Management device, mobile robot, program, and method for searching for a route taking into account driving sounds and environmental sounds

Abstract

To provide a management device capable of moving a movable robot, while suppressing travel sound from causing people discomfort as much as possible.SOLUTION: A management device for searching for a movement path where a movable robot travels, comprises: travel sound index storage means for storing a travel sound index of the movable robot, for each path section; environmental sound index storage means for storing an environmental sound index for the path section, for each path section; path section selecting means for selecting a path section where a difference index between the travel sound index and the environmental sound index is a first prescribed threshold or less; and movement path searching means for searching for a movement path for connecting the selected path sections. The difference index indicates a discomfort index for people in the surroundings of the path sections. The environmental sound index storage means stores the environmental sound index in each time zone, and the path section selecting means selects the path section for the same time zone.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a technique for searching for a moving path of a moving object, which is assumed to be a self-propelled mobile robot. [Background technology]

[0002] In recent years, there has been an increasing demand for mobile robots that can travel around residential areas such as houses and apartment buildings. Mobile robots can travel day and night, improving the convenience of delivery services for users.

[0003] Conventionally, there is a technology for a control device that balances the work efficiency of a robot's tasks with noise reduction (see, for example, Patent Document 1). According to this technology, the control device controls a robot moving within a facility to travel at or below its maximum operating speed based on detection information of users present in a specified area.

[0004] There is also a technology for a control device that prevents unpleasant operating sounds (such as motor sounds and gear meshing sounds) from being made by a device whose driven part is driven by a driving part (see, for example, Patent Document 2). According to this technology, the control device controls the driving part so that the volume of the operating sound is suppressed according to the volume of the environmental sounds around the device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2022-102061 [Patent Document 2] JP 2019-166272 A [Non-patent literature]

[0006] [Non-Patent Document 1] "Relationship between pleasantness / unpleasantness ratings of environmental sounds and sound pressure," [online], [Retrieved March 21, 2023], Internet <URL:https: / / www.jstage.jst.go.jp / article / jasj / 49 / 4 / 49_KJ00001456635 / _article / -char / ja / > Summary of the Invention [Problem to be solved by the invention]

[0007] When a mobile robot moves around an area where people live, the noise it makes while moving can be unpleasant for people. Roads have many steps and unevenness, and when a mobile robot overcomes these, it generates impact noise. Particularly in residential areas, there are many threshold blocks, such as drains (covers for electric wires and air conditioning hoses). Also, the heavier the mobile robot, including its loaded cargo, the louder the impact noise becomes. Furthermore, the driving noise of the mobile robot overlaps with the driving noise of the mobile robot itself. The noise made by such mobile robots while moving is not only unpleasant for people during late night hours, but could also be the cause of trouble for residents. On the other hand, as a mobile robot, it is difficult to suppress impact noises caused by uneven road surfaces or passageways, as well as the noise made by the robot's own movement.

[0008] Therefore, an object of the present invention is to provide a management device, a mobile robot, a program, and a method that can move a mobile robot while making the running noise as little unpleasant as possible to people. [Means for solving the problem]

[0009] According to the present invention, there is provided a management device for searching a route along which a mobile robot travels, comprising: a running sound index storage means for storing a running sound index of the mobile robot for each route section; an environmental sound index storage means for storing, for each route section, an environmental sound index for that route section; a route section selection means for selecting a route section in which a difference index between a driving sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; a travel route search means for searching for a travel route connecting the selected route sections; The present invention is characterized by having the following.

[0010] According to another embodiment of the management device of the present invention, The difference index in the route section selection means is set as the discomfort index for people around the route section. It is also preferable.

[0011] According to another embodiment of the management device of the present invention, The environmental sound index storage means stores the environmental sound index of the route section in each time period, The route section selection means selects a route section in which a difference index between a driving sound index and an environmental sound index is equal to or smaller than a first predetermined threshold value for the time period. It is also preferable.

[0012] According to another embodiment of the management device of the present invention, A presence density storage means for storing the presence density of surrounding people in each time period for each route section. Furthermore, The route section selection means selects a route section such that a value obtained by subtracting a smaller index as the presence density is higher and a larger index as the presence density is lower from the discomfort index is equal to or less than a second predetermined threshold value. It is also preferable.

[0013] According to another embodiment of the management device of the present invention, The traveling sound index storage means stores a traveling sound index for each route section for each weight category of the mobile robot, The route section selection means uses a traveling sound index according to the weight category of the mobile robot. It is also preferable.

[0014] According to another embodiment of the management device of the present invention, a moving speed control means for controlling the moving speed of the mobile robot to be reduced under a predetermined condition when the moving route search means cannot connect the route sections and cannot search for a moving route because the route section selection means cannot select a route section whose difference index is equal to or less than the first predetermined threshold value; It is also preferable to have

[0015] According to another embodiment of the management device of the present invention, The moving route search means registers a desired arrival time from a starting point to a destination point of the moving robot to be traveled, Among the multiple travel routes searched by the travel route search means, narrow down to a travel route that allows arrival within the desired arrival time. It is also preferable.

[0016] According to another embodiment of the management device of the present invention, The running sound index storage means stores a high frequency running sound index and a low frequency running sound index, The environmental sound index storage means stores a high-frequency environmental sound index and a low-frequency environmental sound index, The route section selection means A first difference value between the high frequency running sound index and the high frequency environmental sound index; A second difference value between the high frequency running sound index and the low frequency environmental sound index; A third difference value between the low-frequency driving sound index and the high-frequency environmental sound index; A fourth difference value between the low-frequency driving sound index and the low-frequency environmental sound index; The largest difference value among them is the difference index. It is also preferable.

[0017] According to another embodiment of the management device of the present invention, The mobile robot is equipped with a microphone. The running sound index of the running sound index storage means is an index of a running sound picked up by a microphone of a mobile robot that has previously traveled along a route section, The equipment installed along the route is equipped with microphones. The environmental sound index in the environmental sound index storage means is an index of the environmental sound picked up by the microphone of the equipment in the route section. It is also preferable.

[0018] According to another embodiment of the management device of the present invention, The running sound index is an index of running sounds including the driving sound of the mobile robot itself and the impact sound generated when the mobile robot runs on a road surface, The road noise index and the environmental noise index are average values ​​expressed in decibels. It is also preferable.

[0019] According to the present invention, there is provided a mobile robot, comprising: A microphone for acquiring a running sound index; An environmental sound index acquisition means for acquiring an environmental sound index; a moving speed control means for controlling the moving speed so as to decrease the moving speed under a predetermined condition when a difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; The present invention is characterized by having the following.

[0020] According to the present invention, there is provided a program for causing a computer to function to search for a travel route for a mobile robot, the program comprising: a running sound index storage means for storing a running sound index of the mobile robot for each route section; an environmental sound index storage means for storing, for each route section, an environmental sound index for that route section; a route section selection means for selecting a route section in which a difference index between a driving sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; a travel route search means for searching for a travel route connecting the selected route sections; The present invention is characterized in that it causes a computer to function.

[0021] According to the present invention, there is provided a program for causing a computer mounted on a mobile robot to function, the program comprising: A microphone for acquiring a running sound index; An environmental sound index acquisition means for acquiring an environmental sound index; a moving speed control means for controlling the moving speed so as to decrease the moving speed under a predetermined condition when a difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; The present invention is characterized in that it causes a computer to function.

[0022] According to the present invention, there is provided a method for searching a route for a mobile robot, comprising the steps of: The device is a running sound index storage unit that stores a running sound index of the mobile robot for each route section; an environmental sound index storage unit that stores, for each route section, an environmental sound index for that route section; having A first step of selecting a route section in which a difference index between a driving sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; A second step of searching for a travel route connecting the selected route segments; The present invention is characterized by carrying out the following steps.

[0023] According to the present invention, there is provided a method for controlling a moving speed of a mobile robot, comprising the steps of: The mobile robot A first step of acquiring a driving sound index using a microphone and acquiring an environmental sound index for a route section during driving; a second step of controlling the moving speed to be reduced under a predetermined condition when the difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; The present invention is characterized by carrying out the following steps. Effect of the Invention

[0024] According to the management device, mobile robot, program, and method of the present invention, the mobile robot can be moved so that the running noise is as little unpleasant as possible to people. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a system configuration diagram according to the present invention. [Diagram 2] FIG. 2 is a functional configuration diagram of a management device according to the present invention. [Diagram 3] FIG. 2 is an explanatory diagram of each storage unit of the management device according to the present invention. [Figure 4] 4 is an example of a difference index in the present invention. [Diagram 5] 10 is a flowchart of a travel route searching unit of the management device in the present invention. [Figure 6] 4 is an example of a travel route searched by the present invention. [Figure 7] FIG. 2 is a functional configuration diagram of a mobile robot according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0027] FIG. 1 is a diagram showing a system configuration according to the present invention.

[0028] According to the system of FIG. 1, a management device 1, a mobile robot 2, a SmartPole 3, a mobile terminal 4, and a user terminal 5 communicate with each other via a network.

[0029] <Management device 1> The management device 1 receives a movement request for the mobile robot 2 from the user terminal 5, and searches for a movement route for the mobile robot 2. At this time, the movement route is searched for so as to pass through route sections where the traveling sound is as little unpleasant to people as possible. The searched movement route is instructed to the mobile robot 2. In addition, the management device 1 receives the “running sound (or running sound index)” from the mobile robot 2, and also receives the “environmental sound (or environmental sound index)” from the smart pole 3. Furthermore, the management device 1 can receive location information from the mobile terminal 4 via the network and collect the number of times the mobile terminal 4 stays in each route section.

[0030] <Mobile Robot 2> The mobile robot 2 is a mobile body capable of autonomous travel (smart mobility). The mobile robot 2 travels along a travel route instructed by the management device 1. In the case of a delivery service, the mobile robot 2 travels to a destination to provide a product or service to a user. The moving route may be an outdoor general road or pedestrian road, or an indoor passage. The mobile robot 2 of the present invention is suitable for moving in a residential area such as around a house or an apartment building. The mobile robot 2 can move while making the moving noise as little as possible to annoy people.

[0031] <Smart Pole 3> The smart poles 3 are facilities arranged along route sections such as general roads, pedestrian streets, and passageways. A "smart pole" is a utility pole, such as a street light, that is a multi-function pole equipped with public wireless equipment, various sensors, security cameras, signage, etc. The smart pole 3 is further equipped with a microphone, and is capable of picking up environmental sounds (or environmental sound indices). The environmental sounds (or environmental sound indices) are transmitted to the management device 1.

[0032] <Mobile device 4> The mobile terminals 4 are held by an unspecified number of people located around the route. For example, they are smartphones that people carry when they go out, and have no relation to the services of the mobile robot 2. The mobile terminals 4 are preferably intended for all subscribers who have a contract with a specific communication carrier and have agreed to obtain location information.

[0033] <User terminal 5> The user terminal 5 is a terminal operated by a user of the mobile robot 2. For example, it may be a smartphone or a tablet terminal. The user terminal 5 allows the user to operate the terminal 5 to order goods and services in the delivery service. At this time, the user also inputs the destination of the mobile robot 2 carrying the goods and service equipment. This information is transmitted to the management device 1 as a movement request for the mobile robot 2.

[0034] FIG. 2 is a functional configuration diagram of the management device in the present invention.

[0035] The management device 1 is a server that searches for a movement route of the mobile robot 2, and may exist on a cloud, for example. The management device 1 monitors the operation of the mobile robot 2 using various information and controls the movement route (navigation). Of course, the management device 1 may be configured as a single general-purpose computer device, as a dedicated hardware device, as a distributed computer, or as a website.

[0036] 2, the management device 1 includes a map information storage unit 100, a running sound index storage unit 101, an environmental sound index storage unit 102, and a presence density storage unit 103.

[0037] [Map information storage unit 100] The map information storage unit 100 stores map information of areas where a mobile robot can travel. The map information stores routes on the map divided into "route sections" with intersections and the like as nodes.

[0038] FIG. 3 is an explanatory diagram of each storage unit of the management device in the present invention.

[0039] [Running sound index storage unit 101] The running sound index storage unit 101 stores the "running sound index" of the mobile robot 2 for each route section. The running sound index is an index of running sounds including impact sounds generated when the mobile robot 2 overcomes steps or the like on the road surface and driving sounds of the mobile robot 2 itself. The running sound index is expressed in decibels (dB or dBA), for example.

[0040] The running sound index is based on the running sound picked up by the microphone of the mobile robot 2 that has traveled the route section in the past. For example, it may be a statistical value of a plurality of running sound indexes picked up in the past. The statistical value may be a maximum value, an average value, a median value, or the like.

[0041] 3, the running sound index storage unit 101 may store a running sound index for each route section for each weight category of the mobile robot 2. The heavier the weight of the mobile robot 2 including the loaded luggage, the louder the impact sound when traveling and the higher the running sound index.

[0042] It is also preferable that the running sound index storage unit 101 stores the running sound index for each route section for each type of mobile robot 2. This is because the driving sound of the driving unit of the mobile robot 2 itself differs depending on the type of the mobile robot 2.

[0043] [Environmental sound index storage unit 102] The environmental sound index storage unit 102 stores, for each route section, the "environmental sound index" of that route section. The environmental sound index is also expressed in units of decibels (dB or dBA), for example.

[0044] The environmental sound index may be based on environmental sounds picked up by microphones of smart poles 3 installed in the route section. For example, it may be a statistical value of a plurality of environmental sound indexes picked up in the past. The statistical value may be a maximum value, an average value, a median value, or the like. The environmental sound index may also be obtained by collecting only environmental sounds after the mobile robot 2 equipped with a microphone moves to the route section and stops there.

[0045] The environmental sound index storage unit 102 may store the environmental sound index of the route section in each time period. This is because in residential areas such as houses and apartment buildings, the environmental sound varies considerably depending on the time period, especially between day and night.

[0046] [Resident Density Storage Unit 103] The visitor density storage unit 103 stores, for each route section, the visitor density (population density) of people in the vicinity in each time period. The visitor density storage unit 103 estimates the visitor density around the route section for each time period from the history of the location information of a large number of mobile terminals 4.

[0047] The population density storage unit 103 may perform map matching by comparing the position information of many mobile terminals 4 with the map information stored in the map information storage unit 100. This makes it possible to estimate the population density for each route section from the number of mobile terminals 4 located in the vicinity of the section. Map matching is also used in car navigation systems, and is a process of correcting the position information and map information to, for example, be on the route section.

[0048] It is also preferable that the population density storage unit 103 estimates the population density separately for each month, day of the week, time period, etc. This is because the population density varies greatly depending on the time period, etc., even in the same area. The population density storage unit 103 may be, for example, a demographic information site provided by a communications carrier. Demographic statistics are disclosed, for example, hourly, using a mobile phone network.

[0049] Furthermore, the population density storage unit 103 may estimate the population density by an embodiment other than the portable terminal 4. For example, the population density may be estimated by recognizing images of people from images captured by the mobile robot 2.

[0050] 2, the management device 1 has a route section selection unit 11, a movement route search unit 12, a movement speed control unit 13, and a movement route distribution unit 14. These functional components are realized by executing a program that causes a computer installed in the management device to function. The process flow of these functional components can also be understood as a movement route search method for a mobile robot.

[0051] [Route section selection unit 11] The route section selection unit 11 selects a route section where the "difference index" between the driving sound index and the environmental sound index is equal to or less than a first predetermined threshold. This difference index means the "discomfort index" for people around the route section. Difference index (discomfort index) = driving noise index - environmental noise index Only those path segments for which the difference index>a first predetermined threshold are selected. This makes it possible, when searching for a movement route for the mobile robot 2, to avoid selecting a route section that results in a discomfort index equal to or greater than the first predetermined threshold. We believe that whether people find a road noise unpleasant or not is a matter of comparison with the environmental noise. In other words, we believe that in route sections where the environmental noise is loud, people rarely find the road noise unpleasant, even if it is loud. On the other hand, in route sections where the environmental noise is quiet, people often find the road noise unpleasant, even if it is the same.

[0052] Here, when the environmental sound index memory unit 102 stores the environmental sound index for each route section in each time period, the route section selection unit 11 can also select a route section for which the difference index between the driving sound index and the environmental sound index for that "time period" is equal to or less than a first predetermined threshold value.

[0053] In addition, when the running sound index memory unit 101 stores a running sound index according to the weight classification of the mobile robot, the route section selection unit 11 selects a route section in which the difference index between the running sound index according to "gravity" and the environmental sound index is less than or equal to a first predetermined threshold value.

[0054] In another embodiment, the route section selection unit 11 may select a route section such that the higher the presence density is, the smaller the index, and the lower the presence density is, the larger the index is, and the value obtained by subtracting this from the discomfort index is equal to or less than a second predetermined threshold. Difference index (discomfort index) = Running sound index - Environmental sound index - (α / area density) α: coefficient This assumes that the lower the density of people around the route section (the fewer the people), the more the vehicle noise will be tolerated, even if it is a little louder. On the other hand, the higher the density of people around the route section (the more the people), the less the vehicle noise will be tolerated.

[0055] FIG. 4 is an example of the difference index in the present invention.

[0056] In the above-described embodiment, a route section is selected using the difference index between the running sound index and the environmental sound index as a human discomfort index. In contrast, whether or not a person finds a certain frequency component of a sound unpleasant varies from person to person depending on attributes such as age and sex. For example, younger people tend to be more sensitive to high frequency sounds, while older people tend to find low frequency sounds unpleasant. For this reason, a difference value of the index is derived from a combination of the high and low frequency bands of the running sound and the environmental sound and their respective sound indices. The largest difference value is then taken as the difference index, which is the discomfort index for a person. In this way, a discomfort index that is not dependent on a person's attributes is derived.

[0057] The running sound index storage unit 101 stores a high frequency running sound index and a low frequency running sound index. The environmental sound index storage unit 102 also stores high frequency environmental sound indices and low frequency environmental sound indices. The high frequency band and the low frequency band are set to any frequency band that is expected to cause discomfort to people (see, for example, Non-Patent Document 1). In everyday life, frequencies that people perceive as noise are important in the range of 300 Hz to 3 KHz. Then, the route section selection unit 11 calculates the following four difference values. First difference value = High frequency driving noise index - High frequency environmental noise index Second difference value = High frequency road noise index - Low frequency environmental noise index Third difference value = Low frequency road noise index - High frequency environmental noise index 4th difference value = Low-frequency road noise index - Low-frequency environmental noise index Among these, the largest difference value is set as the difference index. Note that, for the second difference value and the third difference value, the difference may be calculated by adding a weight to either the high frequency band or the low frequency band.

[0058] [Route Search Unit 12] The movement route search unit 12 searches for a movement route connecting the selected route sections, thereby making it possible to move the mobile robot along a movement route that minimizes the discomfort caused to people by the traveling noise. The movement path searching unit 12 may search for a movement path from a starting point to a destination point of the mobile robot 2 using, for example, the Dijkstra algorithm. Of course, it may also search for a movement path using other algorithms such as the A* algorithm. Specifically, the travel route searching unit 12 sequentially connects, from the departure point to the destination, one or more route sections in which the discomfort index is equal to or less than the first predetermined threshold.

[0059] It is also preferable that the travel path searching unit 12 sets a travel time for each route section according to the travel speed of the mobile robot 2. Since the travel speed differs depending on the type of mobile robot 2, the travel time for each route section also differs. In this case, even if the travel speed of the mobile robot 2 is the same, the travel time may differ depending on the ease of travel on the road surface in the route section. In addition, the travel time for each route section varies depending on the weight of the load carried by the mobile robot 2. Then, for each travel route, the available travel time for each of the multiple route sections is added up. Among the multiple travel routes connecting the multiple route sections, the travel route that has the shortest total available travel time is determined.

[0060] The travel route searching unit 12 may also register a desired arrival time from the starting point to the destination point of the mobile robot 2. The travel route searching unit 12 narrows down the searched travel routes to those that can arrive within the desired arrival time.

[0061] Furthermore, the movement route searching unit 12 may be unable to connect route sections and search for a movement route because the route section selecting unit 11 is unable to select a route section whose difference index is equal to or less than the first predetermined threshold. In this case, the movement path search unit 12 instructs the movement speed control unit 13 to control the movement speed of the mobile robot 2.

[0062] [Movement speed control unit 13] The moving speed control unit 13, in response to an instruction from the moving path searching unit 12, controls the moving speed of the mobile robot 2 so as to decrease it under a predetermined condition.

[0063] FIG. 5 is a flowchart of the movement route searching unit of the management device in the present invention.

[0064] The route section selection unit 11 calculates a discomfort index (difference index) for each route section. Then, the travel route searching unit 12 of the management device 1 executes the following process. (S121) It is determined whether or not a travel route can be established from the route section where the discomfort index is equal to or less than the first predetermined threshold to the destination of the mobile robot 2. (S122) If S121 returns false (NO), the moving speed of the moving robot 2 is reduced in the route section where the discomfort index is higher than the first predetermined threshold. To this end, the moving route searching unit 12 instructs the moving speed control unit 13. This makes it possible to reduce the impact noise generated when the moving robot 2 overcomes steps or unevenness in the road surface. (S123) Next, it is determined whether the mobile robot 2 can arrive within the desired arrival time. If it is determined to be true (YES), that travel route is decided and instructed to the travel route distribution unit 14. On the other hand, if it is determined to be false (NO), it is determined that there is no route. This is because if the mobile robot 2 travels along any route section while generating unpleasant noise, it will be a nuisance to people in the residential area.

[0065] FIG. 6 shows an example of a travel route searched by the present invention.

[0066] FIG. 6(a) shows the travel route with the shortest distance. First Predetermined Threshold: 12dB Route section AC: Running noise index 52dB Environmental sound index 30dB Discomfort index=52dB-30dB=22dB Route section CF: Running noise index 42dB Environmental sound index 31dB Discomfort index=42dB-31dB=11dB Here, the route section selection unit 11 does not select route section AC as a route section because the discomfort index is 22 dB, which is greater than the first predetermined threshold value of 12 dB.

[0067] FIG. 6(b) shows the travel route with the shortest distance. Route section AB: Running noise index 43dB Environmental sound index 35dB Discomfort index=43dB-35dB=8dB Route section BC: Running noise index 38dB Environmental sound index 30dB Discomfort index=38dB-30dB=8dB Here, the route section selection unit 11 can select the route sections AB and BC as route sections because the discomfort indexes for these sections are smaller than the first predetermined threshold.

[0068] This results in the following selection of the travel route: Movement route AF: Route sections AB, BC, CF

[0069] [Route Distribution Section 14] The movement route distribution unit 14 transmits the movement route searched for by the movement route search unit 12 to the mobile robot 2.

[0070] FIG. 7 is a functional configuration diagram of a mobile robot according to the present invention.

[0071] 7, the mobile robot 2 includes a wireless communication unit 20, a microphone 21, an environmental sound index acquisition unit 22, and a moving speed control unit .

[0072] The wireless communication unit 20 is a wireless communication module for wirelessly communicating with base stations and access points, and communicates with the management device 1 via a Radio Access Network (RAN) or the Internet. The microphone 21 picks up the running sound of the mobile robot 2 while it is running. A running sound index is obtained from the running sound. The running sound index is output to the moving speed control unit 23. In addition, the running sound index can be transmitted to the management device 1 and can become an element of the running sound index stored in the running sound index storage unit 101. The environmental sound index acquisition unit 22 acquires the environmental sound index for the route section during travel via the wireless communication unit 20. The environmental sound may be collected by equipment (e.g., a smart pole) installed in the route section. When the difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold, the moving speed control unit 23 controls the moving speed so as to decrease it under predetermined conditions.

[0073] If the mobile robot 2 is outdoors, it may be one that measures its position using, for example, a Global Positioning System (GPS). If it is indoors, it may be one that measures its absolute position using, for example, an Indoor Messaging System (IMES). By measuring the current position, the route section on which the robot is currently traveling can be identified by map matching.

[0074] As described above in detail, according to the management device, mobile robot, program and method of the present invention, it is possible to move a mobile robot so that the running noise is as little unpleasant to people as possible.

[0075] Furthermore, this will make it possible, for example, to "move mobile robots around in a way that minimizes the noise they make while causing discomfort to people," which will contribute to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs) which is to "build resilient infrastructure, promote sustainable industrialization and foster innovation."

[0076] Regarding the various embodiments of the present invention described above, various changes, modifications, and omissions within the scope of the technical idea and perspective of the present invention can be easily made by those skilled in the art. The above description is merely an example and is not intended to be restrictive in any way. The present invention is limited only by the scope of the claims and their equivalents. [Explanation of symbols]

[0077] 1 Management device 100 Map information storage unit 101 Running sound index memory unit 102 Environmental sound index storage unit 103 Area Density Memory Unit 11 Route section selection section 12 Travel route search section 13. Movement speed control section 14. Travel Route Distribution Department 2. Mobile robot 20 Wireless Communication Department 21. Mike 22 Environmental sound index acquisition section 23 Movement speed control section 3. Smart Pole 4. Mobile devices 5. User terminal

Claims

1. A management device that searches for a route along which a mobile robot travels, a running sound index storage means for storing a running sound index of the mobile robot for each route section; an environmental sound index storage means for storing, for each route section, an environmental sound index for that route section; a route section selection means for selecting a route section in which a difference index between a traveling sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; a travel route search means for searching for a travel route connecting the selected route sections; A management device comprising:

2. The difference index in the route section selection means is set as the discomfort index for people around the route section.

2. The management device according to claim 1.

3. The environmental sound index storage means stores the environmental sound index of the route section in each time period, The route section selection means selects a route section in which a difference index between the driving sound index and the environmental sound index is equal to or smaller than a first predetermined threshold value for the time period.

2. The management device according to claim 1.

4. A presence density storage means for storing the presence density of surrounding people in each time period for each route section. Furthermore, The route section selection means selects a route section such that a value obtained by subtracting a smaller index as the presence density is higher and a larger index as the presence density is lower from the discomfort index is equal to or less than a second predetermined threshold value.

4. The management device according to claim 3.

5. The traveling sound index storage means stores a traveling sound index for each route section for each weight category of the mobile robot, The route section selection means uses a traveling sound index according to the weight category of the mobile robot.

2. The management device according to claim 1.

6. a moving speed control means for controlling the moving speed of the mobile robot to be reduced under a predetermined condition when the moving route search means is unable to search for a moving route because the route section selection means is unable to select a route section in which the difference index is equal to or less than the first predetermined threshold value and therefore the moving route search means is unable to connect the route sections The management device according to claim 1 , further comprising:

7. The moving route search means registers a desired arrival time from a starting point to a destination point of the moving robot to be traveled, Among the multiple travel routes searched by the travel route search means, narrow down to a travel route that allows arrival within the desired arrival time.

2. The management device according to claim 1.

8. The running sound index storage means stores a high frequency running sound index and a low frequency running sound index, The environmental sound index storage means stores a high-frequency environmental sound index and a low-frequency environmental sound index, The route section selection means A first difference value between the high frequency running sound index and the high frequency environmental sound index; A second difference value between the high frequency running sound index and the low frequency environmental sound index; A third difference value between the low-frequency driving sound index and the high-frequency environmental sound index; a fourth difference value between the low-frequency driving sound index and the low-frequency environmental sound index; The largest difference value among them is the difference index.

2. The management device according to claim 1.

9. The mobile robot is equipped with a microphone. The running sound index of the running sound index storage means is an index of a running sound picked up by a microphone of a mobile robot that has previously traveled along a route section, The equipment installed along the route is equipped with microphones. The environmental sound index in the environmental sound index storage means is an index of the environmental sound picked up by the microphone of the equipment in the route section.

2. The management device according to claim 1.

10. The running sound index is an index of running sounds including the driving sound of the mobile robot itself and the impact sound generated when the mobile robot runs on a road surface, The road noise index and the environmental noise index are average values ​​expressed in decibels.

2. The management device according to claim 1.

11. A mobile robot, A microphone for acquiring a running sound index; An environmental sound index acquisition means for acquiring an environmental sound index; a moving speed control means for controlling the moving speed to be reduced under a predetermined condition when a difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; A mobile robot comprising:

12. A program for causing a computer to function to search for a route along which a mobile robot will travel, comprising: a running sound index storage means for storing a running sound index of the mobile robot for each route section; an environmental sound index storage means for storing, for each route section, an environmental sound index for that route section; a route section selection means for selecting a route section in which a difference index between a traveling sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; a travel route search means for searching for a travel route connecting the selected route sections; A program for causing a computer to function.

13. A program for causing a computer installed in a mobile robot to function, A microphone for acquiring a running sound index; An environmental sound index acquisition means for acquiring an environmental sound index; a moving speed control means for controlling the moving speed to be reduced under a predetermined condition when a difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; A program for a mobile robot, which causes a computer to function as described above.

14. A method for searching a route for a mobile robot, comprising: The device is a running sound index storage unit that stores a running sound index of the mobile robot for each route section; an environmental sound index storage unit that stores, for each route section, an environmental sound index for that route section; having A first step of selecting a route section in which a difference index between a driving sound index and an environmental sound index is equal to or smaller than a first predetermined threshold; A second step of searching for a travel route connecting the selected route sections; A method for searching for a movement path of an apparatus, comprising:

15. A method for controlling a moving speed of a mobile robot, comprising the steps of: The mobile robot A first step of acquiring a driving sound index using a microphone and acquiring an environmental sound index for a route section during driving; a second step of controlling the moving speed to be reduced under a predetermined condition when the difference index between the running sound index and the environmental sound index is greater than a first predetermined threshold value; A moving speed control method comprising the steps of:

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