Information processing device, information processing method, and program

Abstract

The present invention provides an information processing device, an information processing method, and a program that enable the proper operation of a mobile object when a task is canceled in response to a user request. [Solution] The information processing device of the present disclosure comprises a main server unit that generates task information indicating information that can identify a task to be performed by a mobile body, and a centralized management server unit that generates route information indicating the travel route of a mobile body performing the task identified by the task information. After a mobile body performing a task based on the task information and route information receives a cancellation request from a user requesting the cancellation of the task, the main server unit transmits cancellation instruction information to the centralized management server unit instructing the task to be canceled.

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] Conventionally, systems are known that are capable of group-controlling the movements of a plurality of moving bodies such as robots that can move in real space, and assigning tasks to each moving body to cause the tasks to be executed.

[0003] However, conventionally, when canceling a task in response to a request from a user, there was a risk that the moving bodies could not be operated appropriately due to insufficient cooperation between the information processing apparatus that supervises the system and the moving bodies such as robots.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] The present disclosure has been made in view of the above, and an object of the present disclosure is to provide an information processing apparatus, an information processing method, and a program capable of appropriately operating a moving body when canceling a task in response to a request from a user.

Means for Solving the Problem

[0006] To achieve the above objective, the information processing device of the present disclosure comprises a main server unit that generates task information indicating information that can identify a task to be performed by a mobile body, and a centralized management server unit that generates route information indicating the travel route of the mobile body performing the task identified by the task information, wherein the main server unit transmits cancellation instruction information to the centralized management server unit after the mobile body, which is performing the task based on the task information and the route information, receives a cancellation request from the user requesting the cancellation of the task. [Effects of the Invention]

[0007] According to this disclosure, when a task is canceled in response to a user request, the mobile body can be operated appropriately. However, the effects described herein are not necessarily limited to any of the effects described herein. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows an example of the configuration of an information processing system according to the first embodiment. [Figure 2] Figure 2 shows an example of task management information in the first embodiment. [Figure 3] Figure 3 shows an example of robot management information in the first embodiment. [Figure 4] Figure 4 shows an example of the functions of the processor according to the first embodiment. [Figure 5] Figure 5 is a sequence diagram showing an example of the operation procedure of the information processing system according to the first embodiment. [Figure 6] Figure 6 is a diagram illustrating the task of the robot in the first embodiment. [Figure 7] Figure 7 is a diagram illustrating the task of the robot in the first embodiment. [Figure 8] Figure 8 shows an example of the functions of the robot according to the first embodiment. [Figure 9] Figure 9 shows an example of the processing flow of the information processing system according to the first embodiment. [Figure 10] Figure 10 shows an example of the processing flow of the information processing system according to the second embodiment. [Modes for carrying out the invention]

[0009] The information processing apparatus, information processing method, and program according to the embodiments of this disclosure will be described in detail below with reference to the attached drawings.

[0010] (First embodiment) Figure 1 shows an example of the configuration of the information processing system 1 according to this embodiment. The information processing system 1 of this embodiment is a system for operating multiple robots (an example of "mobile bodies") that can autonomously travel within a facility such as a hospital, in response to requests from users.

[0011] As shown in Figure 1, the information processing system 1 includes an information processing device 10, multiple robots 20, a server PC (Personal Computer) 30, and a user terminal 40. The information processing device 10, the multiple robots 20, the server PC, and the terminal 40 are each interconnected via a network 50, such as the Internet. In the example in Figure 1, two robots 20 are shown, but the number of robots 20 included in the information processing system 1 is not limited to this and can be arbitrarily changed according to design conditions, etc.

[0012] Further, as shown in Figure 1, the server PC 30 is connected to a PLC (Programmable Logic Controller) 60. The PLC 60 is connected to doors 62 within the facility via a door vendor system 61, and is also connected to lifts 64 (elevators) within the facility via a lift vendor system 63. In the example of Figure 1, three doors 62 and two lifts 64 are illustrated, but the number of doors 62 and the number of lifts 64 are not limited thereto, and can be arbitrarily changed according to design conditions and the like. The PLC 60 controls the operations of the doors 62 and the lifts 64 in accordance with instructions from the server PC 30.

[0013] The terminal 40 used by a user may be, for example, a portable device such as a tablet or a smartphone, or may be a desktop PC or the like.

[0014] The information processing apparatus 10 performs control to operate a plurality of robots 20 in response to a request from a user. For example, the information processing apparatus 10 assigns a task requested by the user to any one of the plurality of robots 20 to execute the task. In the present embodiment, as the states of the robots 20, there are two states: "free" indicating a state in which a task can be assigned (a state in which the robot 20 is not in use), and "Reserved" indicating a state in which a task cannot be assigned (a state in which the robot 20 is in use), and the information processing apparatus 10 assigns the task requested by the user to any one of the robots 20 in the "free" state to execute the task.

[0015] As shown in Figure 1, the information processing apparatus 10 includes a storage unit 11, a processor 12, and a connection unit 13. These can be connected to each other via, for example, an internal bus. The connection unit 13 is an interface for connecting to a network 50. Note that the hardware configuration of the information processing apparatus 10 is not limited to the example in Figure 1, and may be a form further including hardware elements other than the elements illustrated in Figure 1.

[0016] The storage unit 11 stores various types of information, such as programs executed by the processor 12, task management information for managing tasks, and robot management information for managing the robot 20. FIG. 2 is a diagram illustrating an example of the task management information. In the example of FIG. 2, the task management information is information that associates task identification information for identifying a task, information indicating the name (type) of the task, robot identification information for identifying the robot 20 that executes the task, information indicating the state of the robot 20, information indicating the destination of the robot 20, information indicating the time when the task was requested, information indicating the time when the task was started, information indicating the time when the task was completed, and information indicating the state of the task with one another.

[0017] FIG. 3 is a diagram illustrating an example of the robot management information. In the example of FIG. 3, the robot management information is information that associates robot identification information, battery information indicating the remaining battery level of the robot 20, connection information indicating the connection state (communication state) of the network 50, door information indicating the open / closed state of the door of the hangar where the robot 20 is stored, information indicating the state of the robot, information indicating the name of the task, and task identification information with one another.

[0018] Returning to FIG. 1, the description will be continued. The processor 12 is a device that comprehensively controls the operation of the information processing apparatus 10, and can realize various functions by executing the programs stored in the storage unit 11.

[0019] FIG. 4 is a diagram illustrating an example of the functions possessed by the processor 12. As shown in FIG. 4, the processor 12 includes an information transmitting / receiving unit 110, a main server unit 120, and a centralized management server unit 130. These functions can be realized by the processor 12 executing the programs stored in the storage unit 11. Note that, in the example of FIG. 4, only the functions necessary for describing the main part of the present embodiment are illustrated, but the functions possessed by the processor 12 are not limited to these.

[0020] The UI server unit 110 parses operation information transmitted from the terminal 40 and indicating an operation received from a user, and transmits information indicating the parsing result to the main server unit 120.

[0021] The main server unit 120 assigns tasks requested by the user to one of the robots 20 and has it execute. For example, if a user performs an operation on terminal 40 to request the execution of some task, terminal 40 transmits operation information indicating the operation received from the user to the information processing device 10 via the network 50. Upon receiving the operation information from terminal 40, the information processing device 10 can identify the requested task based on information indicating the result of the operation information analysis by the UI server unit 110. The main server unit 120 then assigns the identified task to one of the "free" robots 20 and has it execute. In this case, the main server unit 120 assigns the task to one of the "free" robots 20 that are not logged in. "Not logged in" means that the robot 20 has not authenticated the user, that is, it has not performed a check to see if the user has the authority to use the robot 20 and has not acknowledged that the user has the authority to use the robot 20.

[0022] Furthermore, for example, if a user performs an operation (login operation) to the face screen, which is a screen displayed on the robot 20's face, to obtain permission to use the robot 20, and the robot 20 recognizes that the user has permission to use the robot 20 (authenticates the user), the robot 20 can accept operations from the authenticated user. The authentication method by the robot 20 will be described later. For example, if a user who has logged in inputs an operation to request the execution of a task to the robot 20's face screen, the robot 20 transmits information indicating the requested task, which is identified from the operation received from the user, to the information processing device 10 via the network 50. On the information processing device 10 side, the main server unit 120 identifies the task (the task requested by the user) based on the information received from the robot 20, and assigns the identified task to the robot 20 that sent the information, and has it execute it.

[0023] The main server unit 120 assigns a task requested by the user to the robot 20, and then generates task information that identifies the task to be executed by the robot 20. For example, the task information includes information that identifies the task (task identification information), information indicating the type (name) of the task, and information indicating the destination of the robot 20. The main server unit 120 transmits the generated task information to the centralized management server unit 130 and to each of the robots 20 that will execute the task.

[0024] The centralized management server unit 130 receives task information from the main server unit 120 and generates route information indicating the travel path of the robot 20 that will perform the task identified by the received task information. The functions of the centralized management server unit 130 may be implemented, for example, by RMF (Robotics Middleware Framework). In other words, RMF can be adopted as an example of a program to provide the functions of the centralized management server unit 130. Based on the travel status of each robot 20, the centralized management server unit 130 organizes the traffic of each robot, determines the optimal travel path for the robot 20 that will perform the task, and transmits route information indicating the determined travel path to the robot 20.

[0025] Figure 5 is a sequence diagram showing an example of the information flow when the robot 20 is made to perform a task in response to a user request. As shown in Figure 5, for example, when a user performs an operation to request the execution of a task to the terminal 40, the terminal 40 transmits operation information indicating the operation received from the user to the information processing device 10 (step S1).

[0026] The UI server unit 110 transmits information indicating the results of analyzing the operation information received from the terminal 40 (for example, the type of task requested) to the main server unit 120 (step S2). Based on the information received from the UI server unit 110, the main server unit 120 can identify the task requested by the user. The main server unit 120 then determines the robot 20 that will perform the identified task and generates the task information described above. The main server unit 120 then transmits the generated task information to the storage unit 11 for storage (step S3). The main server unit 120 also transmits the generated task information to the robot 2 that will perform the task (step S4) and also transmits it to the centralized management server unit 130 (step S5). For example, in addition to transmitting the task information, the centralized management server unit 130 may also be notified of robot identification information that identifies the robot 20 that will perform the task. Alternatively, the robot identification information may be included within the task information.

[0027] Upon receiving task information, the centralized management server unit 130 determines the optimal travel path for the robot 20 performing the task, taking into account the travel status of other robots 20, and generates route information indicating the determined travel path. Then, the centralized management server unit 130 transmits the generated route information to the robot 20 (step S6).

[0028] The robot 20 executes tasks based on task information received from the main server unit 120 and route information received from the centralized management server unit 130, and manages its own status by updating it from "free" to "Reserved".

[0029] Next, the robot 20 will be described. In this embodiment, tasks that the robot 20 performs include calling tasks, delivery tasks, and sequential delivery tasks.

[0030] The calling task is the operation of calling the robot 20 from its standby position to a specific position. As shown in Figure 6, for example, when a user requests the execution of the calling task from the terminal 40 (for example, by touching a predetermined button on the screen), the robot 20 starts executing the calling task through the information flow described in Figure 5 and moves from the standby position to the specific position. For example, a charger for charging the robot 20 is installed at the standby position.

[0031] The delivery task is the operation in which robot 20 delivers a package from its current location to its destination. As shown in Figure 6, for example, when a logged-in user selects a destination for the package and requests the execution of the delivery task on the robot 20's face screen, robot 20 transmits information indicating the delivery task, which is identified from the received operation, to the main server unit 120. Subsequently, following the information flow from step S3 onwards in Figure 5, robot 20 begins executing the delivery task and moves from its current location to its destination. Upon arriving at the destination, robot 20 automatically detaches the package, and if the next task has already been assigned, it begins executing that next task. Note that here, the example of robot 20 automatically detaching the package has been used, but it is not limited to this; for example, robot 20 may detach the package when the user presses the "return" button. On the other hand, if the next task has not been assigned, robot 20 returns to its waiting position and waits.

[0032] The sequential delivery task is the operation in which robot 20 delivers packages sequentially to multiple destinations (delivery locations). As shown in Figure 7, for example, when a user requests the execution of the sequential delivery task to terminal 40, robot 20 starts executing the sequential delivery task through the information flow described in Figure 5, and first moves from the waiting position to the first destination. In the example in Figure 7, it is assumed that after robot 20 arrives at the first destination, the user who has logged into robot 20 touches the "Next" button located on the robot 20's face screen. This operation triggers robot 20 to move to the second destination. Here, the operation of touching the "Next" button can be considered as an operation to request delivery of the package to the next destination.

[0033] In the example shown in Figure 7, after the robot 20 arrives at its second destination, the user who has logged into the robot 20 touches the "Next" button located on the robot 20's face screen. This action triggers the robot 20 to move to its third destination (the final destination in this example). Upon arriving at its destination, the robot 20 automatically detaches the cargo and, if a next task has already been assigned, begins executing that task. If no next task has been assigned, the robot 20 returns to its waiting position and waits.

[0034] Figure 8 shows an example of the functions of the robot 20. As shown in Figure 8, the robot 20 has a communication unit 21, a display control unit 22, a reception unit 23, an authentication unit 24, a task execution control unit 25, and a state management unit 26. Note that the functions of the robot 20 are not limited to those exemplified in Figure 8.

[0035] In this embodiment, the robot 20 includes at least a processor, memory, and a display unit (for example, a display provided on the face of the robot 20) as hardware elements, and the functions of each of the above-mentioned parts can be realized by the processor executing a program stored in memory. However, it is not limited to this, and some or all of the functions of each of the above-mentioned parts may be realized by dedicated hardware circuits (such as semiconductor integrated circuits).

[0036] The communication unit 21 communicates with the information processing device 10 via the network 50 to send and receive information. The display control unit 22 controls the display of various types of information, including the face screen, on the display unit. The reception unit 23 receives input in response to user operations. For example, the reception unit 23 can receive input in response to touch operations on the face screen.

[0037] The authentication unit 24 authenticates the user. Various known methods can be used for authentication. For example, if a user calls up an authentication screen displayed on the face display unit of the robot 20 and enters information that identifies them (e.g., a password) on that authentication screen, the authentication unit 24 compares the entered information with the pre-registered authentication source information. If the information matches, it recognizes that the user who entered the information has the authority to use the robot 20. In other words, it authenticates the user.

[0038] The task execution control unit 25 controls the execution of tasks by the robot 20 based on task information received from the main server unit 120 and route information received from the centralized management server unit 130. For example, the task execution control unit 25 can control the robot 20 to travel along the route indicated by the route information, or it can control the robot to detach the cargo after arriving at the destination.

[0039] The state management unit 26 manages the state of the robot 20. For example, the robot 20's memory may store information corresponding to its own device from the robot management information shown in Figure 3. The state management unit 26 manages this information. For example, when the robot 20 completes its task, the state management unit 26 updates its own device status from "Reserved" to "free". It then notifies the main server unit 120 of the information indicating that the task has been completed and the information indicating that its own device status has changed from "Reserved" to "free". Upon receiving this notification, the main server unit 120 can update the information on the information processing device 10 side.

[0040] The above describes the configuration of the information processing system 1, which is the premise of this disclosure. Next, we will explain how to cancel a task that the robot 20 is currently executing and then have the robot 20 execute the same task again.

[0041] After the main server unit 120 receives a cancellation request from the robot 20 that is executing a task, it sends cancellation instruction information to the central management server unit 130 instructing the robot to cancel the task that is currently being executed. For example, a logged-in user can input a cancellation request by touching a predetermined button (for example, a button indicating "cancel") located on the robot 20's face screen. In this embodiment, the robot 20 stops moving when it receives a cancellation request from the user, but it does not notify the information processing device 20 that the task being executed has been canceled, so the information processing device 20 recognizes that the robot 20 is continuing to execute the task.

[0042] Subsequently, when the main server unit 120 receives retry request information from the robot 20 indicating that it has received a retry request to execute the same task, it sends cancellation instruction information to the central management server unit 130 instructing it to cancel the task currently being executed. For example, a logged-in user can input a retry request by touching a predetermined button (for example, a button indicating "Retry") located on the robot 20's face screen. When the robot 20 receives a retry request, it sends the aforementioned retry request information to the information processing device 10.

[0043] When the centralized management server unit 130 receives the cancellation instruction information from the main server unit 120, it recognizes that the running task has been canceled and becomes ready to receive new task information. After sending the cancellation instruction information to the centralized management server unit 130, the main server unit 120 refers to the task information transmission history to the robot 20 and transmits the most recent task information among the task information already transmitted to the robot 20 before receiving the retry request information to both the centralized management server unit 130 and the robot 20.

[0044] The centralized management server unit 130 generates route information based on the task information received from the main server unit 120 and transmits the generated route information to the robot 20. The robot 20 then executes the task again based on the task information received from the main server unit 120 and the route information received from the centralized management server unit 130.

[0045] Figure 9 is a schematic diagram showing the processing flow when a robot 20, which is executing Task A, receives a cancellation request from a user and then receives a retry request. When the robot 20 receives a cancellation request from a logged-in user, it stops moving (cancels Task A). Subsequently, when the robot 20 receives a retry request from the user, it sends the aforementioned retry request information to the information processing device 10.

[0046] The main server unit 120 receives retry request information from the robot 20 and recognizes that the execution of task A has been canceled and a retry has been requested. The main server unit 120 sends the aforementioned cancellation instruction information to the central management server unit 130. Upon receiving the cancellation instruction information, the central management server unit 130 recognizes that task A has been canceled and becomes ready to accept new task information.

[0047] After sending a cancellation instruction to the centralized management server unit 130, the main server unit 120 refers to the history of task information already sent to the robot 20 and sends the task information for the latest task, Task A, to both the centralized management server unit 130 and the robot 20. The centralized management server unit 130 regenerates route information based on the task information for Task A received from the main server unit 120 and sends the generated route information to the robot 20. The robot 20 then executes Task A again based on the task information for Task A received from the main server unit 120 and the route information received from the centralized management server unit 130.

[0048] As described above, when the main server unit 120 of this embodiment receives the above-mentioned retry request information from the robot 20, it recognizes that the task currently being executed has been canceled and a retry of the same task has been requested. It then sends cancellation instruction information to the centralized management server unit 130 instructing the cancellation of the task, and then sends task information for the same task to both the centralized management server unit 130 and the robot 20. Upon receiving the cancellation instruction information, the centralized management server unit 130 recognizes that the task currently being executed has been canceled and becomes ready to receive new task information. It can then regenerate route information based on the task information received from the main server unit 120 and send the generated route information to the robot 20. The robot 20 can then retry the canceled task based on the task information received from the main server unit 120 and the route information received from the centralized management server unit 130.

[0049] In other words, according to this embodiment, it is possible to avoid a situation where the centralized management server unit 130 fails to recognize that a task being executed has been canceled and therefore does not accept task information for the task to be retried, resulting in the robot 20 being unable to retry the task.

[0050] (Modified version of the first embodiment) In the above embodiment, when the robot 20 receives a cancellation request from the user, it does not notify the information processing device 10 that it has received the cancellation request. However, for example, when the robot 20 receives a cancellation request, it may send cancellation request information to the information processing device 10 indicating that it has received the cancellation request. The main server unit 120 may also send cancellation instruction information to the central management server unit 130 instructing it to cancel the task that is currently running, thereby making the central management server unit 130 aware that the task has been canceled.

[0051] In short, the main server unit 120 only needs to send cancellation instruction information to the central management server unit 130 instructing it to cancel the task being executed after the robot 20 has received a cancellation request. That is, the timing for sending the cancellation instruction information to the central management server unit 130 "after the robot 20 has received a cancellation request" could be the timing when the robot 20 sends retry request information to the information processing device 10, as in the first embodiment described above, or it could be the timing when the robot 20 sends cancellation request information to the information processing device 20, as in this modified example.

[0052] (Second embodiment) Next, a second embodiment will be described. Parts common to the first embodiment described above will be omitted as appropriate. In the first embodiment, the robot 20 received the user's cancellation request, but in this embodiment, the terminal 40 receives the user's cancellation request, and the subsequent processing is also different. The specific details are described below. Note that the underlying system configuration is the same as in the first embodiment described above.

[0053] When the main server unit 120 receives cancellation request information (received via the UI server unit 110) from a terminal 40 used by a user, indicating that it has received a cancellation request for robot 20 to cancel a task it is currently executing, it sends cancellation instruction information to both the central management server unit 130 and robot 20, instructing them to cancel the task.

[0054] Similar to the first embodiment described above, when the centralized management server unit 130 receives cancellation instruction information from the main server unit 120, it recognizes that the running task has been canceled and becomes ready to accept new task information.

[0055] Furthermore, when robot 20 receives a cancellation instruction from the main server unit 120, it stops moving. Upon receiving the cancellation instruction and stopping, robot 20 notifies the main server unit 120 that it has changed from "Reserved" (an example of the "first state"), which indicates that it is not possible to assign a task, to "free" (the second state), which indicates that it is possible to assign a task. Subsequently, the main server unit 120 determines which robot 20 will be assigned the new task from among the "free" robots 20.

[0056] Figure 10 is a schematic diagram showing the processing flow when terminal 40 receives a cancellation request requesting robot 20 to cancel task A. When robot 20 is executing task A based on task information for task A received from main server unit 120 and route information received from central management server unit 130, terminal 40 receives a cancellation request from the user and transmits the above-mentioned cancellation request information to information processing device 10. For example, the user can input a cancellation request by touching a predetermined button (for example, a button indicating "cancel") located on the screen displayed on the display unit of terminal 40.

[0057] When the main server unit 120 receives cancellation request information from terminal 40, it recognizes that a cancellation of task A has been requested. The main server unit 120 sends the aforementioned cancellation instruction information to the central management server unit 130 and the robot 20. Upon receiving the cancellation instruction information, the central management server unit 130 recognizes that task A has been canceled and becomes ready to accept new task information.

[0058] Upon receiving cancellation instruction information from the main server unit 120, the robot 20 stops moving. The robot 20 updates its status from "Reserved" to "free" and notifies the main server unit 120 of this. Upon receiving this notification, the main server unit 120 updates the information on the information processing device 10. The main server unit 120 assigns tasks based on the status of unexecuted tasks, etc. In the example in Figure 10, it is assumed that a new task B is assigned to the robot 20 for which task A has been canceled. In this case, the main server unit 120 transmits the task information for task B to the centralized management server unit 130 and to the robot 20. The centralized management server unit 130 generates route information based on the task information for task B received from the main server unit 120 and transmits the generated route information to the robot 20. The robot 20 executes task B based on the task information for task B received from the main server unit 120 and the route information received from the centralized management server unit 130.

[0059] As described above, when the main server unit 120 of this embodiment receives the cancellation request information from the terminal 40, it sends cancellation instruction information to the centralized management server unit 130 and the robot 20. This allows the centralized management server unit 130 to recognize that the task currently being executed has been canceled and to become ready to accept new task information, and also allows the robot 20 to stop moving.

[0060] The centralized management server unit 130 transmits route information to the robot 20, but it does not have a means to stop the robot 20 while it is executing a task. Therefore, in this embodiment, the main server unit 120 can reliably stop the robot 20 while it is executing a task by transmitting cancellation instruction information to the robot 20.

[0061] (Modified version of the second embodiment) For example, the above-mentioned delivery task, which involves robot 20 delivering a package from a designated location (e.g., the current location) to a destination, may be configured so that it cannot be canceled from terminal 40. For example, if the main server unit 120 receives cancellation request information from terminal 40 requesting the cancellation of a delivery task, it may not send cancellation instruction information to the central management server unit 130 or robot 20. Alternatively, terminal 40 may not accept cancellation requests from users (it may be configured not to accept them), or it may accept such cancellation requests but not send the cancellation request information to the information processing device 10. In a delivery task, the user basically inputs instructions to the robot 20's UI (e.g., face screen) to move the robot 20, so there is a possibility that there is some package in the robot 20's storage compartment (a storage compartment for packages). Therefore, if the delivery task is canceled while there is a package in the storage compartment and robot 20 moves elsewhere, there is a risk of package loss. Therefore, in this modified version, the loss of packages can be prevented by setting the delivery task so that it cannot be canceled from terminal 40.

[0062] While embodiments of this disclosure have been described above, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These novel embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. Furthermore, the effects of the embodiments described herein are merely illustrative and not limiting, and other effects may also occur.

[0063] (Note) The following are preferred embodiments of this disclosure.

[0064] (Note 1) According to one aspect of this disclosure, A main server unit that generates task information indicating information that can identify the task to be performed by the mobile object, The system includes a centralized management server unit that generates route information indicating the travel route of the mobile body that performs the task specified by the task information, The aforementioned main server section is: Based on the task information and the route information, the mobile unit, which is executing the task, receives a cancellation request from the user requesting the cancellation of the task, and then transmits cancellation instruction information to the centralized management server unit instructing the cancellation of the task. An information processing device is provided.

[0065] (Note 2) In the information processing device described in Appendix 1 above, When the main server unit receives retry request information indicating that it has received a retry request from the mobile unit requesting the execution of the same task, it transmits the cancellation instruction information to the centralized management server unit.

[0066] (Note 3) In the information processing device described in Appendix 1 above, When the main server unit receives the retry request information from the mobile unit, it refers to the transmission history of the task information to the mobile unit and transmits the most recent task information from the task information that was transmitted to the mobile unit before receiving the retry request information to the centralized management server unit and the mobile unit, respectively.

[0067] (Note 4) In the information processing device described in Appendix 1 above, The task information includes information that identifies the task, information that indicates the type of the task, and information that indicates the destination of the mobile body.

[0068] (Note 5) According to one aspect of this disclosure, A main server unit that generates task information indicating information that can identify the task to be performed by the mobile object, The system includes a centralized management server unit that generates route information indicating the travel route of the mobile body that performs the task specified by the task information, The aforementioned main server section is: When the mobile device receives cancellation request information from a terminal used by a user, indicating that it has received a cancellation request requesting the cancellation of the task it is currently executing, it sends cancellation instruction information to both the central management server and the mobile device, instructing them to cancel the task. An information processing device is provided.

[0069] (Note 6) In the information processing device described in Appendix 5 above, When the mobile unit receives the cancellation instruction information and stops, it notifies the main server unit that it has changed from a first state indicating that the task cannot be assigned to a second state indicating that the task can be assigned to a second state. The main server unit determines which of the one or more mobile bodies in the second state will be assigned the new task.

[0070] (Note 7) In the information processing device described in Appendix 5 above, Of the aforementioned tasks, the delivery task, which involves delivering a package from a designated location to its destination, is configured so that it cannot be canceled from the terminal.

[0071] (Note 8) According to one aspect of this disclosure, An information processing method executed by an information processing device comprising: a main server unit that generates task information indicating information that can identify a task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object performing the task identified by the task information, wherein The main server unit, after receiving a cancellation request from the user for the cancellation of the task by the mobile entity that is executing the task based on the task information and the route information, transmits cancellation instruction information to the central management server unit instructing the task to be canceled. Information processing methods are provided.

[0072] (Note 9) According to one aspect of this disclosure, An information processing device comprising: a main server unit that generates task information indicating information that can identify the task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object that performs the task identified by the task information, A program is provided to cause the main server unit to send cancellation instruction information to the central management server unit after it has received a cancellation request from the user for the mobile entity performing the task to cancel the task, based on the task information and the route information.

[0073] (Note 10) According to one aspect of this disclosure, An information processing method executed by an information processing device comprising: a main server unit that generates task information indicating information that can identify a task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object performing the task identified by the task information, wherein When the main server unit receives cancellation request information from a terminal used by a user indicating that the mobile device has received a cancellation request for the cancellation of the task it is currently executing, it transmits cancellation instruction information to the central management server and the mobile device, respectively, instructing them to cancel the task. Information processing methods are provided.

[0074] (Note 11) According to one aspect of this disclosure, An information processing device comprising: a main server unit that generates task information indicating information that can identify the task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object that performs the task identified by the task information, A program is provided to cause the main server unit to send cancellation instruction information to the central management server and the mobile unit, respectively, when it receives cancellation request information from a terminal used by a user indicating that the mobile unit has received a cancellation request for the mobile unit to cancel the task it is currently executing. [Explanation of Symbols]

[0075] 1. Information Processing System 10 Information Processing Devices 11 Storage section 12 processors 13 Connection part 20 Robots 21 Communications Department 22 Display Control Unit 23 Reception Department 24 Authentication Department 25 Task Execution Control Unit 26 Status Management Department 30 Server PCs 40 devices 50 Networks 110 UI Server Section 120 Main Server Section 130 Centralized Management Server Section

Claims

1. A main server unit that generates task information indicating information that can identify the task to be performed by the mobile object, The system includes a centralized management server unit that generates route information indicating the travel route of the mobile body that performs the task specified by the task information, The aforementioned main server section is: Based on the task information and the route information, the mobile unit, which is executing the task, receives a cancellation request from the user requesting the cancellation of the task, and then transmits cancellation instruction information to the centralized management server unit instructing the cancellation of the task. Information processing device.

2. When the main server unit receives retry request information indicating that it has received a retry request from the mobile unit requesting the execution of the same task, it transmits the cancellation instruction information to the centralized management server unit. The information processing apparatus according to claim 1.

3. When the main server unit receives the retry request information from the mobile device, it refers to the transmission history of the task information to the mobile device and transmits the most recent task information from the task information already transmitted to the mobile device before receiving the retry request information to the centralized management server unit and the mobile device, respectively. The information processing apparatus according to claim 2.

4. The task information includes information that identifies the task, information indicating the type of the task, and information indicating the destination of the mobile body. The information processing apparatus according to claim 1.

5. A main server unit that generates task information indicating information that can identify the task to be performed by the mobile object, The system includes a centralized management server unit that generates route information indicating the travel route of the mobile body that performs the task specified by the task information, The aforementioned main server section is: When the mobile device receives cancellation request information from a terminal used by a user, indicating that it has received a cancellation request requesting the cancellation of the task it is currently executing, it sends cancellation instruction information to both the central management server and the mobile device, instructing them to cancel the task. Information processing device.

6. When the mobile unit receives the cancellation instruction information and stops, it notifies the main server unit that it has changed from a first state indicating that the task cannot be assigned to a second state indicating that the task can be assigned to a second state. The main server unit determines, from among the one or more mobile bodies in the second state, the mobile body to which the new task will be assigned. The information processing apparatus according to claim 5.

7. Of the aforementioned tasks, the delivery task, which involves delivering a package from a designated location to its destination, is configured so that it cannot be canceled from the terminal. The information processing apparatus according to claim 5.

8. An information processing method executed by an information processing device comprising: a main server unit that generates task information indicating information that can identify a task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object performing the task identified by the task information, wherein The main server unit, after receiving a cancellation request from the user for the cancellation of the task by the mobile entity that is executing the task based on the task information and the route information, transmits cancellation instruction information to the central management server unit instructing the task to be canceled. Information processing methods.

9. An information processing device comprising: a main server unit that generates task information indicating information that can identify the task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object that performs the task identified by the task information, A program that causes the main server unit to send cancellation instruction information to the central management server unit after it has received a cancellation request from the user for the mobile entity performing the task to cancel the task based on the task information and the route information.

10. An information processing method executed by an information processing device comprising: a main server unit that generates task information indicating information that can identify a task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object performing the task identified by the task information, wherein When the main server unit receives cancellation request information from a terminal used by a user indicating that the mobile device has received a cancellation request for the cancellation of the task it is currently executing, it transmits cancellation instruction information to the central management server and the mobile device, respectively, instructing them to cancel the task. Information processing methods.

11. An information processing device comprising: a main server unit that generates task information indicating information that can identify the task to be performed by a mobile object; and a centralized management server unit that generates route information indicating the travel route of the mobile object that performs the task identified by the task information, A program that, when the main server unit receives cancellation request information from a terminal used by a user indicating that the mobile unit has received a cancellation request for the mobile unit to cancel the task it is currently executing, causes the main server unit to send cancellation instruction information to the central management server and the mobile unit, respectively, instructing them to cancel the task.

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