beacon, there is a risk that insufficient consideration will be given to surrounding users.

[0005] The present disclosure has been made to solve the above-described problems. An object of the present disclosure is to provide a facility management system capable of realizing smooth movement of facility users and robots in a facility by accurately grasping the time when a robot passes through an entry / exit gate and notifying visual information in advance. [Means for Solving the Problem]

[0006] The facility management system described herein is a facility management system for managing the passage of robots moving within a facility, and comprises an information acquisition unit that acquires operational information of robots passing through priority gates installed within the facility, and a notification unit that performs notification processing to provide visual information to distinguish whether or not a robot has passed through a priority gate based on the operational information.

[0007] Furthermore, the facility management method described herein is a computer-based method for managing the passage of robots moving within a facility, comprising the steps of: acquiring operational information of robots passing through priority gates installed within the facility; and providing visual information to distinguish whether or not a robot has passed through a priority gate based on the operational information.

[0008] Furthermore, the facility management program of this disclosure is a facility management program that causes a computer to perform the task of managing the passage of robots moving within a facility, and is configured to cause the computer to perform the task of acquiring operational information of robots passing through priority gates installed within the facility, and to provide visual information to distinguish whether or not a robot has passed through the priority gate based on the operational information. [Effects of the Invention]

[0009] According to the technology disclosed herein, by accurately determining the time it takes for a robot to pass through an entrance / exit gate and providing visual information in advance, it becomes possible to achieve smooth movement between facility users and robots within the facility. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram illustrating the outline of the facility management system according to Embodiment 1. [Figure 2] This is a block diagram showing the functions of the facility management device according to Embodiment 1. [Figure 3] This is a diagram illustrating the first embodiment of the notification process. [Figure 4]It is a diagram for explaining a second embodiment of notification processing. [Figure 5] It is a diagram for explaining a third embodiment of notification processing. [Figure 6] It is a diagram for explaining a fourth embodiment of notification processing. [Figure 7] It is a diagram for explaining a fifth embodiment of notification processing. [Figure 8] It is a diagram for explaining a sixth embodiment of notification processing. [Figure 9] It is a flowchart of processing executed in the facility management system according to the first embodiment. [Figure 10] It is a diagram showing a modified example of hardware resources of a facility management apparatus. [Figure 11] It is a diagram for explaining the configuration of a modified example of notification processing. [Figure 12] It is a block diagram showing functions of a facility management apparatus related to the facility management system according to the second embodiment. [Figure 13] It is a flowchart of processing executed in the facility management system according to the second embodiment. [Figure 14] It is a block diagram showing functions of a facility management apparatus related to the facility management system according to the third embodiment. [Figure 15] It is a flowchart of processing executed in the facility management system according to the third embodiment. [Figure 16] It is a block diagram showing functions of a facility management apparatus related to the facility management system according to the fourth embodiment. [Figure 17] It is a flowchart of processing executed in the facility management system according to the fourth embodiment. [Figure 18] It is a block diagram showing a modified example of functions of a facility management apparatus related to the facility management system according to the fourth embodiment. Description of Embodiments

[0011] Embodiments will be described below with reference to the drawings. In each drawing, common elements are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0012] 1. Embodiment 1. 1-1. Outline of the facility management system according to Embodiment 1 FIG. 1 is a block diagram for explaining the outline of the facility management system according to Embodiment 1. The facility management system 100 of the present embodiment is a system that realizes smooth passage of a robot moving in a facility and facility users at an entrance / exit gate in the facility.

[0013] The facility management system 100 according to Embodiment 1 is applied to a controlled area such as a facility. The facility is, for example, an indoor facility, an outdoor facility, or a complex facility combining these. For example, the facility consists of one or more buildings. The facility may, for example, be a part of a building or the like. The facility management system 100 includes a facility management device 10, a robot 2, and a priority gate 4.

[0014] The robot 2 is an autonomous mobile body that can autonomously travel within the area while grasping its own position. There is no limitation on the method by which the robot 2 grasps its own position. For example, the robot 2 uses a position sensor to detect its own position and orientation. The position sensor includes, for example, a GPS (Global Positioning System) sensor. The GPS sensor receives signals transmitted from a plurality of GPS satellites, and calculates the position and orientation of the robot 2 based on the received signals. The position sensor may perform well-known localization processing to improve the accuracy of the current position of the robot 2.

[0015] Robot 2 can pass through the priority gate 4, described later, in cooperation with the facility's equipment control system. Robot 2 operates based on control by a robot control device (not shown). There are no limitations on the attributes and operational control of Robot 2. For example, the attributes of Robot 2 could be a cleaning robot that cleans floors, a security robot that provides security within the building, etc. Robot 2 communicates with the robot control device via a communication network 8, such as wireless. Alternatively, the robot control device may be mounted on Robot 2.

[0016] Priority Gate 4 is one of the one or more entrance / exit gates installed within the facility that has been designated as the gate through which Robot 2 will have priority. There are no limitations on how Priority Gate 4 is set. Priority Gate 4 is, for example, pre-selected from one or more entrance / exit gates. It should be noted that Priority Gate 4 is intended to give priority to the robot's passage and does not prohibit other facility users from passing through.

[0017] The facility management device 10 is a device that performs various controls related to the operation of notifying the surroundings in advance of visual information to distinguish whether or not the robot 2 is passing through the priority gate 4. The facility management device 10 communicates with the robot 2 and the priority gate 4 via a communication network 8 such as the Internet or LAN.

[0018] The facility management device 10 is a microcomputer comprising at least one processor 12 and at least one memory 14. The facility management device 10 is also called an information processing device.

[0019] Memory 14 stores the facility management program 141 and various data 142 necessary for running the facility management program 141. The processor 12 includes a CPU (Central Processing Unit). The various functions of the facility management device 10 are realized when the processor 12 reads and executes the facility management program 141. Details of the realized functions will be described later. The facility management program 141 may be recorded on a computer-readable recording medium, or it may be stored on a server that can communicate with the facility management device 10, such as a cloud server.

[0020] Let's consider the case where robot 2 passes through priority gate 4 in an area within a facility to which such facility management system 100 is applied. The facility management device 10 acquires operational information from robot 2. This process is hereinafter referred to as the "information acquisition process". The operational information here is information for understanding the movement status of robot 2 within the facility, and includes, for example, information for identifying the priority gate 4 that robot 2 is scheduled to pass through within the facility, and information for the scheduled time of passage through said priority gate 4.

[0021] The facility management device 10 sets a notification period to notify facility users around the priority gate 4 that the robot 2 is scheduled to pass through of the notification period. This process is hereinafter referred to as the "time period setting process". The notification period here is the time period that includes the scheduled passage time included in the operation information acquired by the information acquisition process, for example, the time period from X minutes before the scheduled passage time to Y minutes after the scheduled passage time.

[0022] The facility management device 10 notifies facility users around the priority gate 4 of visual information to distinguish whether or not the robot 2 is passing by issuing notification instructions during the notification time period set in the time period setting process. This process is hereinafter referred to as the "notification process." A specific example of the notification process will be described later.

[0023] According to the series of processes of the facility management system 100 described above, when the robot 2 passes through a designated priority gate 4 from among one or more entrance / exit gates within the facility, a notification period including the scheduled passage time through the priority gate 4 is set based on the operation information. Then, during the set notification period, visual information is notified to facility users around the priority gate 4, thereby enabling smooth movement between the robot 2 and facility users within the facility.

[0024] 1-2. Functional configuration of the facility management device of Embodiment 1 Next, the functional configuration of the facility management device 10 provided by the facility management system 100 will be explained in more detail. Figure 2 is a block diagram showing the functions of the facility management device according to Embodiment 1. The facility management device 10 includes an information acquisition unit 20, a time zone setting unit 22, and a notification unit 24, as functions realized by the processor 12 reading and executing the facility management program 141.

[0025] The information acquisition unit 20 is a functional block for executing the information acquisition process described above. The operation information acquired through the information acquisition process is sent to the time zone setting unit 22.

[0026] The time zone setting unit 22 is a functional block for executing the time zone setting process described above. The information regarding the notification time zone set by the time zone setting process is sent to the notification unit 24.

[0027] The notification unit 24 is a functional block for executing the notification process described above. Several specific examples of the notification process are given below.

[0028] 1-3. Specific Examples of Notification Processing 1-3-1. First Embodiment Figure 3 is a diagram illustrating a first embodiment of the notification process. In the first embodiment, the facility management system 100 is equipped with a lamp 40 installed at the priority gate 4. The lamp 40 is, for example, cylindrical in shape, and a priority indicator 40a indicating "Robot Use (Priority)" is provided on the cylindrical surface. The lamp 40 is configured to be switchable between the illuminated state shown in (A) in the figure and the unilluminated state shown in (B) in the figure. The priority indicator 40a is visible when the lamp 40 is illuminated, and is configured to be difficult to see when the lamp 40 is unilluminated.

[0029] During normal times, excluding the notification period, the lamp 40 is controlled to be off, as shown in Figure (B). In the notification process of the first embodiment, the notification unit 24 issues a notification instruction during the robot priority period, which is the notification period, and lights up the lamp 40 as shown in Figure (A). This provides visual information to the surroundings indicating that the robot 2 will pass through the priority gate 4 during the notification period.

[0030] In the first embodiment of the notification process, the priority indicator 40a provided on the lamp 40 is not an essential component. That is, for example, if the priority gate 4 is permanently equipped with a display indicating that "robot use is permitted (priority) when the lamp is lit," then when the lamp 40 is lit, it is possible to make it clear to those around that "robot priority" is being recognized.

[0031] 1-3-2. Second embodiment of notification processing Figure 4 is a diagram illustrating a second embodiment of the notification process. In the second embodiment, the facility management system 100 includes a light-emitting device 42 that changes the light-emitting color of the light-emitting section 42a of the priority gate 4. The light-emitting section 42a is installed in a position visible from the front of the priority gate 4 and is configured to emit light, for example, an arrow-shaped internal area. The light-emitting device 42 is configured to change the light-emitting color of the light-emitting section 42a between a green light-emitting state shown in Figure (A) and a red light-emitting state shown in Figure (B).

[0032] During normal times, excluding the notification period, the light-emitting unit 42a is controlled to emit green light, as shown in Figure (A). In the notification process of the second embodiment, the notification unit 24 issues a notification instruction to the light-emitting device 42 during the robot priority period, which is the notification period, causing the light-emitting unit 42a to emit red light, as shown in Figure (A). This provides visual information to the surroundings indicating that the robot 2 is passing through the priority gate 4.

[0033] In the second embodiment of the notification process, there are no limitations on the shape, color, or form of the light-emitting unit 42a. Furthermore, to inform facility users of the light emission status when robots are prioritized, a sign such as "Red light indicates robot use (priority)" may be permanently installed at the priority gate 4.

[0034] 1-3-3. Third embodiment of notification processing Figure 5 is a diagram illustrating a third embodiment of the notification process. In the third embodiment, the facility management system 100 is equipped with a width adjustment mechanism 44 installed on the priority gate 4. The width adjustment mechanism 44 is configured to adjust the gate width by moving one or both of the pair of structures 44a that constitute the priority gate 4 in the width direction of the priority gate 4. Specifically, the width adjustment mechanism 44 is configured to switch the gate width of the priority gate 4 between the normal gate width shown in Figure (A) and the wide gate width shown in Figure (B) when robot priority is given. The wide gate width is wider than the normal gate width.

[0035] During normal times, excluding notification periods, the gate width of priority gate 4 is controlled to the normal gate width shown in Figure (A). In the notification process of the third embodiment, the notification unit 24 issues a notification instruction to the width adjustment mechanism 44 during robot priority time, which is the notification period, and expands the gate width of priority gate 4 to the wide gate width shown in Figure (B). The wide gate width here can be a predetermined specified width, for example, a gate width that allows a wide robot 2 that cannot pass through priority gate 4 with the normal gate width to pass through. The priority gate 4 adjusted to the wide gate width can serve as visual information indicating that robot 2 is passing through priority gate 4. This makes it possible to notify the surroundings that robot 2 is passing through priority gate 4.

[0036] In the third embodiment of the notification process, there are no limitations on the specific internal configuration of the width adjustment mechanism 44. Furthermore, the wide gate width may be configured to be set according to the width dimension of the robot 2 passing through.

[0037] 1-3-4. Fourth embodiment of notification processing Figure 6 is a diagram illustrating a fourth embodiment of the notification process. In the fourth embodiment, the facility management system 100 is equipped with a display unit 46 installed at the priority gate 4. The display unit 46 is equipped with a screen 46a capable of displaying images. The display unit 46 is configured to switch between a no-display state shown in Figure (A) and an image display state shown in Figure (B). Examples of the displayed images here that indicate "robot use (priority)" include an image of the priority gate sign, an image of the robot in motion, an image of the robot still, etc.

[0038] The display unit 46 is controlled to a state of no display, as shown in Figure (A), during normal times, excluding the notification period. In the notification process of the fourth embodiment, the notification unit 24 issues a notification instruction to the display unit 46 during the robot priority period, which is the notification period, and displays an image on screen 46a, as shown in Figure (B). This provides visual information to the surroundings indicating that the robot 2 is passing through the priority gate 4.

[0039] In the fourth embodiment of the notification processing, the image displayed on the screen 46a of the display unit 46 is not limited in its configuration, as long as it is an image that allows facility users to recognize that it is "robot priority". Furthermore, the display unit 46 is not limited in its placement or configuration, as long as the screen 46a is visible from around the priority gate 4 where it is installed.

[0040] 1-3-5. Fifth embodiment of notification processing Figure 7 is a diagram illustrating a fifth embodiment of the notification process. In the fifth embodiment, the facility management system 100 is equipped with a height adjustment mechanism 48 installed on the priority gate 4. The height adjustment mechanism 48 is configured to adjust the gate height by moving the upper frame 48a that constitutes the priority gate 4 in the height direction of the priority gate 4. Specifically, the height adjustment mechanism 48 is configured to switch the gate height of the priority gate 4 between the normal gate height shown in Figure (A) and the specified gate height when robot priority is given, shown in Figure (B). The specified gate height is a predetermined height that is different from the normal gate height. The specified gate height is not limited to being higher or lower than the normal gate height, as long as it is within the range of gate heights that the robot 2 can pass through. Figure (B) illustrates the case where the specified gate height is lower than the normal gate height.

[0041] During normal times, excluding the notification period, the gate height of priority gate 4 is controlled to the normal gate height shown in Figure (A). In the notification process of the fifth embodiment, the notification unit 24 issues a notification instruction to the height adjustment mechanism 48 during the robot priority period, which is the notification period, to change the gate height of priority gate 4 to the specified gate height shown in Figure (B). The priority gate 4, changed to the specified gate height, can serve as visual information indicating that robot 2 is passing through priority gate 4. This visually notifies the surroundings that robot 2 is passing through priority gate 4.

[0042] In the third embodiment of the notification process, there are no limitations on the specific internal configuration of the height adjustment mechanism 48.

[0043] 1-3-6. Sixth embodiment of notification processing Figure 8 is a diagram illustrating a sixth embodiment of the notification process. In the sixth embodiment, the facility management system 100 includes an opening / closing mechanism 50 that opens and closes a flap 50a installed on the priority gate 4. The flap 50a is configured to open the passage of the priority gate 4 when open and to block the passage of the priority gate 4 when closed. The flap 50a is provided with a priority indicator 50b that indicates the priority gate 4 is a "robot priority gate" in a position visible from the front side of the priority gate 4 when it is closed. The opening / closing mechanism 50 is configured to switch between the open state of the flap 50a shown in Figure (A) and the closed state of the flap 50a shown in Figure (B).

[0044] The opening / closing mechanism 50 is controlled so that the flap 50a is in the open state shown in Figure (A) during normal times, excluding the notification period. In the notification process of the sixth embodiment, the notification unit 24 issues a notification instruction to the opening / closing mechanism 50 during the robot priority period, which is the notification period, causing the flap 50a to move to the closed state shown in Figure (B). The priority gate 4 with the flap 50a in the closed state can serve as visual information indicating that the robot 2 is passing through the priority gate 4. This visually notifies the surroundings that the robot 2 is passing through the priority gate 4.

[0045] In the first embodiment of the notification process, the priority indicator 50b on the flap 50a is not a mandatory component. In other words, any configuration that allows facility users to recognize that "robot priority" is in place when the flap 50a is closed is acceptable. For example, a configuration in which a permanent indicator showing "robot use (priority) when the flap is closed" is installed on the priority gate 4 is also acceptable.

[0046] 1-4. Specific processes executed by the facility management device according to Embodiment 1 The following describes the specific processes performed in the facility management system 100, with reference to the flowchart. Figure 9 is a flowchart of the processes performed in the facility management system according to Embodiment 1. The routine shown in Figure 9 is executed when the processor 12 of the facility management device 10 executes the facility management program 141 stored in the memory 14. This routine also represents a part of the facility management method in the facility management system 100 that provides advance notification of visual information to distinguish whether or not the robot 2 is passing through the priority gate 4.

[0047] In step S100 of the routine shown in Figure 9, the information acquisition unit 20 performs an information acquisition process to acquire operation information of the robot 2 that has been activated within the facility. The operation information includes information on the scheduled time of passage through the priority gate 4. The acquired operation information is sent to the time zone setting unit 22. Once the processing in step S100 is completed, the process proceeds to step S102.

[0048] In step S102, the time zone setting unit 22 executes a time zone setting process to set the notification time zone. The set notification time zone is sent to the notification unit 24. Once the process in step S102 is completed, the process proceeds to step S104.

[0049] In step S104, the notification unit 24 performs notification processing to notify facility users around the priority gate 4 of visual information. Here, any of the processing described in the first to sixth embodiments above is executed. Once the processing in step S104 is completed, the processing of this routine is terminated.

[0050] According to the facility management system 100 of the embodiment described above, it is possible to accurately determine the time period during which the robot 2 will use the priority gate 4 and to notify it of visual information in advance. This makes it possible to achieve smooth movement between the robot 2 and facility users within the facility.

[0051] 1-5. Variations The facility management system 100 of Embodiment 1 may adopt the following modified forms. These modifications can also be applied to facility management systems of other embodiments described later.

[0052] 1-5-1. Hardware resources of facility management device 10

[0053] Figure 10 shows a modified example of the hardware resources of a facility management device. In the example shown in Figure 10, the facility management device 10 includes, for example, a processor 12, memory 14, and a processing circuit 18 including dedicated hardware 16. Figure 10 shows an example in which some of the functions of the facility management device 10 are realized by the dedicated hardware 16. All of the functions of the facility management device 10 may also be realized by the dedicated hardware 16. As the dedicated hardware 16, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof can be used.

[0054] The memory 14 may be operated independently of the facility management device 10, with the cloud or other system taking on that role.

[0055] Furthermore, the facility management system 100 may have all or part of the functions of the facility management device 10 installed on the robot 2 or a remote server.

[0056] 1-5-2. Notification Processing The visual information broadcast in the notification process is not limited to visual information indicating that robot 2 is passing through priority gate 4, as long as it is visual information that can distinguish whether or not robot 2 is passing through priority gate 4. Figure 11 is a diagram illustrating the configuration of a modified example of the notification process. The example shown in this figure is a modified example of the first embodiment of the notification process. In this figure, a permanent display 40b indicating "robot use" is provided at priority gate 4. The cylindrical surface of the lamp 40 is provided with normal displays 40c indicating "normal use" and "no robot use". The normal displays 40c are configured to be visible when the lamp 40 is lit and difficult to see when the lamp 40 is off.

[0057] During normal times, excluding the notification period, the lamp 40 is controlled to the illuminated state shown in Figure (A). On the other hand, during the notification period, the lamp 40 is controlled to the unlit state shown in Figure (B) by the notification process. As a result, the normal display 40c becomes invisible, and the unlit state of the lamp 40 functions as visual information to distinguish whether or not the robot 2 is passing through the priority gate 4. Furthermore, when the lamp 40 is unlit, the permanent display 40b functions as visual information that includes information that the robot 2 is passing through the priority gate 4. This makes it possible to visually distinguish whether or not the robot 2 is passing through the priority gate 4.

[0058] In the notification process, the notification unit 24 may combine and implement multiple processes from the processes of the first to sixth embodiments described above.

[0059] 2. Embodiment 2. In Embodiment 2, the differences from the example disclosed in Embodiment 1 will be explained in particular detail. For features not described in Embodiment 2, any of the features from the example disclosed in Embodiment 1 may be adopted.

[0060] 2-1. Functional configuration of the facility management system in Embodiment 2 The facility management system 100 of Embodiment 2 is characterized by a process that uses artificial intelligence (AI) to acquire the scheduled passage time for the robot 2 to pass through the priority gate 4. Figure 12 is a block diagram showing the functions of the facility management device related to the facility management system according to Embodiment 2.

[0061] The facility management system 100 of Embodiment 2 comprises an artificial intelligence unit 30 and a facility management device 10 that exchanges information with the artificial intelligence unit 30.

[0062] The artificial intelligence unit 30 refers to artificial intelligence equipped with intelligent functions such as reasoning and judgment, and its operating environment. The artificial intelligence unit 30 consists of a trained model storage unit 32 and a model control unit 34.

[0063] The facility management device 10 includes an information acquisition unit 20, a time zone setting unit 22, a notification unit 24, and a control unit 26, as functions realized by the processor 12 reading and executing the facility management program 141. When operation information is input to the facility management device 10, it uses the artificial intelligence unit 30 to acquire and output the scheduled travel time.

[0064] The operational information includes the location information of robot 2 operating within the facility. The scheduled passage time is the scheduled time for robot 2 to pass through priority gate 4.

[0065] The information acquisition unit 20 acquires operational information from the robot 2. The information acquisition unit 20 outputs the acquired operational information to the control unit 26.

[0066] The control unit 26 is an interface that can exchange information with an external system. Operation information is input to the control unit 26 from the information acquisition unit 20. The control unit 26 inputs the acquired operation information to the artificial intelligence unit 30, thereby obtaining the scheduled travel time corresponding to the operation information from the artificial intelligence unit 30. In other words, the control unit 26 inputs the operation information acquired from the information acquisition unit 20 to the artificial intelligence unit 30 in order to obtain the scheduled travel time corresponding to the operation information from the artificial intelligence unit 30. The control unit 26 outputs the acquired scheduled travel time to the time zone setting unit 22.

[0067] As shown in Figure 12, the artificial intelligence unit 30 comprises a trained model storage unit 32 and a model control unit 34. The artificial intelligence unit 30 is a model and its operating environment configured to output the scheduled travel time corresponding to the operational information when operational information is input. When operational information is input from the control unit 26, the artificial intelligence unit 30 outputs the scheduled travel time based on the operational information and the trained model described later.

[0068] The trained model memory unit 32 stores the trained model. The trained model is, for example, a model that has been trained by linking the robot's past position with the robot's past travel route.

[0069] The trained model includes model information described later. The trained model may also include model parameters, which are information that defines the model's behavior, such as constraints, weighting variables, and evaluation functions.

[0070] The models may include, for example, NN (Neural Network), CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), VAE (Variational Autoencoder), GAN (Generative Adversarial Networks), Diffusion models, Transformers, LLM (Large Language Model), VLM (Visual Language Model), BERT (Bidirectional Encoder Representations from Transformers), GPT (Generative Pre-trained Transformer), and CLIP (Contrastive Language Image Pre-training). Note that the above models are not mutually exclusive; for example, LLM, VLM, BERT, and GPT are included in Transformers. Also, for example, Transformers are included in NN. Furthermore, the learning algorithm and model may be a combination of multiple types. Models also include what are called multimodal models, which are trained by combining multiple different types of data.

[0071] When the model control unit 34 acquires operational information, it outputs the scheduled travel time corresponding to the operational information based on the operational information and the trained model. In other words, when the model control unit 34 acquires operational information, it uses the model shown by the trained model to generate and output the scheduled travel time corresponding to the operational information.

[0072] The trained model and other information used by the artificial intelligence unit 30 may be prepared in advance, or they may be acquired via the network as needed.

[0073] 2-2. Specific processes executed by the facility management system according to Embodiment 2 Figure 13 is a flowchart of the process executed in the facility management system according to Embodiment 2. The routine shown in Figure 13 is executed when the processor 12 of the facility management device 10 executes the facility management program 141 stored in memory 14. This routine also represents part of a facility management method in the facility management system 100 that provides advance notification of visual information to distinguish whether or not the robot 2 is passing through the priority gate 4.

[0074] In step S200 of the routine shown in Figure 13, the information acquisition unit 20 performs an information acquisition process to acquire operation information of the robot 2 that has been activated within the facility. The operation information includes the position information of the robot 2. The acquired operation information is sent to the control unit 26. Once the processing in step S200 is completed, the process proceeds to step S202.

[0075] In step S202, the control unit 26 inputs the operation information to the artificial intelligence unit 30 to obtain the scheduled travel time. After the processing in step S202 is completed, the process proceeds to step S204. In steps S204 and S206, the same processing as in steps S102 and S104 of the routine shown in Figure 9 is executed.

[0076] According to the facility management system 100 of Embodiment 2 described above, the artificial intelligence unit 30 can accurately estimate the planned time period during which the robot 2 will use the priority gate 4. This makes it possible to achieve smooth movement between the robot 2 and facility users within the facility.

[0077] 2-3. Variations The facility management system 100 of Embodiment 2 may adopt the following modified forms.

[0078] 2-3-1. Artificial Intelligence Department 30 Figure 12 shows the case where the artificial intelligence unit 30 is located outside the facility management device 10. However, part or all of the artificial intelligence unit 30 may be located inside the facility management device 10. If part of the artificial intelligence unit 30 is located inside the facility management device 10, the facility management device 10 may include a model control unit 34 instead of a control unit 26. If all of the artificial intelligence unit 30 is located inside the facility management device 10, the facility management device 10 may include the artificial intelligence unit 30 instead of a control unit 26.

[0079] Furthermore, the trained model storage unit 32 may consist of multiple databases connected via a network.

[0080] 3. Embodiment 3. In Embodiment 3, the differences from the example disclosed in Embodiment 1 will be explained in particular detail. For features not described in Embodiment 3, any of the features from the example disclosed in Embodiment 1 may be adopted.

[0081] 3-1. Functional configuration of the facility management system of Embodiment 3 The facility management system 100 of Embodiment 3 is characterized by a process that sets one or more priority gates 4 from among a plurality of entrance / exit gates based on the operation information of the robot 2. Figure 14 is a block diagram showing the functions of the facility management device related to the facility management system according to Embodiment 3.

[0082] The facility management device 10 of the facility management system 100 further includes a gate setting unit 28 as a function realized by the processor 12 reading and executing the facility management program 141. The gate setting unit 28 is a functional block for executing the process of setting one or more priority gates 4 from among multiple entrance / exit gates based on the operation information of the robot 2. This process is hereinafter referred to as the "gate setting process". In a facility with multiple entrance / exit gates, it is desirable to increase or decrease the number of priority gates 4 according to the number of robots 2 operating within the facility in order to ensure smooth passage. Therefore, in the gate setting process, the gate setting unit 28 adjusts the number of priority gates 4 to increase as the number of robots 2 operating within the facility increases.

[0083] Alternatively, the gate setting unit 28 may be configured to increase the number of priority gates 4 during specified times when the volume of traffic from facility users is low. Examples of such specified times include predetermined dates, days of the week, or time periods, such as days when the facility is closed or during nighttime hours. The information on the set priority gates 4 is sent to the notification unit 24 as priority gate information.

[0084] 3-2. Specific processes executed by the facility management system according to Embodiment 3 Figure 15 is a flowchart of the process executed in the facility management system according to Embodiment 3. The routine shown in Figure 15 is executed when the processor 12 of the facility management device 10 executes the facility management program 141 stored in memory 14. This routine also represents part of a facility management method in the facility management system 100 that provides advance notification of visual information to distinguish whether or not the robot 2 is passing through the priority gate 4.

[0085] In step S300, the information acquisition unit 20 performs an information acquisition process to acquire operation information of the robot 2 that has been activated within the facility. The acquired operation information is sent to the time zone setting unit 22 and the gate setting unit 28. Once the processing in step S300 is completed, the process proceeds to steps S302 and 304.

[0086] In step S302, the gate setting unit 28 executes gate setting processing to set some of the multiple entrance / exit gates as priority gates 4. The set priority gate information is sent to the notification unit 24.

[0087] In step S304, the time zone setting unit 22 executes a time zone setting process to set the notification time zone. The information of the set notification time zone is sent to the notification unit 24. After the processes in steps S302 and S304 are completed, the process proceeds to step S306.

[0088] In step S306, the notification unit 24 performs notification processing during the notification time period and notifies the designated priority gate 4 with visual information. Once the processing in step S306 is completed, the processing of this routine is terminated.

[0089] According to the facility management system 100 of Embodiment 3 described above, the gate setting unit 28 sets a number of priority gates 4 according to the usage status of the entrance and exit gates. This makes it possible to achieve smooth movement between the robot 2 and facility users within the facility.

[0090] 4. Embodiment 4. In Embodiment 4, the differences from the example disclosed in Embodiment 1 will be explained in particular detail. For features not described in Embodiment 4, any of the features from the example disclosed in Embodiment 1 may be adopted.

[0091] 4-1. Functional configuration of the facility management system in Embodiment 4 The facility management system 100 of Embodiment 4 is characterized by a process that restricts the time period during which the robot 2 can pass through the priority gate 4. Figure 16 is a block diagram showing the functions of the facility management device related to the facility management system according to Embodiment 4.

[0092] The facility management device 10 of the facility management system 100 includes, in addition to the above-mentioned information acquisition unit 20 and notification unit 24, a time-limit setting unit 36 ​​and an operation limiting unit 38, as functions realized by the processor 12 reading and executing the facility management program 141.

[0093] The information acquisition unit 20 acquires operation information of robot 2 and sends it to the operation restriction unit 38. The operation information includes, for example, information on the scheduled time when robot 2 will pass through the priority gate.

[0094] The restricted time period setting unit 36 ​​is a functional block for executing the process of setting restricted time periods that restrict the passage of the robot 2 through the priority gate 4. This process is hereinafter referred to as the "time period setting process". In the time period setting process, the restricted time period setting unit 36 ​​sets predetermined time periods, which are the times when there are many users of the entrance / exit gates, as restricted time periods. Examples of predetermined time periods include commuting hours, lunch breaks, etc. The set restricted time periods are sent to the operation restriction unit 38 and the notification unit 24.

[0095] The motion restriction unit 38 is a functional block for executing a process to restrict the movement of robot 2 during the restricted time period. This process is hereinafter referred to as the "motion restriction process". In the motion restriction process, if the scheduled passage time falls within the restricted time period set by the time period setting process, the motion restriction unit 38 generates an action instruction to restrict robot 2 from passing through priority gate 4. Examples of such action instructions include an instruction to bypass priority gate 4, an instruction to wait at a waiting area, etc. The generated action instruction is sent to robot 2. Upon receiving the action instruction, robot 2's movement is controlled according to the instruction.

[0096] The notification unit 24 performs notification processing to notify visual information, including information that the robot 2 is not passing through the priority gate 4, during the restricted time period. In this notification processing, visual information, including information that the robot 2 is not passing through the priority gate 4, is notified using any of the configurations from the first to sixth embodiments of the notification processing described above.

[0097] 4-2. Specific processes executed by the facility management system according to Embodiment 4 Figure 17 is a flowchart of the process executed in the facility management system according to Embodiment 4. The routine shown in Figure 17 is executed when the processor 12 of the facility management device 10 executes the facility management program 141 stored in memory 14. This routine also represents part of a facility management method in the facility management system 100 that provides advance notification of visual information to distinguish whether or not the robot 2 is passing through the priority gate 4.

[0098] In step S400, the information acquisition unit 20 performs an information acquisition process to acquire operation information of the robot 2 that has been activated within the facility. The acquired operation information is sent to the time restriction setting unit 36 ​​and the operation restriction unit 38. Once the processing in step S400 is completed, the process proceeds to step S402.

[0099] In step S402, the time-limit setting unit 36 ​​executes a time-limit setting process to set the time-limit period. The information of the set time-limit period is sent to the operation limiting unit 38 and the notification unit 24. Once the process in step S402 is completed, the process proceeds to step S404.

[0100] The processes in steps S404 and S406 correspond to the operation restriction processes executed by the operation restriction unit 38. In step S404, the operation restriction unit 38 determines whether the scheduled travel time included in the acquired operation information falls within the restricted time period. If the determination is successful, the process proceeds to step S406; otherwise, the process proceeds to step S408.

[0101] In step S406, the motion restriction unit 38 generates an motion instruction to restrict the robot 2 from passing through the priority gate 4 and transmits it to the robot 2. Once the processing in step S406 is completed, the process proceeds to step S408.

[0102] In step S408, the notification unit 24 performs notification processing and broadcasts visual information including information that the robot 2 did not pass through the priority gate 4 during the restricted time period. When the processing in step S308 is completed, the processing of this routine is terminated.

[0103] According to the facility management system 100 of Embodiment 4 described above, it is possible to restrict the robot 2's passage through the priority gate 4 during a set restricted time period, and to provide visual information including information that the robot 2 is not passing through the priority gate 4. This makes it possible to achieve smooth movement between the robot 2 and facility users within the facility.

[0104] 4-3. Variations The facility management system 100 of Embodiment 4 may adopt the following modified forms. These modifications can also be applied to facility management systems of other embodiments.

[0105] 4-3-1. The facility management system 100 of Embodiment 4 may be configured to acquire the scheduled passage time for the robot 2 to pass through the priority gate 4 by utilizing the functions of artificial intelligence (AI). Figure 18 is a block diagram showing a modified example of the functions of the facility management device relating to the facility management system of Embodiment 4. The modified facility management system 100 shown in this figure further includes an artificial intelligence unit 30 in addition to the facility management device 10. Furthermore, the facility management device 10 further includes a control unit 26 as its functional block. The configuration of the artificial intelligence unit 30 and the control unit 26, and the operation of acquiring the scheduled passage time are the same as those of the facility management system 100 of Embodiment 2 described above.

[0106] According to this modified facility management system 100 of Embodiment 4, the artificial intelligence unit 30 can accurately estimate the planned time period during which the robot 2 will use the priority gate 4. This allows the robot 2 to restrict passage through the priority gate 4 during the set restricted time period, and also enables the notification of visual information including information that the robot 2 will not be using the priority gate 4.

[0107] 5. Others Although preferred embodiments have been described in detail above, this disclosure is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims.

[0108] The various aspects of this disclosure are summarized below as an appendix.

[0109] (Note 1) In a facility management system that manages the movement of robots within a facility, An information acquisition unit that acquires operational information of the robot passing through the priority gate installed within the facility, A notification unit performs notification processing to provide visual information to distinguish whether or not the robot has passed through the priority gate, based on the aforementioned operational information. A facility management system equipped with the following features. (Note 2) The aforementioned operational information includes information on the scheduled time the robot will pass through the priority gate. In the notification process, the notification unit notifies the visual information, including information that the robot will pass through the priority gate, during the notification period including the scheduled passage time. The facility management system described in Appendix 1 is configured as follows. (Note 3) The aforementioned operational information includes the location information of the robot, The control unit inputs the operation information acquired by the information acquisition unit to the artificial intelligence unit, and acquires and outputs the planned passage time for the robot to pass through the priority gate, corresponding to the operation information, from the artificial intelligence unit. In the notification process, the notification unit notifies the visual information, including information that the robot will pass through the priority gate, during the notification period which includes the scheduled passage time output from the control unit. The facility management system described in Appendix 1 is configured as follows. (Note 4) Equipped with a lamp installed at the aforementioned priority gate, In the notification process, the notification unit lights up the lamp. A facility management system as described in any one of the appendices 1 to 3, configured as follows. (Note 5) The priority gate is equipped with a light-emitting device that changes the light-emitting color of the light-emitting part, In the notification process, the notification unit controls the light-emitting device to change the light-emitting color of the light-emitting unit. A facility management system as described in any one of the appendices 1 to 4, configured as follows. (Note 6) The aforementioned priority gate is equipped with a width adjustment mechanism for adjusting the gate width, In the notification process, the notification unit shall The width adjustment mechanism is driven to increase the gate width of the priority gate. A facility management system as described in any one of the appendices 1 to 5, configured as follows. (Note 7) The priority gate is equipped with a display unit, In the notification process, the notification unit shall Priority gate signs, robot movement images, or robot still images are displayed on the display unit. A facility management system as described in any one of the appendices 1 to 6, configured as follows. (Note 8) The priority gate is equipped with a height adjustment mechanism for adjusting the gate height, In the notification process, the notification unit shall The height adjustment mechanism is driven to change the gate height of the priority gate. A facility management system as described in any one of the appendices 1 to 7, configured as follows. (Note 9) The priority gate is equipped with an opening and closing mechanism for opening and closing a flap, In the notification process, the notification unit shall The opening and closing mechanism is driven to close the flap. A facility management system as described in any one of the appendices 1 to 8, configured as follows. (Note 10) A restriction time period setting unit sets a restriction time period that restricts the robot from passing through the priority gate, The system includes an operation restriction unit that restricts the robot from passing through the priority gate during the restricted time period, In the notification process, the notification unit notifies the visual information, including information that the robot does not pass through the priority gate during the restricted time period. A facility management system as described in any one of the appendices 1 to 9, configured as follows. (Note 11) The aforementioned time restriction setting unit sets a predetermined time period as the time restriction period. The facility management system described in Appendix 10 is configured as follows. (Note 12) The aforementioned operational information includes the location information of the robot, The control unit inputs the operation information acquired by the information acquisition unit to the artificial intelligence unit, and acquires and outputs the planned passage time for the robot to pass through the priority gate, corresponding to the operation information, from the artificial intelligence unit. The aforementioned operation restriction unit restricts the robot from passing through the priority gate if the scheduled passage time falls within the restricted time period. The facility management system described in Appendix 10 is configured as follows. (Note 13) A facility management system according to any one of the appendices 1 to 12, comprising a gate setting unit for setting one or more of the aforementioned priority gates from a plurality of entrance / exit gates. (Note 14) The gate setting unit adjusts the number of priority gates according to the number of robots in use. The facility management system described in Appendix 13 is configured as follows. (Note 15) The gate setting unit adjusts the number of priority gates according to the date and time. The facility management system described in Appendix 13 is configured as follows. (Note 16) A facility management method that is executed by a computer and manages the movement of robots within a facility, The steps include: acquiring operational information of the robot passing through a priority gate installed within the facility; Based on the aforementioned operational information, the robot provides visual information to distinguish whether or not it has passed through the priority gate. A facility management method that includes the following features. (Note 17) A facility management program that causes a computer to manage the movement of robots within a facility, The operation information of the robot passing through the priority gate installed within the facility is acquired. Based on the aforementioned operational information, visual information is broadcast to distinguish whether or not the robot is passing through the priority gate. A facility management program configured to have a computer perform certain tasks. [Explanation of symbols]

[0110] 2 Robot, 4 Priority Gate, 8 Communication Network, 10 Facility Management Device, 12 Processor, 14 Memory, 16 Dedicated Hardware, 18 Processing Circuit, 20 Information Acquisition Unit, 22 Time Zone Setting Unit, 24 Notification Unit, 26 Control Unit, 28 Gate Setting Unit, 30 Artificial Intelligence Unit, 32 Learned Model Memory Unit, 34 Model Control Unit, 36 Time Zone Restriction Setting Unit, 38 Operation Restriction Unit, 40 Lamp, 40a Priority Display, 40b Permanent Display, 40c Normal Display, 42 Light-emitting Device, 42a Light-emitting Unit, 44 Width Adjustment Mechanism, 44a Structure, 46 Display Unit, 46a Screen, 48 Adjustment Mechanism, 48a Upper Frame, 50 Opening / Closing Mechanism, 50a Flap, 50b Priority Display, 100 Facility management system, 141 facility management programs, 142 data

Claims

1. In a facility management system that manages the movement of robots within a facility, An information acquisition unit that acquires operational information of the robot passing through the priority gate installed within the facility, A notification unit performs notification processing to provide visual information to distinguish whether or not the robot has passed through the priority gate, based on the aforementioned operational information. A facility management system equipped with the following features.

2. The aforementioned operational information includes information on the scheduled time the robot will pass through the priority gate. In the notification process, the notification unit notifies the visual information, including information that the robot will pass through the priority gate, during the notification period including the scheduled passage time. The facility management system according to claim 1, configured as follows.

3. The aforementioned operational information includes the location information of the robot, The control unit inputs the operation information acquired by the information acquisition unit to the artificial intelligence unit, and acquires and outputs the planned passage time for the robot to pass through the priority gate, corresponding to the operation information, from the artificial intelligence unit. In the notification process, the notification unit notifies the visual information, including information that the robot will pass through the priority gate, during the notification period which includes the scheduled passage time output from the control unit. The facility management system according to claim 1, configured as follows.

4. Equipped with a lamp installed at the aforementioned priority gate, In the notification process, the notification unit lights up the lamp. A facility management system according to any one of claims 1 to 3, configured as described above.

5. The priority gate is equipped with a light-emitting device that changes the light-emitting color of the light-emitting part, In the notification process, the notification unit controls the light-emitting device to change the light-emitting color of the light-emitting unit. A facility management system according to any one of claims 1 to 3, configured as described above.

6. The aforementioned priority gate is equipped with a width adjustment mechanism for adjusting the gate width, In the notification process, the notification unit shall The width adjustment mechanism is driven to increase the gate width of the priority gate. A facility management system according to any one of claims 1 to 3, configured as described above.

7. The priority gate is equipped with a display unit, In the notification process, the notification unit shall Priority gate signs, robot movement images, or robot still images are displayed on the display unit. A facility management system according to any one of claims 1 to 3, configured as described above.

8. The priority gate is equipped with a height adjustment mechanism for adjusting the gate height, In the notification process, the notification unit shall The height adjustment mechanism is driven to change the gate height of the priority gate. A facility management system according to any one of claims 1 to 3, configured as described above.

9. The priority gate is equipped with an opening and closing mechanism for opening and closing a flap, In the notification process, the notification unit shall The opening and closing mechanism is driven to close the flap. A facility management system according to any one of claims 1 to 3, configured as described above.

10. A restriction time period setting unit sets a restriction time period that restricts the robot from passing through the priority gate, The system includes an operation restriction unit that restricts the robot from passing through the priority gate during the restricted time period, In the notification process, the notification unit notifies the visual information, including information that the robot does not pass through the priority gate during the restricted time period. The facility management system according to claim 1, configured as follows.

11. The aforementioned time restriction setting unit sets a predetermined time period as the time restriction period. The facility management system according to claim 10, configured as follows.

12. The aforementioned operational information includes the location information of the robot, The control unit inputs the operation information acquired by the information acquisition unit to the artificial intelligence unit, and acquires and outputs the planned passage time for the robot to pass through the priority gate, corresponding to the operation information, from the artificial intelligence unit. The aforementioned operation restriction unit restricts the robot from passing through the priority gate if the scheduled passage time falls within the restricted time period. The facility management system according to claim 10, configured as follows.

13. The facility management system according to claim 1, comprising a gate setting unit for setting one or more priority gates from a plurality of entrance / exit gates.

14. The gate setting unit adjusts the number of priority gates according to the number of robots in use. The facility management system according to claim 13, configured as follows.

15. The gate setting unit adjusts the number of priority gates according to the date and time. The facility management system according to claim 13, configured as follows.

16. A facility management method that is executed by a computer and manages the movement of robots within a facility, The steps include: acquiring operational information of the robot passing through a priority gate installed within the facility; Based on the aforementioned operational information, the robot provides visual information to distinguish whether or not it has passed through the priority gate. A facility management method that includes the following features.

17. A facility management program that causes a computer to manage the movement of robots within a facility, The operation information of the robot passing through the priority gate installed within the facility is acquired. Based on the aforementioned operational information, visual information is broadcast to distinguish whether or not the robot is passing through the priority gate. A facility management program configured to have a computer perform certain tasks.

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