Autonomous mobile object operating system and autonomous mobile object operating method

Abstract

To efficiently and appropriately operate autonomous mobile bodies.SOLUTION: An autonomous mobile body operation system includes: multiple types of autonomous mobile bodies performing predetermined tasks that involve movement and having different detection methods for obstacles that interfere with the predetermined tasks; and a control server that transmits risk avoidance instruction information for avoiding a risk of an obstacle to an autonomous mobile body in a work area and causes the autonomous mobile body to avoid the risk when the obstacle in the work area is detected based on information detected by sensors installed in the work area of the multiple types of autonomous mobile bodies.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an autonomous mobile object operating system and an autonomous mobile object operating method. [Background technology]

[0002] Autonomous vehicles, such as unmanned or remotely controlled mobile robots, are now being used in many fields. On the other hand, because autonomous vehicles are designed and manufactured for specific purposes, the specifications of each autonomous vehicle are different, and different operation methods must be planned depending on the model of the autonomous vehicle. In response to this, a technique has been proposed that makes it possible to apply map data indicating an area in which an autonomous moving body can move to each different autonomous moving body (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 171916 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, autonomous mobile bodies are designed to detect obstacles that hinder the performance of work within a work area, and to carry out work while avoiding such obstacles or to take appropriate action to avoid danger, but the types and ranges of obstacles that can be detected vary depending on the autonomous mobile body. For example, while there are autonomous mobile bodies that can appropriately detect the approach of a person in the vicinity and take action to avoid danger, there are also autonomous mobile bodies that cannot necessarily detect the approach of a person in all cases.

[0005] That is, if an autonomous mobile body has a high obstacle detection capability and can appropriately perform danger avoidance actions, the operation range will be expanded and the degree of freedom of work will be increased. On the other hand, in the case of an autonomous mobile body with insufficient obstacle detection capability, it is necessary to limit the operation in areas where people are present or during the time period. In this way, when operating an autonomous mobile body of the conventional technology, the specifications and functions of the autonomous mobile body are different, so that the same operation cannot be performed, and as a result, the frequency of use of an autonomous mobile body with a wide operation range increases. For example, the risk of failure of an autonomous mobile body with a wide operation range increases, and maintenance becomes more time-consuming, making it difficult to operate the autonomous mobile body efficiently and appropriately.

[0006] The present disclosure has been made to solve the above problems, and has as its purpose to provide an autonomous mobile object operation system and an autonomous mobile object operation method that can operate an autonomous mobile object efficiently and appropriately. [Means for solving the problem]

[0007] In order to solve the above problem, one aspect of the present disclosure is a method for detecting an obstacle in a work area of ​​the autonomous mobile body, the method comprising: detecting an obstacle in the work area of ​​the autonomous mobile body based on information detected by a sensor installed in the work area of ​​the autonomous mobile body; and transmitting risk avoidance instruction information to the autonomous mobile body in the work area to cause the autonomous mobile body to avoid the risk. Each of the plurality of types of autonomous moving bodies executes, as a preset danger avoidance process, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process based on the corrected danger avoidance instruction information by correcting the received danger avoidance instruction information based on the obstacle detected by itself, and a third danger avoidance process based on the received danger avoidance instruction information, in response to the danger avoidance instruction information. It is an autonomous mobile operation system.

[0008] Moreover, one aspect of the present disclosure is an autonomous mobile body operation method for operating a plurality of types of autonomous mobile bodies that perform a predetermined task involving movement, the plurality of types of autonomous mobile bodies having different methods for detecting an obstacle that hinders the predetermined task, in which a control server, when detecting an obstacle within a work area based on information detected by a sensor installed in a work area of ​​the plurality of types of autonomous mobile bodies, transmits danger avoidance instruction information to the autonomous mobile bodies within the work area to cause the autonomous mobile bodies to avoid a danger from the obstacle, thereby causing the autonomous mobile bodies to avoid the danger. Each of the plurality of types of autonomous moving bodies executes, as a preset danger avoidance process, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, in response to the danger avoidance instruction information. An autonomous mobile object operation method. Effect of the Invention

[0009] According to the present disclosure, an autonomous moving body can be operated efficiently and appropriately. [Brief description of the drawings]

[0010] [Figure 1] 1 is a system configuration diagram showing a configuration example of an autonomous mobile object operation system according to a first embodiment. [Diagram 2] 4 is a conceptual diagram illustrating an example of the relationship between a work section and a section sensor according to the first embodiment. FIG. [Diagram 3] 1 is a functional block diagram illustrating an example of an autonomous mobile object operation system according to a first embodiment. [Figure 4] 5 is a flowchart showing an example of an operation of the control server in the first embodiment. [Diagram 5] FIG. 11 is a conceptual diagram illustrating an example of an autonomous mobile object operation system according to a second embodiment. [Figure 6] 10 is a flowchart showing an example of an operation of a control server regarding movement of an autonomous moving body by an elevator in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an autonomous mobile object operation system and an autonomous mobile object operation method according to an embodiment of the present disclosure will be described with reference to the drawings.

[0012] [First embodiment] FIG. 1 is a system configuration diagram showing an example of the configuration of an autonomous mobile object operation system 1 according to the first embodiment. 1, the autonomous mobile object operation system 1 includes different types of autonomous mobile objects (10, 20), a control server 40, and zone sensors (31, 32, ...). The autonomous mobile object operation system 1 executes various processes required for implementing an operation plan for the autonomous mobile objects (10, 20) and for controlling the autonomous mobile objects (10, 20).

[0013] The autonomous mobile body 10 (an example of a first autonomous mobile body) is, for example, a mobile robot, and performs a predetermined task involving autonomous movement. The autonomous mobile body 10 is equipped with, for example, a camera 11 (see FIG. 3 described later) that captures an image in front or diagonally forward, and is capable of detecting obstacles and the like in front.

[0014] The autonomous mobile body 20 (an example of a second autonomous mobile body) is, for example, a mobile robot, and performs a predetermined task involving autonomous movement. The autonomous mobile body 20 has, for example, a substantially rectangular shape in the horizontal direction, with wheels arranged at the four corners of the substantially rectangular shape, and is provided with a sensor unit 21 (see FIG. 3 described later) such as a pyroelectric human sensor or sonar above the wheels. Although the autonomous mobile body 20 can detect the distance to an object using the sensor unit 21, it does not have an obstacle recognition function like the autonomous mobile body 10 that can identify a wide range of obstacles using the camera 11. That is, the autonomous mobile body 20 differs from the autonomous mobile body 10 in the method of detecting obstacles that hinder a predetermined task. The autonomous mobile body 10 and the autonomous mobile body 20 differ in the type and range of obstacles that can be detected.

[0015] The configurations of the autonomous moving body 10 and the autonomous moving body 20 will be described in detail later with reference to FIG. Moreover, the autonomous moving body 10 and the autonomous moving body 20 are examples of a plurality of types of autonomous moving bodies that have different methods for detecting an obstacle that hinders a predetermined task.

[0016] In this embodiment, the autonomous mobile body 10, the autonomous mobile body 20, and the control server 40 can be connected to a communication network NW1, and the autonomous mobile body 10, the autonomous mobile body 20, and the control server 40 perform various communications via the communication network NW1. The communication network NW1 is, for example, a wireless network such as a wireless LAN (Local Area Network), and enables transmission and reception of information to and from the autonomous moving bodies (10, 20) controlled by the control server 40.

[0017] The section sensor 31 and the section sensor 32 are, for example, cameras arranged near the ceiling of the work section and installed so as to capture moving images of the work section near the ceiling. The section sensor 31 and the section sensor 32 are examples of sensors installed in the work section (work area) of the autonomous moving body 10 and the autonomous moving body 20. Here, an example of the relationship between the work section and the section sensors (31, 32) will be described with reference to FIG. 2.

[0018] FIG. 2 is a conceptual diagram illustrating an example of the relationship between the work area AR1 and the area sensors (31, 32) according to this embodiment. 2, the zone sensor 31 and the zone sensor 32 capture images of the same work zone AR1 from different positions, and the viewing angles of the cameras of the zone sensor 31 and the zone sensor 32 can be used to stereoscopically view objects in the work zone AR1. The zone sensors 31 and 32 are arranged so that the size and position of objects in the work zone AR1 can be extracted from the sensor information, which is a moving image, using images from their respective viewing angles.

[0019] In this embodiment, the section sensor 31 and the section sensor 32 have the same configuration, and when referring to any section sensor included in the autonomous mobile object operation system 1 or when no distinction is made, they will be described as section sensor 30. The autonomous mobile object operation system 1 may be configured to include a plurality of section sensors 30 corresponding to a plurality of work sections.

[0020] In addition, the section sensors 30 (31, 32, ...) and the control server 40 can be connected to a communication network NW2, and the section sensors 30 (31, 32, ...) and the control server 40 perform various communications via the communication network NW2. The communication network NW2 is, for example, a sensor network installed as a dedicated network for the section sensors 30.

[0021] Returning to the explanation of Fig. 1, the control server 40 is a server device that controls the movement of multiple types of autonomous mobile bodies (10, 20) within a work area and the performance of predetermined tasks. The control server 40 is connected to a communication network NW1 and can be connected to the autonomous mobile bodies 10 and 20 via the communication network NW1. The control server 40 is also connected to a communication network NW2 and can be connected to the area sensor 31 and the area sensor 32 via the communication network NW2.

[0022] The control server 40 detects obstacles in the work area AR1 based on information detected by area sensors 30 (sensors) installed in the work area AR1 (working area) of the multiple types of autonomous moving bodies (10, 20). The obstacles here include people and equipment in the work area, other autonomous moving bodies (10, 20), etc.

[0023] When the control server 40 detects an obstacle, it transmits danger avoidance instruction information for avoiding the danger of the obstacle to the autonomous moving bodies (10, 20) in the work section AR1, thereby causing the autonomous moving bodies (10, 20) to avoid the danger. The detailed configuration of the control server 40 will be described later with reference to FIG. 3.

[0024] Next, a detailed configuration of the autonomous mobile object operation system 1 will be described with reference to FIG. FIG. 3 is a functional block diagram showing an example of an autonomous mobile object operation system 1 according to this embodiment. As shown in FIG. 3, the autonomous mobile object operation system 1 includes an autonomous mobile object 10, an autonomous mobile object 20, a control server 40, and a plurality of zone sensors 30 (31, 32, . . . ).

[0025] The autonomous moving body 10 includes a camera 11, a sensor unit 12, a NW (network) communication unit 13, a moving mechanism 14, a moving body control unit 15, and a moving body storage unit 16. The camera 11 (an example of a first detection unit) captures an image in front or diagonally in front of the autonomous moving body 10. The camera 11 has, for example, a plurality of imaging units, and can detect the size and distance of an object in front of the autonomous moving body 10.

[0026] The sensor unit 12 is, for example, a sensor such as a pyroelectric human sensor or a sonar. The sensor unit 12 detects, for example, an object such as a person approaching the autonomous moving body 10. The NW communication unit 13 is connected to the communication network NW1 by wireless communication such as a wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 13 performs various communications with the control server 40 via the communication network NW1.

[0027] The moving mechanism 14 is a driving mechanism such as wheels and a motor for autonomously moving the autonomous moving body 10. The moving mechanism 14 is controlled by a moving body control unit 15 described later, and is used when moving within a work area or when moving to perform a specified task.

[0028] The mobile body storage unit 16 stores various information used by the autonomous mobile body 10. The mobile body storage unit 16 stores, for example, map information including work sections and movement routes acquired from the control server 40, the contents of a predetermined work (work contents), and response processing information for obstacles that hinder the predetermined work.

[0029] The mobile object control unit 15 is, for example, a processor including a CPU (Central Processing Unit), and performs overall control of the autonomous mobile object 10. The mobile object control unit 15 controls, for example, various communications with the control server 40 via the NW communication unit 13, and controls the autonomous movement of the autonomous mobile object 10 and the execution of predetermined tasks based on information stored in the mobile object storage unit 16.

[0030] The mobile object control unit 15 controls the movement mechanism 14 based on, for example, map information and work content information stored in the mobile object storage unit 16 to autonomously move the autonomous mobile object 10 and execute a predetermined task. In addition, the mobile object control unit 15 detects an obstacle that hinders the predetermined task based on, for example, an image captured by the camera 11 and detection information detected by the sensor unit 12, and executes an avoidance process (hazard avoidance process) for the detected obstacle.

[0031] Furthermore, when the mobile object control unit 15 receives danger avoidance instruction information (described later) from the control server 40 via the NW communication unit 13, the mobile object control unit 15 executes a preset danger avoidance process in accordance with the danger avoidance instruction information. Specifically, the mobile object control unit 15 executes the following danger avoidance processes (1) to (3) that are pre-stored in the mobile object storage unit 16 in accordance with the danger avoidance instruction information. Note that the danger avoidance instruction information includes, for example, information such as the type, size, and position of a hazard (obstacle) in the work area detected by the control server 40 based on the detection data of the area sensor 30.

[0032] (1) The moving body control unit 15 executes a danger avoidance process (first danger avoidance process) based on an obstacle detected by itself (the autonomous moving body 10). In this case, the moving body control unit 15 executes an avoidance process for an obstacle detected by the camera 11 and the sensor unit 12 in response to danger avoidance instruction information. Here, the avoidance process is, for example, a process of stopping at that location and waiting for the obstacle to move, a process of moving along a different route avoiding the obstacle, a process of retreating while avoiding the obstacle, etc.

[0033] (2) The moving body control unit 15 corrects the received danger avoidance instruction information based on an obstacle detected by itself (the autonomous moving body 10), and executes a danger avoidance process (a second danger avoidance process) based on the corrected danger avoidance instruction information. In this case, the moving body control unit 15 corrects information such as the type, size, and position of a dangerous object (obstacle) included in the danger avoidance instruction information with the position information of the obstacle detected by the camera 11 and the sensor unit 12, and executes an avoidance process for the obstacle based on the accurate information. The avoidance process is the same as that described in (1) above.

[0034] (3) The moving object control unit 15 executes a danger avoidance process (third danger avoidance process) based on the received danger avoidance instruction information. In this case, the moving object control unit 15 executes an avoidance process for the obstacle based on information such as the type, size, and position of the dangerous object (obstacle) included in the danger avoidance instruction information. The avoidance process is the same as that of (1) described above.

[0035] The mobile object memory unit 16 may have one of the danger avoidance processes (1) to (3) described above stored therein in a fixed manner in advance, or may be changeable so as to set one of the danger avoidance processes (1) to (3) upon instruction from the control server 40. Furthermore, the moving object storage unit 16 may be set with different risk avoidance processes among the above-mentioned (1) to (3) depending on, for example, the type of obstacle or the type of target work area.

[0036] The autonomous moving body 20 includes a sensor unit 21, a NW communication unit 22, a moving mechanism 23, a moving body control unit 24, and a moving body storage unit 25. The sensor unit 21 is, for example, a sensor such as a pyroelectric human sensor or a sonar. The sensor unit 21 detects, for example, an object such as a person approaching the autonomous moving body 20.

[0037] The NW communication unit 22 is connected to the communication network NW1 by wireless communication such as a wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 13 performs various communications with the control server 40 via the communication network NW1.

[0038] The movement mechanism 23 is a drive mechanism such as wheels and a motor for autonomously moving the autonomous moving body 20. The movement mechanism 23 is controlled by a moving body control unit 24 described later, and is used when moving within a work area or when moving to perform a predetermined task.

[0039] The mobile body storage unit 25 stores various information used by the autonomous mobile body 20. The mobile body storage unit 25 stores, for example, map information including work areas and movement routes acquired from the control server 40, the contents of a predetermined work, and response processing information for obstacles that hinder the predetermined work.

[0040] The mobile object control unit 24 is, for example, a processor including a CPU, and performs overall control of the autonomous mobile object 20. The mobile object control unit 24 controls, for example, various communications with the control server 40 via the NW communication unit 22, and controls the autonomous movement of the autonomous mobile object 20 and the execution of predetermined tasks based on information stored in the mobile object storage unit 25.

[0041] The mobile object control unit 24 controls the movement mechanism 23 based on, for example, map information and work content information stored in the mobile object storage unit 25 to autonomously move the autonomous mobile object 20 and execute a predetermined task. Also, the mobile object control unit 24 detects an obstacle that hinders the predetermined task based on, for example, detection information detected by the sensor unit 21, and executes an avoidance process (hazard avoidance process) for the detected obstacle.

[0042] Furthermore, when the mobile object control unit 24 receives danger avoidance instruction information (described later) from the control server 40 via the NW communication unit 22, the mobile object control unit 24 executes a preset danger avoidance process in accordance with the danger avoidance instruction information. Specifically, the mobile object control unit 24 executes a danger avoidance process stored in advance in the mobile object storage unit 25 in accordance with the danger avoidance instruction information.

[0043] The danger avoidance processing stored in advance in the mobile unit storage unit 25 is the same as the danger avoidance processing such as (1) to (3) described above. The danger avoidance instruction information includes, for example, information such as the type, size, and position of a hazard (obstacle) in the work area detected by the control server 40 based on the detection data of the area sensor 30.

[0044] The control server 40 includes a NW communication unit 41, a sensor communication unit 42, a control control unit 43, and a server storage unit 44. The NW communication unit 41 is connected to the communication network NW1 by wireless communication such as wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 41 performs various communications with the autonomous mobile body 10 or the autonomous mobile body 20 via the communication network NW1.

[0045] The sensor communication unit 42 is connected to the communication network NW2 by wireless communication such as wireless LAN or low-power wide area wireless, and performs information communication via the communication network NW2. The sensor communication unit 42 performs various communications with the section sensors 30 (31, 32, ...) via the communication network NW2.

[0046] The server storage unit 44 stores various information used by the control server 40. The server storage unit 44 includes, for example, a work information storage unit 441 and a zone information storage unit 442. The work information storage unit 441 stores an operation plan file indicating an operation plan for the autonomous moving body 10 and the autonomous moving body 20. Here, the operation plan file includes, for example, a moving body identifier, a work section identifier, work content such as a start time and period (each day, day of the week, day of the month, date of the year, etc.), and information necessary for grasping the activity status of each of the autonomous moving body 10 and the autonomous moving body 20. In addition, the moving body identifier indicates an identifier for identifying the autonomous moving body 10 or the autonomous moving body 20, and the work section identifier indicates an identifier for identifying the work section.

[0047] The zone information storage unit 442 stores, for example, information indicating a work zone or a movement route, map information indicating the work zone. The map information stored in the zone information storage unit 442 is used when determining the work zone or the movement route of the autonomous moving body 10 and the autonomous moving body 20.

[0048] The control control unit 43 is, for example, a processor including a CPU, and performs overall control of the control server 40. The control control unit 43 acquires, for example, information (e.g., captured images) detected by the section sensors 30 (31, 32, ...) from each section sensor 30 (31, 32, ...) via the sensor communication unit 42, and detects obstacles (hazards) in each work section based on the acquired information.

[0049] The control unit 43, for example, acquires an operation plan file stored in the work information storage unit 441 and acquires map information stored in the section information storage unit 442. The control unit 43 determines a work section and a movement route corresponding to each autonomous moving body (10, 20) from the acquired operation plan file and map information. The control unit 43 acquires information (captured images) detected by the section sensors 30 (31, 32) corresponding to the determined work section and movement route.

[0050] The control unit 43 detects obstacles within the work area based on information (captured images) detected by a plurality of area sensors 30 (31, 32) installed at different locations within the work area, as shown in FIG. 2, for example.

[0051] Furthermore, for example, when the control control unit 43 detects an obstacle in a work area, the control control unit 43 transmits danger avoidance instruction information for avoiding the danger of the detected obstacle to the autonomous moving bodies (10, 20) in the work area, causing the autonomous moving bodies (10, 20) to avoid the danger. When the control control unit 43 detects an obstacle in a work area, the control control unit 43 transmits danger avoidance instruction information including information such as the type, size, and position of the detected obstacle to each of the autonomous moving bodies 10 and 20 present in the work area via the NW communication unit 41.

[0052] Next, the operation of the autonomous mobile object operation system 1 according to this embodiment will be described with reference to the drawings. FIG. 4 is a flowchart showing an example of the operation of the control server 40 in this embodiment.

[0053] 4, the control server 40 first acquires work information of the autonomous moving bodies (10, 20) (step S101). The control control unit 43 of the control server 40 acquires the work information of the autonomous moving bodies (10, 20) from the operation plan file stored in the work information storage unit 441.

[0054] Next, the control unit 43 identifies a work area or an area that will be a travel route from the work information (step S102). The control unit 43 further acquires map information from the area information storage unit 442, and identifies an area that will be a work area or a travel route (work area) as a target area from the acquired work information and map information.

[0055] Next, the control unit 43 acquires sensor information of the zone sensor 30 of the zone that is the work zone or the movement route (step S103). That is, the control unit 43 acquires sensor information (captured image) detected by the zone sensor 30 corresponding to the target zone via the sensor communication unit 42 and the communication network NW2.

[0056] Next, the control control unit 43 determines whether or not there is an obstacle in the work area (step S104). The control control unit 43 determines whether or not there is an obstacle in the work area (target area) by detecting an obstacle in the target area based on sensor information acquired from the area sensor 30. If there is an obstacle in the work area (step S104: YES), the control control unit 43 proceeds to step S105. If there is no obstacle in the work area (step S104: NO), the control control unit 43 proceeds to step S107.

[0057] In step S105, the control unit 43 transmits danger avoidance instruction information to the autonomous moving bodies (10, 20). The control unit 43 transmits danger avoidance instruction information including, for example, the type, size, and position of a detected obstacle to all of the autonomous moving bodies (10 and 20) present in the target section. Here, the control unit 43 transmits the danger avoidance instruction information to each of the autonomous moving bodies 10 and 20 via the NW communication unit 41 and the communication network NW1.

[0058] Next, the control control unit 43 waits for a predetermined period (step S106). That is, the control control unit 43 waits for a predetermined period during which each of the autonomous mobile bodies 10 and 20 that transmitted the danger avoidance instruction information can execute the danger avoidance process. After the process of step S106, the control control unit 43 returns the process to step S103.

[0059] Furthermore, in step S107, the control control unit 43 cancels the danger avoidance instruction for the autonomous moving bodies (10, 20). The control control unit 43 transmits a danger avoidance cancellation instruction to each of the autonomous moving bodies 10 and 20 via the communication network NW1 through the NW communication unit 41. After processing of step S107, the control control unit 43 returns the processing to step S101.

[0060] In the example shown in FIG. 4, in step S107, the control unit 43 executes the process of canceling the danger avoidance instruction for the autonomous moving body (10, 20) every time. However, the control unit 43 may execute the process of canceling the danger avoidance instruction only when the danger avoidance instruction information is transmitted.

[0061] Furthermore, in step S105, each of the autonomous moving bodies 10 and 20 to which the danger avoidance instruction information has been transmitted executes a predetermined danger avoidance process. For example, when the autonomous moving body 20 receives danger avoidance instruction information from the control server 40, the autonomous moving body 20 performs danger avoidance behavior, that is, temporarily suspends movement while maintaining a certain distance from the position of an obstacle included in the danger avoidance instruction information.

[0062] On the other hand, since the autonomous moving body 10 is capable of detecting obstacles by itself, in response to the danger avoidance instruction information, it executes, for example, any one of the danger avoidance processes (1) to (3) described above that is preset.

[0063] In this manner, in the autonomous mobile body operation system 1 according to this embodiment, the control server 40 can transmit danger avoidance instruction information without depending on the model of the autonomous mobile body (10, 20), thereby simplifying operation.

[0064] As described above, the autonomous mobile body operation system 1 according to the present embodiment includes a plurality of types of autonomous mobile bodies (10, 20) and a control server 40. The plurality of types of autonomous mobile bodies (10, 20) are mobile bodies that perform a predetermined task involving movement and have different methods of detecting obstacles that hinder the predetermined task. When the control server 40 detects an obstacle in a work section based on information (sensor information) detected by a section sensor 30 (sensor) installed in a work section (work area, for example, work section AR1 in FIG. 2) of the plurality of types of autonomous mobile bodies (10, 20), the control server 40 transmits danger avoidance instruction information to the autonomous mobile bodies (10, 20) in the work section to cause the autonomous mobile bodies (10, 20) to avoid the danger. Here, the danger avoidance instruction information is information for avoiding the danger of the obstacle.

[0065] As a result, in the autonomous mobile object operation system 1 according to this embodiment, when the control server 40 detects an obstacle in a work area, the same danger avoidance instruction information is transmitted to each of the autonomous mobile objects (10, 20) having different obstacle detection methods, to avoid the danger of the obstacle. Therefore, the autonomous mobile object operation system 1 according to this embodiment can perform the same operation for the autonomous mobile objects (10, 20) having different specifications and functions, for example.

[0066] That is, the autonomous mobile object operation system 1 according to the present embodiment can reduce the hassle of changing the operation method for each model. Furthermore, the autonomous mobile object operation system 1 according to the present embodiment can detect obstacles by combining information from the section sensor 30 installed in the work section, even for an autonomous mobile object 20 with low obstacle detection capability, and can perform appropriate obstacle avoidance operations, thereby expanding the operational range.

[0067] As a result, the autonomous mobile object operation system 1 according to the present embodiment does not increase the frequency of use of some types of autonomous mobile objects 10 with a wide operating range, and does not increase the maintenance work. Therefore, the autonomous mobile object operation system 1 according to the present embodiment can efficiently and appropriately operate the autonomous mobile objects (10, 20).

[0068] In this embodiment, the multiple types of autonomous moving bodies (10, 20) include an autonomous moving body 10 (first autonomous moving body) and an autonomous moving body 20 (second autonomous moving body). The autonomous moving body 10 includes a camera 11 (first detection unit) that detects an obstacle by a detection method (first detection method) using image capture. The autonomous moving body 20 includes a sensor unit 21 (second detection unit) that detects an obstacle by a detection method (second detection method) using a pyroelectric human sensor. Each of the autonomous moving bodies 10 and 20 executes a preset danger avoidance process in response to the danger avoidance instruction information.

[0069] As a result, in the autonomous mobile body operation system 1 according to this embodiment, each of the autonomous mobile body 10 and the autonomous mobile body 20 executes a preset danger avoidance process in response to the danger avoidance instruction information, so that the autonomous mobile body can appropriately respond to an obstacle detected by the control server 40 even if the obstacle detection method is different.

[0070] In this embodiment, each of the autonomous moving body 10 and the autonomous moving body 20 executes one of the above-mentioned danger avoidance processes (1) to (3) as a preset danger avoidance process in response to the danger avoidance instruction information. Here, the danger avoidance process (1) is a first danger avoidance process based on an obstacle detected by the autonomous moving body itself, and the danger avoidance process (2) is a second danger avoidance process based on the corrected danger avoidance instruction information by correcting the received danger avoidance instruction information based on the obstacle detected by the autonomous moving body itself. Also, the danger avoidance process (3) is a third danger avoidance process based on the received danger avoidance instruction information.

[0071] As a result, in the autonomous mobile body operation system 1 according to this embodiment, the autonomous mobile body 10 and the autonomous mobile body 20 can each appropriately avoid danger by the preset danger avoidance processing.

[0072] In this embodiment, the zone sensor 30 includes a plurality of zone sensors 30 (for example, zone sensor 31 and zone sensor 32 shown in FIG. 2) installed at different locations in the work zone. The control server 40 detects obstacles in the work zone based on information detected by the plurality of zone sensors 30 (31, 32) installed at different locations.

[0073] As a result, in the autonomous mobile object operation system 1 according to this embodiment, the multiple section sensors 30 can detect obstacles within the work section with even greater accuracy.

[0074] Moreover, the autonomous mobile body operation method according to this embodiment is an autonomous mobile body operation method for operating a plurality of types of autonomous mobile bodies (10, 20) that have different methods for detecting obstacles that hinder the above-mentioned predetermined work. In the autonomous mobile body operation method according to this embodiment, when the control server 40 detects an obstacle in a work area based on information detected by an area sensor 30 installed in the work area of ​​the plurality of types of autonomous mobile bodies (10, 20), the control server 40 transmits danger avoidance instruction information for avoiding the danger of the obstacle to the autonomous mobile bodies (10, 20) in the work area, and causes the autonomous mobile bodies (10, 20) to avoid the danger.

[0075] As a result, the autonomous mobile body operation method according to the present embodiment has the same effects as the autonomous mobile body operation system 1 described above, and can efficiently and appropriately operate the autonomous mobile bodies (10, 20).

[0076] [Second embodiment] Next, an autonomous mobile object operation system 1a according to a second embodiment will be described with reference to the drawings. The autonomous mobile object operation system 1a according to the second embodiment is a modified example corresponding to a case where an autonomous mobile object (10, 20) moves in a work area by an elevator.

[0077] FIG. 5 is a conceptual diagram showing an example of an autonomous mobile object operation system 1a according to the second embodiment. As shown in FIG. 5, the autonomous mobile object operation system 1a includes an elevator 50, and this embodiment is an application example in which autonomous mobile objects (10, 20) performing work in work sections on different floors (floors) are controlled.

[0078] The elevator 50 is a lift that allows the autonomous moving body (10, 20) or a person to move between work sections on different floors. The elevator 50 is, for example, an elevator for both people and baggage. Here, it is assumed that each floor that can be reached by the elevator 50 has an elevator hall. In this embodiment, the elevator hall is an example of a work area.

[0079] In the example shown in Figure 5, for example, in an elevator hall EH1, section sensor 31 and section sensor 32 are installed at different positions, and the position and size of objects (including people) present in the elevator hall EH1 can be detected using the viewing angles of both sections.

[0080] The configuration of the autonomous mobile object operation system 1a according to this embodiment is similar to that of the autonomous mobile object operation system 1 according to the first embodiment shown in Fig. 3, and therefore the description thereof will be omitted here. In the autonomous mobile object operation system 1a according to the first embodiment, the same components as those in the autonomous mobile object operation system 1 according to the first embodiment are given the same reference numerals, and the description thereof will be omitted. This embodiment differs from the first embodiment in that processing related to the elevator 50 is added to the processing of the control control unit 43 of the control server 40, and the processing related to the elevator 50 will be described here.

[0081] In this embodiment, as a process related to the elevator 50, when the autonomous moving body (10, 20) moves within a work section (within a work area) using the elevator 50, if the section sensor 30 (section sensor 31 and section sensor 32) installed in the elevator hall EH1 of the movement destination detects the occurrence of an obstacle, the control control unit 43 transmits danger avoidance instruction information to the autonomous moving body (10, 20) in question. In this case, before getting off the elevator 50, the control control unit 43 transmits danger avoidance instruction information related to the ascent and descent of the elevator 50 to the autonomous moving body (10, 20) using the elevator 50.

[0082] In addition, it is desirable for the control unit 43 to transmit danger avoidance instruction information to the autonomous moving body (10, 20) before the autonomous moving body (10, 20) boards the elevator 50 or before arriving at the destination floor, as the timing before getting off the elevator 50. The danger avoidance instruction information regarding the ascent and descent of the elevator 50 includes, for example, instruction information to stop the ascent and descent of the elevator 50.

[0083] Next, the operation of the autonomous mobile object operation system 1a according to this embodiment will be described with reference to the drawings. Here, the operation of the control server 40 regarding the movement of the autonomous mobile object operation system 1a according to this embodiment by the elevator 50 will be described with reference to Fig. 6. Note that the operation of the autonomous mobile object operation system 1a according to this embodiment regarding the normal work section is the same as that of the first embodiment described above, and therefore the description thereof will be omitted here.

[0084] 6 is a flowchart showing an example of the operation of the control server 40 regarding the movement of the autonomous moving bodies (10, 20) in the elevator 50 in this embodiment. Note that, here, a process will be described in which the autonomous moving bodies (10, 20) move from the elevator hall EH2 to the elevator hall EH1 in FIG.

[0085] As shown in FIG. 6, the control control unit 43 of the control server 40 first determines whether the autonomous moving bodies (10, 20) move by the elevator 50 (step S201). The control control unit 43 determines whether the autonomous moving bodies (10, 20) move by the elevator 50, for example, based on the work information in the operation plan file stored in the work information storage unit 441. If the autonomous moving bodies (10, 20) move by the elevator 50 (step S201: YES), the control control unit 43 advances the process to step S202. If the autonomous moving bodies (10, 20) do not move by the elevator 50 (step S201: NO), the control control unit 43 returns the process to step S201.

[0086] In step S202, the control unit 43 acquires sensor information of the section sensor 30 (31, 32) of the destination elevator hall EH1. The control unit 43 acquires sensor information (captured image) detected by the section sensor 30 corresponding to the elevator hall EH1 via the sensor communication unit 42 and the communication network NW2.

[0087] Next, the control control unit 43 determines whether or not there is an obstacle in the destination elevator hall EH1 (destination work area) (step S203). The control control unit 43 determines whether or not there is an obstacle in the elevator hall EH1 by detecting an obstacle in the elevator hall EH1 based on sensor information acquired from the section sensor 30. If there is an obstacle in the elevator hall EH1 (step S203: YES), the control control unit 43 proceeds to step S204. On the other hand, if there is no obstacle in the elevator hall EH1 (step S203: NO), the control control unit 43 proceeds to step S206.

[0088] In step S204, the control unit 43 transmits danger avoidance instruction information to the autonomous moving bodies (10, 20). The control unit 43 transmits danger avoidance instruction information including, for example, the type, size, and position of a detected obstacle to each of the autonomous moving bodies 10 and 20 moving to the elevator hall EH1. Here, the control unit 43 transmits the danger avoidance instruction information to each of the autonomous moving bodies 10 and 20 via the NW communication unit 41 and the communication network NW1.

[0089] Next, the control control unit 43 waits for a predetermined period (step S205). That is, the control control unit 43 waits for a predetermined period during which each of the autonomous mobile bodies 10 and 20 that transmitted the danger avoidance instruction information can execute the danger avoidance process. After the process of step S205, the control control unit 43 returns the process to step S202.

[0090] Furthermore, in step S206, the control control unit 43 cancels the danger avoidance instruction for the autonomous moving bodies (10, 20). The control control unit 43 transmits a danger avoidance cancellation instruction to each of the autonomous moving bodies 10 and 20 via the communication network NW1 through the NW communication unit 41. After processing of step S206, the control control unit 43 returns the processing to step S201.

[0091] In the processing of step S206, the control unit 43 executes processing to cancel the danger avoidance instruction for the autonomous moving body (10, 20) every time, but the control unit 43 may execute processing to cancel the danger avoidance instruction only when the danger avoidance instruction information has been transmitted.

[0092] As described above, in the autonomous mobile body operation system 1a according to the present embodiment, the autonomous mobile bodies (10, 20) can move through a work section using the elevator 50 (elevator). The section sensor 30 (e.g., the section sensor 31 and the section sensor 32) is installed to monitor an area (elevator hall EH1) that the autonomous mobile bodies pass through immediately after getting off the elevator 50 as a work section (work area). When the autonomous mobile bodies (10, 20) move through an elevator hall (EH1, EH2, etc.) using the elevator 50, if the section sensor 30 installed in the destination elevator hall EH1 detects the occurrence of an obstacle (e.g., an obstacle), the control server 40 transmits danger avoidance instruction information regarding the ascent and descent of the elevator 50 to the autonomous mobile bodies (10, 20) using the elevator 50 before getting off the elevator 50.

[0093] As a result, the autonomous mobile body operation system 1a according to this embodiment can improve safety while expanding the operating range of the autonomous mobile body (10, 20). That is, in the autonomous mobile body operation system 1a according to this embodiment, the obstacle detection function on the autonomous mobile body (10, 20) side is unable to detect an obstacle in the elevator hall until the autonomous mobile body (10, 20) arrives at the destination elevator hall on a different floor (floor), for example. In contrast, the autonomous mobile body operation system 1a according to this embodiment can detect an obstacle in the destination elevator hall using the section sensor 30 before the autonomous mobile body (10, 20) arrives at the destination elevator hall, and therefore can improve safety while expanding the operating range of the autonomous mobile body (10, 20).

[0094] In this embodiment, the danger avoidance instruction information regarding the ascent and descent of the elevator 50 includes instruction information to stop the ascent and descent of the elevator 50. As a result, in the autonomous mobile body operation system 1a according to this embodiment, if there is an obstacle in the elevator hall at the destination, the autonomous mobile body (10, 20) stops ascending or descending the elevator 50, thereby more reliably avoiding the danger of obstacles in the elevator hall.

[0095] The present disclosure is not limited to the above-described embodiments, and can be modified without departing from the spirit and scope of the present disclosure. For example, in each of the above embodiments, the control server 40 is connected to two communication networks, the communication network NW1 and the communication network NW2, but this is not limited to this. The communication network NW1 and the communication network NW2 may be configured as, for example, a single communication network. That is, in each of the above embodiments, the communication network NW2 is installed as a dedicated network for the section sensor 30, but this is not limited to this, and the communication network NW2 may be shared with the communication network NW1.

[0096] In addition, in each of the above embodiments, the area sensor 30 has been described as a camera (such as a surveillance camera) capable of capturing moving images, but this is not limited to this, and the area sensor 30 may be configured, for example, by arranging sensors such as pyroelectric motion sensors or sonar in an array.

[0097] In each of the above embodiments, the control server 40 includes the server storage unit 44 having the work information storage unit 441 and the section information storage unit 442, but the present invention is not limited to this. The control server 40 may include a part or all of the server storage unit 44 in an external file server or the like. In addition, if the work information stored in the work information storage unit 441 includes map information of the work section and the movement route, the autonomous mobile object operation system 1 (1a) may be in a form that does not include the section information storage unit 442.

[0098] In addition, in each of the above embodiments, the control server 40 is configured as one server device. However, the present invention is not limited to this, and the control server 40 may be configured as a plurality of server devices.

[0099] In addition, in each of the above embodiments, as an example of different types of autonomous moving bodies, the autonomous moving body operation system 1 (1a) is described as including an autonomous moving body 10 including a camera 11 and a sensor unit 12, and an autonomous moving body 20 including a sensor unit 21, but is not limited thereto. The different types of autonomous moving bodies may be autonomous moving bodies that detect obstacles by other detection methods.

[0100] Further, in the above second embodiment, the elevator 50 is used as an example of the elevator, but the present invention is not limited to this, and other elevators such as an escalator may be used.

[0101] Each component of the autonomous mobile operation system 1 (1a) described above has a computer system inside. A program for realizing the function of each component of the autonomous mobile operation system 1 (1a) described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing in each component of the autonomous mobile operation system 1 (1a) described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing a program into a computer system. The "computer system" referred to here includes hardware such as an OS and peripheral devices.

[0102] Furthermore, a "computer system" may include multiple computer devices connected via a network including the Internet, WAN, LAN, dedicated lines, and other communication lines. Furthermore, a "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. In this way, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.

[0103] The recording medium also includes a recording medium installed inside or outside and accessible from a distribution server to distribute the program. The program may be divided into a plurality of parts, downloaded at different times, and then combined by each component of the autonomous mobile operation system 1 (1a), or each divided program may be distributed by a different distribution server. Furthermore, the "computer-readable recording medium" includes a recording medium that holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network. The above program may also be a recording medium for realizing part of the above-mentioned functions. Furthermore, the recording medium may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system. [Explanation of symbols]

[0104] 1,1a...autonomous mobile object operation system, 10,20...autonomous mobile object, 11...camera, 12,21...sensor unit, 13,22,41...network communication unit, 14,23...mobile mechanism, 15,24...mobile object control unit, 16,25...mobile object memory unit, 31,32...zone sensor, 40...control server, 42...sensor communication unit, 43...control control unit, 44...server memory unit, 50...elevator, 441...work information memory unit, 442...zone information memory unit, NW1,NW2...communication network

Claims

1. A plurality of types of autonomous moving bodies performing a predetermined task involving movement, the plurality of types of autonomous moving bodies having different methods for detecting an obstacle that hinders the predetermined task; a control server that, when detecting an obstacle within a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, transmits danger avoidance instruction information for causing the autonomous moving bodies within the working area to avoid danger from the obstacle, thereby causing the autonomous moving bodies to avoid the danger; Equipped with Each of the plurality of types of autonomous moving bodies executes, in response to the danger avoidance instruction information, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process that corrects the received danger avoidance instruction information based on the obstacle detected by itself and is based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, as a preset danger avoidance process. Autonomous mobile operation system.

2. the plurality of types of autonomous moving bodies include a first autonomous moving body having a first detection unit that detects the obstacle by a first detection method, and a second autonomous moving body having a second detection unit that detects the obstacle by a second detection method different from the first detection method; Each of the first autonomous moving body and the second autonomous moving body executes a preset danger avoidance process in response to the danger avoidance instruction information. The autonomous mobile operating system according to claim 1 .

3. the sensor includes a plurality of sensors positioned at different locations in the work area; The control server detects an obstacle within the work area based on information detected by the plurality of sensors installed at different locations.

3. The autonomous mobile operation system according to claim 1 or 2.

4. A plurality of types of autonomous moving bodies performing a predetermined task involving movement, the plurality of types of autonomous moving bodies having different methods for detecting an obstacle that hinders the predetermined task; a control server that, when detecting an obstacle within a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, transmits danger avoidance instruction information for causing the autonomous moving bodies within the working area to avoid danger from the obstacle, thereby causing the autonomous moving bodies to avoid the danger; Equipped with each of the plurality of types of autonomous moving bodies is capable of moving within the working area using an elevator; The sensor is installed to monitor an area through which the person passes immediately after getting off the elevator as the working area, When the autonomous mobile body moves through the work area using the elevator, if the sensor installed in the work area of ​​the destination detects the occurrence of the obstacle, the control server transmits the danger avoidance instruction information regarding the ascent and descent of the elevator to the autonomous mobile body using the elevator before the autonomous mobile body gets off the elevator. Autonomous mobile operation system.

5. The danger avoidance instruction information regarding the ascent and descent of the elevator includes instruction information to stop the ascent and descent of the elevator. The autonomous mobile operating system according to claim 4 .

6. An autonomous mobile object operation method for operating a plurality of types of autonomous mobile objects that perform a predetermined task involving movement, the plurality of types of autonomous mobile objects having different detection methods for detecting an obstacle that hinders the predetermined task, when a control server detects an obstacle in a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, the control server transmits danger avoidance instruction information to the autonomous moving body in the working area to avoid a danger from the obstacle, thereby causing the autonomous moving body to avoid the danger; Each of the plurality of types of autonomous moving bodies executes, in response to the danger avoidance instruction information, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process that corrects the received danger avoidance instruction information based on the obstacle detected by itself and is based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, as a preset danger avoidance process. Autonomous mobile operation method.

7. An autonomous mobile object operation method for operating a plurality of types of autonomous mobile objects that perform a predetermined task involving movement, the plurality of types of autonomous mobile objects having different methods for detecting an obstacle that hinders the predetermined task, comprising: when a control server detects an obstacle in a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, the control server transmits danger avoidance instruction information to the autonomous moving body in the working area to avoid a danger from the obstacle, thereby causing the autonomous moving body to avoid the danger; each of the plurality of types of autonomous moving bodies is capable of moving within the working area using an elevator; The sensor is installed to monitor an area through which the person passes immediately after getting off the elevator as the working area, When the autonomous mobile body moves through the work area using the elevator, if the sensor installed in the work area of ​​the destination detects the occurrence of the obstacle, the control server transmits the danger avoidance instruction information regarding the ascent and descent of the elevator to the autonomous mobile body using the elevator before the autonomous mobile body gets off the elevator. Autonomous mobile operation method.

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