Management system, server, entrance / exit control device, and work robot

Abstract

To provide a management system, a server, an access management device and a working robot capable of more appropriately controlling a working robot.SOLUTION: A management system 1 includes: a working robot 30 which is autonomously movable and performs a predetermined work; and an entry / exit management device 20 which manages the entry / exit of a user in the management object. The entry / exit management device 20 includes: identification information acquisition means 231 which acquires the identification information according to the entrance / leave operation of an operator; permission / denial determination means 232 for determining whether or not to enter or leave based on the identification information; presence room situation determination means 233 for determining the presence room situation of the user within the management target based on the number of entries and exits and also includes: determination means for determining whether or not a time condition relating to work execution of the working robot 30 is satisfied; and control means 132 for controlling the work execution of the working robot 30 according to the determination result of the time condition and the presence room situation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a management system, a server, an entrance / exit control device, and a working robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, systems have been developed that cause a work robot to execute predetermined operations based on an operation schedule for the work robot.

[0003] For example, Patent Document 1 discloses generating operation schedule information for a robot vacuum cleaner that cleans a room based on schedule information indicating the content of the activities of multiple users, and controlling the operation of the robot vacuum cleaner based on the generated operation schedule information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-217164 A Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when a work robot is used in a management system that has an entrance / exit control device that manages the entrance / exit of users, there is a demand for more appropriate control of the work performed by the work robot.

[0006] An object of the present invention is to provide a management system, a server, an entrance / exit management device, and a work robot that are capable of more appropriately controlling a work robot. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving such problems, there is provided a management system having a work robot that is capable of moving autonomously and performs specified tasks, and an entrance / exit management device that manages the entry and exit of users in a managed area, the entrance / exit management device having an identification information acquisition means that acquires identification information in response to an operator's entry / exit operation, an authorization determination means that determines whether entry or exit is permitted based on the identification information, and a presence status determination means that determines the presence status of users within the managed area based on the number of entries and exits, a determination means that determines whether a time condition for the work robot to perform the work is satisfied, and a control means that controls the work robot to perform the work in accordance with the determination result of the time condition and the presence status.

[0008] In this management system, it is preferable that the occupancy status includes the number of people within the managed area, and that the control means controls the work robot to start a specified task when a time condition is met and the number of people is less than a threshold value.

[0009] In this management system, it is preferable that the occupancy status determination means determines the number of users present in each management section that constitutes the managed object, the determination means determines the time conditions for each work area of ​​the work robot, and the control means controls the start of work in the work area when the number of occupants in the management section corresponding to the work area determined to satisfy the time conditions is less than a threshold value.

[0010] In this management system, it is preferable that the occupancy status determination means determines the number of users present in each management section that constitutes the managed area, and the control means selects the work area in which to first start a specified task based on the number of users present.

[0011] In this management system, the time condition is preferably that the current time is within a time zone in which work by the work robot is permitted.

[0012] It is preferable that this management system further has a memory means for storing the amount of time required for planned work, the presence status including the number of people present within the managed area, and the control means controls the work robot to start a specified task when the time condition is met and the number of people present is less than a threshold, and when the remaining time in the time period during which the work robot is allowed to work is less than or equal to the amount of time required for work that has not yet been performed, the control means resets the threshold to a higher value or controls the work robot to start the specified task regardless of the number of people present.

[0013] In this management system, the presence status preferably includes the number of people present within the managed area, the determination means determines whether or not a termination condition for the work of the work robot is met, and if it is determined that the termination condition is met, the control means controls the work robot to terminate the specified work, with the termination condition being when the number of people present reaches or exceeds a threshold value while the work robot is performing the specified work.

[0014] In this management system, the identification information includes attribute information indicating the attributes of the operator, and if the attribute information is a specified attribute, it is preferable that the control means resets the threshold value to a higher value or controls the system to perform a specified task regardless of the number of people present.

[0015] According to another aspect of the present invention, there is provided a server communicatively connected to a work robot capable of autonomous movement and performing specified tasks, and an entrance / exit management device that manages the entrance and exit of users in a managed area and determines the presence status of users within the managed area, the server having a determination means for determining whether a time condition for the work performed by the work robot is satisfied, and a control means for controlling the work performed by the work robot in accordance with the determination result of the time condition and the presence status.

[0016] According to another aspect of the present invention, there is provided an entrance / exit management device that is communicatively connected to a work robot that is capable of moving autonomously and performs specified tasks, and that manages the entrance and exit of users in a managed area, the entrance / exit management device having an identification information acquisition means that acquires identification information in response to an operator's entry / exit operation, an authorization determination means that determines whether entry or exit is permitted based on the identification information, a presence status determination means that determines the presence status of users in the managed area based on the number of entries and exits, a determination means that determines whether a time condition for the work robot to perform the work is satisfied, and a control means that controls the work robot to perform the work in accordance with the determination result of the time condition and the presence status.

[0017] According to another aspect of the present invention, there is provided a work robot that is capable of autonomous movement and performs specified tasks, and is communicatively connected to an entrance / exit management device that manages the entrance and exit of users in a managed area and determines the presence status of users within the managed area, the work robot having a determination means for determining whether a time condition for the work performed by the work robot is satisfied, and a control means for controlling the work performance of the work robot in accordance with the determination result of the time condition and the presence status. Effect of the Invention

[0018] The management system, server, entrance / exit control device, and working robot according to the present invention can control the working robot at more appropriate timing. [Brief description of the drawings]

[0019] [Figure 1] 1 is a diagram showing a schematic configuration of a management system according to an embodiment of the present invention; [Diagram 2] 2 is an example of a work area table 120. [Diagram 3] FIG. 1 is a floor plan of an office, which is an example of a work area. [Figure 4] 13 is a flowchart showing an example of an entrance / exit management process performed by the entrance / exit management device 20. [Diagram 5] 13 is a flowchart showing an example of a start determination process by the server 10. [Figure 6] 13 is a flowchart showing an example of a work area extraction process by the server 10. [Figure 7] 13 is a flowchart showing an example of an end determination process by the server 10. [Figure 8] FIG. 2 is a diagram showing a configuration of another management system 2. [Figure 9] FIG. 13 is a diagram showing the configuration of still another management system 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] A management system according to an embodiment of the present invention will be described below with reference to the drawings. However, it should be understood that the present invention is not limited to the drawings or the embodiments described below.

[0021] FIG. 1 is a diagram showing a schematic configuration of a management system according to an embodiment of the present invention. As shown in FIG. 1, the management system 1 has a server 10, an entrance / exit management device 20, and a work robot 30. The server 10 is communicatively connected to the entrance / exit management device 20 and the work robot 30 to manage the entire management system 1. The entrance / exit management device 20 is communicatively connected to the server 10 and performs entrance / exit management for an entrance / exit management target, such as an office, a store, or a factory. Here, the entrance / exit management target is composed of one or more management sections, and entrance / exit management is performed for each management section. The work robot 30 is communicatively connected to the server 10 via an access point 40, and performs work within the entrance / exit management target in which the entrance / exit management device 20 is installed. In addition, the entrance / exit management device 20 is connected to various devices such as an entrance / exit operation terminal 250 via wired / wireless communication. In FIG. 1, only one entrance / exit management device 20 and one work robot 30 are shown, but the management system 1 may have multiple entrance / exit management devices 20 and / or work robots 30.

[0022] The server 10 is a cloud server or the like in a wide area communication network such as the Internet. The server 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0023] The communication unit 11 has a communication interface circuit that conforms to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is communicatively connected to the entrance / exit control device 20 and the work robot 30 via a wide area communication network such as a LAN or the Internet, to send and receive various signals.

[0024] The storage unit 12 has semiconductor memory such as ROM, RAM, EPROM, etc., magnetic storage media such as magnetic disks (HDD), and / or optical storage media such as DVD-RAM, etc. The storage unit 12 stores computer program codes and various data executed by the control unit 13 to control the operation of the server 10. The computer programs can be installed in the storage unit 12 by a known method via computer-readable storage media such as DVD-ROM or communication lines. The storage unit 12 stores a work area table 120. The storage unit 12 is an example of a storage means.

[0025] 2 is an example of the work area table 120. In the work area table 120, work time information, a work map, a number of people threshold, the latest status of the work area, etc. are stored in association with each other for each of a plurality of work areas. A work area is an area where work robot 30 performs work. Work robot 30 can perform work in one or more work areas. Fig. 2 shows an example having a total of three work areas, first to third work areas. The work time information includes available work time periods, expected start time, required work time, etc. Available work time periods indicate the time periods during which the working robot 30 is permitted to perform work. Expected start time indicates the time when the first employee is expected to arrive at the work area. Required work time indicates the time required for the working robot 30 to perform work in the work area. In other words, required work time is the time required for the scheduled work. A work map is a map showing the boundaries of a work area. The number-of-people threshold is a threshold for comparison with the number of people in a work area to determine whether or not work robot 30 will start work in the work area. The number-of-people threshold may be set according to the area of ​​each work area so that the larger the area of ​​each work area, the larger the number-of-people threshold. The latest status of the work area includes the number of people, people with a specified attribute, the time when the number of people condition was met, the work status, etc. The number of people indicates the total number of people in each work area. Here, as the relationship between the work area and the management section, the work area and the management section may be the same, multiple work areas may be composed of one management section, or one work area may be composed of multiple management sections. In this embodiment, the work area and the management section are described as being the same area. The number of people with a specified attribute indicates the number of people who have a specified attribute. The attributes include a specified attribute related to the work of the work robot 30, such as a cleaner, and a specified attribute not related to the work of the work robot 30, such as a security guard or general user. The time when the number of people condition was met indicates the latest time when the number of people in each work area met the condition determined by the number of people threshold among the start conditions of the work of the work robot 30. If the number of people does not meet the condition, the value of the time when the number of people condition was met is set to blank. The work status indicates the state of the work of the work robot 30 in each work area. The work status includes "not done", "in progress" and "completed". The initial value of the work status is "not done".

[0026] The control unit 13 has a processor such as a CPU and its peripheral circuits, and the processor controls the operation of the server 10 by executing a computer program stored in the storage unit 12. A multiprocessor, a multicore processor, or the like may be used as the control unit 13. Furthermore, a DSP, an LSI, an ASIC, an FPGA, or the like may be used as the control unit 13. The control unit 13 has an acquisition unit 131 and a control unit 132 as functional modules of a program that runs on the processor.

[0027] The entrance / exit control device 20 is an information processing device that manages the entrance and exit of users to and from a work area. The entrance / exit control device 20 has a communication unit 21, a memory unit 22, a control unit 23, and an interface unit 24. The entrance / exit control device 20 further has an entrance / exit operation terminal 250. The entrance / exit operation terminal 250 is arranged for each work area that is subject to entrance / exit management. The number of entrance / exit operation terminals 250 in one entrance / exit management subject is not limited to one, and may be multiple.

[0028] The communication unit 21 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to a server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information.

[0029] The storage unit 22 has a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 22 stores various data and codes of a computer program executed by the control unit 23 to control the operation of the entrance / exit control device 20. The computer program can be installed in the storage unit 22 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 22 stores user information 221. The user information 221 includes, for each work area, identification information of a user who can use that work area.

[0030] The control unit 23 has a processor such as a CPU or a multiprocessor and its peripheral circuits, and the processor controls the operation of the entrance / exit control device 20 by executing a computer program stored in the storage unit 22. A DSP, an LSI, an ASIC, an FPGA, or the like may be used as the control unit 23. The control unit 23 has an identification information acquisition means 231, a permission / rejection determination means 232, and an occupancy status determination means 233 as functional modules of a program that operates on the processor.

[0031] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, and transmits and receives various signals by communicating with the entrance / exit operation terminal 250. Note that the interface unit 24 may have an interface circuit conforming to a wired / wireless communication standard such as Ethernet (registered trademark), IEEE802.11, Bluetooth (registered trademark), etc., instead of an interface circuit conforming to a serial bus standard.

[0032] The entrance / exit operation terminal 250 is installed at an entrance or the like of an entrance / exit management target, and is an operation terminal by which a user requests entry into or exit from the entrance / exit management target. The entrance / exit operation terminal 250 has an input unit (not shown) such as a card reader, a camera, a microphone, a touch panel, etc., for inputting authentication information such as a user ID, an authentication code, and biometric information such as a fingerprint / face / voice. The input unit reads the user's identification information stored in an IC (Integrated Circuit) card held by the user. The entrance / exit operation terminal 250 generates an entrance / exit request signal including an entrance request or an exit request, a work area to be entered or exited, and the read identification information, and notifies the control unit 23 via the interface unit 24. The identification information includes a user ID for identifying the user, and attribute information indicating the user's attributes. The entrance / exit operation terminal 250 also has an entrance / exit regulation unit (not shown) and a door opening / closing unit (not shown). The entrance / exit regulation unit is an electric lock or the like that is installed at an entrance door to regulate entry into or exit from an entrance / exit management target, and is unlocked / locked in accordance with an unlock / lock signal transmitted from the entrance / exit management device 20. The door opening / closing unit is an automatic opening / closing device or the like that opens and closes the door of the entrance / exit target for entrance / exit management in accordance with the door opening / closing signal transmitted from the entrance / exit management device 20.

[0033] The working robot 30 is an autonomously mobile robot that performs predetermined tasks such as cleaning, transporting, and inspection within an access control area. The working robot 30 has a communication unit 31, a position detection unit 32, a traveling unit 33, a working unit 34, a power supply unit 35, a memory unit 36, and a control unit 37. Here, we will explain the case where the working robot 30 is a cleaning robot.

[0034] The communication unit 31 has a communication interface circuit conforming to wireless communication standards such as IEEE802.11, and is connected to the server 10 via an access point 40 and a wide area communication network such as the Internet to transmit and receive various information.

[0035] The position detection unit 32 has at least one of input devices such as Lidar, a camera, an ultrasonic sensor, an infrared sensor, etc. The position detection unit 32 detects the current position and the positions of obstacles by using input laser light, images, etc., and generates an environmental map 361 by a method such as SLAM (Simultaneous Localization and Mapping).

[0036] The running unit 33 has drive wheels and a running motor, and by changing the rotational speed of the running motor, the working robot 30 can be moved freely in all directions at various speeds. The running unit 33 may further have auxiliary wheels, etc., to stabilize and smoothen running. The working unit 34 performs tasks such as cleaning, transporting, and inspection. When the working robot 30 is a cleaning robot, the working unit 34 has a suction unit for sucking in dust, a wiping unit for wiping the floor surface, and the like, and performs floor cleaning work. The traveling unit 33 and the working unit 34 are operating mechanisms that enable the working robot 30 to perform tasks while moving autonomously.

[0037] Power supply unit 35 is a storage battery or the like for supplying power to each part of work robot 30.

[0038] The storage unit 36 ​​includes semiconductor memory, magnetic storage media, and / or optical storage media, etc. The storage unit 36 ​​stores various data and computer program codes that are executed by the control unit 37 to control the operation of the working robot 30. The computer programs may be installed in the storage unit 36 ​​by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 36 ​​stores an environmental map 361 having the positions of obstacles, including fixed obstacles such as walls and equipment within the work area, and movable obstacles such as carts and boxes. The environmental map 361 further stores the position of each work area in association with identification information of the work area.

[0039] The control unit 37 has a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing a computer program stored in the memory unit 36. The control unit 37 may be implemented using a DSP, an LSI, an ASIC, an FPGA, or the like. The control unit 37 has an operation control means 371 as a functional module of a program that runs on a processor.

[0040] FIG. 3 is a plan view of an office, which is an example of a work area. As shown in FIG. 3, floor 101 of office 100 is a work area for work robot 30. Floor 101 is divided into first work area 111, second work area 112, third work area 113, and shared work area 114. First work area 111, second work area 112, and third work area 113 are also management areas that are subject to entrance and exit management by management system 1. First door 431, second door 432, and third door 433 are provided at the entrances and exits between first work area 111, second work area 112, and third work area 113, and shared work area 114, respectively. First door 431, second door 432, and third door 433 are unlocked / locked by an entrance and exit regulation unit of entrance and exit operation terminal 250, and opened / closed by a door opening and closing unit. Floor 101 is further provided with an access point (AP) 40, a home position (HP) 460, and an elevator (EV) 480 that can move to work areas on other floors. A charger (not shown) for charging power supply unit 35 of work robot 30 is disposed in home position 460, and work robot 30 waits at home position 460 when not performing work.

[0041] The work map includes a first map, a second map, and a third map representing the first work area 111, the second work area 112, and the third work area 113, respectively. The work map shows the shape of each work area, etc. The work map further shows the position of the home position 460, the positions of fixed obstacles such as the partition 440, etc. The work map has coordinates in common with the environment map 361, and the above-mentioned shapes and each position are shown in two-dimensional coordinates with a certain point in the environment map 361 as the origin. The coordinates may be latitude and longitude, etc.

[0042] 4 is a flowchart showing an example of entrance / exit management processing by the entrance / exit management device 20. This operation flow is executed mainly by the control unit 23 of the entrance / exit management device 20 in cooperation with each element of the entrance / exit management device 20, based on a program stored in advance in the storage unit 22 of the entrance / exit management device 20.

[0043] First, the identification information acquisition means 231 judges whether or not the operator has performed an entry / exit operation to the work area (step S11). When the identification information acquisition means 231 detects an entry / exit request signal notified from the entry / exit operation terminal 250, it judges that the operator has performed an entry / exit operation to the work area. If the operator has not performed an operation to enter or leave the work area (step S11-N), the identification information acquisition means 231 waits. When the operator performs an entry / exit operation for the work area (step S11-Y), the identification information acquisition means 231 acquires the entry request or exit request, the work area, and the identification information from the detected entry / exit request signal (step S12).

[0044] Next, the permission determination means 232 determines whether entry or exit is permitted based on the acquired work area and identification information (step S13). If the acquired identification information is included in the user information 221 as identification information of a user who can use the acquired work area, the permission determination means 232 permits entry or exit, and if not, does not permit entry or exit. If entry or exit is not permitted (step S13-N), the permission / rejection determination means 232 does not execute any particular process and returns the process to step S11. If entry or exit is permitted (step S13-Y), the permission / denial determination means 232 sends a command signal to the entrance / exit operation terminal 250 via the interface unit 24 to unlock or open the door to the target work area (step S14).

[0045] Next, the occupancy status determination means 233 determines the occupancy status of users in the work area corresponding to the management section based on the number of entries and exits (step S15). The occupancy status of users includes the number of people present and the number of people with a specific attribute. The number of people present in each work area is initialized to 0 at any timing when no users are present in each work area. The occupancy status determination means 233 updates the number of people present by increasing the number of people present by 1 when entry is permitted in step S13, and decreasing the number of people present by 1 when exit is permitted. The occupancy status determination means 233 updates the number of people present with a specific attribute by increasing the number of people present with a specific attribute by 1 when entry is permitted and the attribute included in the identification information is the specific attribute, and by decreasing the number of people present with a specific attribute by 1 when exit is permitted and the attribute included in the identification information is the specific attribute.

[0046] Next, the occupancy status determination means 233 generates an occupancy status signal including the work area in which the number of occupants has been changed, the number of occupants, and the number of occupants with a predetermined attribute, and outputs the signal to the server 10 via the communication unit 21 (step S16). Next, the occupancy status determination means 233 returns the process to step S11. This concludes the explanation of the series of processes.

[0047] 5 is a flowchart showing an example of a start determination process by the server 10. This operation flow is executed mainly by the control unit 13 of the server 10 in cooperation with each element of the server 10, based on a program previously stored in the storage unit 12 of the server 10. This operation flow is started at a predetermined time.

[0048] In parallel with the entrance / exit management process, the start determination process, and the end determination process described later, the acquisition means 131 of the server 10 acquires the work area, the number of occupants, and the number of occupants with a specified attribute included in the occupancy status signal when it receives an occupancy status signal from the entrance / exit management device 20 via the communication unit 11. The acquisition means 131 sets the acquired number of occupants and the number of occupants with a specified attribute to the number of occupants and the number of occupants with a specified attribute associated with that work area in the work area table 120.

[0049] In parallel with the entrance / exit management process, start determination process, and end determination process described below, the movement control means 371 of the working robot 30 outputs a current position signal and a work status signal to the server 10 via the communications unit 31. The current position signal is a signal that indicates the current position of the working robot 30. The operation control means 371 generates a current position signal based on the current position detected by the position detection unit 32, and outputs the generated current position signal to the server 10 via the communication unit 31 at predetermined intervals (for example, one-minute intervals). When the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, it acquires the current position of the work robot 30 indicated by the current position signal and stores it in the memory unit 12. The initial value of the current position of the work robot 30 stored in the memory unit 12 is the position of the home position 460. The work status signal includes the work area where the work robot 30 will perform the work and the status of the work in that work area. The operation control means 371 outputs to the server 10 via the communication unit 31 a work status signal indicating that the status is in progress when the work starts, or a work status signal indicating that the status is completed when the work is completed. When the acquisition means 131 of the server 10 receives a work status signal from the work robot 30 via the communication unit 11, it updates the work status associated with the work area included in the work status signal in the work area table 120. When the status included in the work status signal indicates in progress, the acquisition means 131 sets the work status associated with the work area to in progress, and when the status included in the work status signal indicates completed, it sets the status associated with the work area to completed.

[0050] First, the control means 132 determines whether the work robot 30 is performing work (step S21). The process of step S21 is executed at a predetermined interval, for example, every minute. If any of the work states associated with each work area in the work area table 120 is set to "in progress," the control means 132 determines that the work robot 30 is performing work in that work area. If all work states in the work area table 120 are not set to "in progress," the control means 132 determines that the work robot 30 is not performing work. If the working robot 30 is performing a task (step S21-Y), the control means 132 waits. If the working robot 30 is not performing a task (step S21-N), the acquisition means 131 acquires the current time (step S22). The current time is an example of information for determining the time conditions regarding the performance of the task by the working robot 30.

[0051] Next, the control means 132 executes a work area extraction process for each work area set in the work area table 120, and extracts a work area where work can be started at the present time (step S23). Details of the work area extraction process will be described later. The control means 132 that performs the process of step S23 is an example of a determination means. Next, the control means 132 judges whether or not a work area where work can be started has been extracted in the work area extraction process (step S24).

[0052] When a work area where work can be started is extracted in the work area extraction process (step S24-Y), the control means 132 determines the work area in which work is to be started from among the extracted work areas (step S25). When one work area is extracted, the control means 132 determines to start work in that work area. When two or more work areas are extracted, the control means 132 selects the work area with the least number of occupants based on the work area table 120 and determines to start work in the selected work area. When two or more work areas are extracted, the control means 132 may select the work area closest to the current position of the work robot 30 based on the current position of the work robot 30 and the work map 122, and determine to start work in the selected work area. In this way, the control means 132 can make the work robot 30 perform work efficiently.

[0053] Next, the control means 132 executes start control to start work in the determined work area (step S26). As start control, the control means 132 outputs a command signal to unlock and open the door to the work area to the entrance / exit control device 20 via the communication unit 11. When the permission determination means 232 of the entrance / exit control device 20 receives a command signal from the server 10 via the communication unit 21, it causes the entrance / exit regulation unit and the door opening / closing unit to unlock and open the door via the entrance / exit operation terminal 250. This makes it possible for the work robot 30 to move from its current position into the work area. As start control, the control means 132 also generates a control signal including identification information of the determined work area for the work robot 30 to start work, and outputs this to the work robot 30 via the communication unit 11. In addition, instead of autonomously unlocking and opening the door to the work area, the control means 132 may unlock and open the door to the work area in response to a request output from the work robot 30 that has received a control signal and moved near the work door.

[0054] When the movement control means 371 of the working robot 30 receives a control signal to start a task from the server 10 via the communication unit 31, it moves the working robot 30 to a work area corresponding to the identification information in accordance with the received control signal. The movement control means 371 controls the traveling unit 33 to make the working robot 30 travel while avoiding obstacles based on the environmental map 361, and controls the working unit 34 to make the working robot 30 carry out a predetermined task. When the working robot 30 completes a predetermined task, the movement control means 371 outputs a work status signal indicating the end of the task to the server 10 via the communication unit 31, and causes the working robot 30 to wait at the position where the work status signal was output. After outputting the work status signal, the movement control means 371 may control the traveling unit 33 to return the working robot 30 to the home position 460.

[0055] When a work area where work can be started is not extracted in the work area extraction process (step S24-N), the control means 132 shifts the process to step S27 without executing the processes of steps S25 and S26.

[0056] Next, control means 132 determines whether or not there are any work areas whose work status is unperformed remaining in work area table 120 (step S27). If there are any work areas whose work status is unperformed remaining (step S27-Y), control means 132 returns the process to step S21. On the other hand, if there are no work areas whose work status is unperformed remaining (step S27-N), control means 132 ends the series of processes. This concludes the explanation of the series of processes.

[0057] 6 is a flowchart showing an example of the work area extraction process by the server 10. The work area extraction process is executed for each work area in step S23 of FIG. First, the control means 132 determines whether or not the work state associated with the target work area is set to "not done" in the work area table 120 (step S31). If the work status is not set to not yet performed (Y in step S31), the control means 132 does not extract the target work area as a work area in which work can be started (step S38), and ends the series of processes. If the work status is set to not yet performed (step S31-N), the control means 132 determines whether or not the current time is within the available work time zone indicated in the work time information 121 (step S32). The current time being within the available work time zone is an example of a start condition.

[0058] If the current time is not within the available work time zone (step S32-N), the control means 132 does not extract the target work area as a work area where work can be started (step S38), and ends the series of processes. If the current time is within the possible work time slot (step S32-Y), the control means 132 identifies the number of people in the target work area (step S33). The control means 132 identifies the number of people set in association with the target work area in the work area table 120 as the number of people in the target work area. The control means 132 may identify the value obtained by subtracting the number of people with a predetermined attribute from the number of people set in association with the target work area in the work area table 120 as the number of people in the target work area.

[0059] Next, the control means 132 sets a threshold value for determining the number of people present (step S34). The control means 132 identifies the available work time zone, the required work time, and the number of people threshold value that are set in association with the target work area in the work area table 120. If the remaining time of the identified available work time zone is longer than the specified required work time, the control means 132 sets the threshold value to the specified number of people threshold value. If the remaining time of the identified available work time zone from the current time is equal to or shorter than the specified required work time, the control means 132 sets the threshold value to a value greater than the specified number of people threshold value. For example, a threshold value that is a predetermined percentage higher than the normal number of people threshold (for example, 200%) is set as the threshold value for resetting. In addition, the control means 132 may extract the area as a work area where work can be started regardless of the number of people present, and decide to start work in the work area, if the remaining time of the identified available work time zone from the current time is equal to or shorter than the specified required work time. In addition, the threshold value may be changed according to the number of people with a predetermined attribute. The control means 132 resets the threshold value to a higher value when there is a person with a predetermined attribute. The control means 132 may reset the threshold value to a higher value as the number of people with the predetermined attribute increases. When the control means 132 identifies the number of occupants set in association with the target work area in the work area table 120 as the number of occupants in the target work area, the control means 132 may change the threshold value according to the number of occupants with a predetermined attribute. The control means 132 may reset the threshold value higher when there are occupants with a predetermined attribute. The control means 132 may reset the threshold value higher as the number of occupants with a predetermined attribute increases. The control means 132 may set the threshold value to the number of people threshold value set in association with the target work area in the work area table 120, and may set the threshold value to a fixed value.

[0060] Next, the control means 132 judges whether or not the specified number of occupants is less than a threshold value (step S35). The number of occupants being less than a threshold value is an example of a start condition.

[0061] If the identified number of occupants is equal to or greater than the set threshold (step S35-N), the control means 132 does not extract the target work area as a work area where work can be started (step S38), and ends the series of processes.

[0062] If the identified number of people is less than the set threshold (step S35-Y), the control means 132 judges whether a predetermined time has passed with the identified number of people being less than the threshold (step S36). The control means 132 identifies the number of people condition met time set in association with the target work area in the work area table 120. The control means 132 performs this judgment using the identified number of people condition met time and the current time. The predetermined time is set, for example, to the time (e.g., 30 minutes) expected for a user to take from going out to eat until returning to the work area.

[0063] If a predetermined time has elapsed while the identified number of occupants remains below the threshold (step S36-Y), the control means 132 extracts the target work area as a work area where work can be started (step S37), and ends the series of processes. If the number of occupants set in the table is less than the threshold and the predetermined time has not elapsed (step S36-N), the control means 132 does not extract the target work area as a work area where work can be started (step S38), and ends the series of processes. This concludes the explanation of the series of processes.

[0064] In this way, the presence status determination means 233 of the entrance / exit control device 20 determines the presence status of users in the work area based on the number of entries and exits, and the control means 132 of the server 10 controls the work robot 30 according to the work start conditions and the presence status of users. This allows the management system 1 to appropriately control the operation of the work robot 30 according to the presence status of users.

[0065] Furthermore, the control means 132 controls the work robot 30 with the start condition that the current time is within a time period in which the work robot 30 is available for work. This allows the management system 1 to prevent the work robot 30 from starting work during a time period in which work is not permitted to be performed. Furthermore, when the start condition is met and the number of people present is less than a threshold, the control means 132 controls the working robot 30 to start a predetermined task. When the number of people present is small, even if the working robot 30 performs a task, there is a low possibility that the working robot 30 will be unable to perform the task in a location where a user is present, or that the operation of the working robot 30 will get in the way of the user. This allows the management system 1 to have the working robot 30 perform the task in a state suitable for the task.

[0066] Furthermore, if the work robot 30 is unable to complete a specified task during a time period in which it is available to work, based on the current time and the time required for the specified task, the control means 132 resets the threshold value higher. By resetting the threshold value higher, the work robot 30 is controlled to start the specified task even if there are more people present than before the threshold value was reset, so the management system 1 can reduce the possibility that the work robot 30 will not perform the task.

[0067] Furthermore, the occupancy status determination means 233 of the entrance / exit management device 20 determines the number of users present in each work area, and the control means 132 of the server 10 selects the work area in which to start a predetermined task first according to the number of occupants. In other words, the work area with the fewest number of occupants is given priority for starting the task. Note that the number of occupants per unit area of ​​the work area may be used as the number of occupants. This allows the management system 1 to have the work robot 30 perform the task in a state more suitable for the task when there are multiple work areas.

[0068] Furthermore, when the number of occupants is less than the threshold (step S35-Y), the control means 132 may extract the target work area as a work area where work can be started (step S37) without determining whether or not a predetermined time has elapsed.

[0069] Furthermore, if the work area exists on multiple floors, when determining the work area in step S25 of FIG. 5, the control means 132 may preferentially select a work floor that is on the same floor as the floor on which the work robot 30 exists over work floors that are on other floors.

[0070] 7 is a flow chart showing an example of the end determination process by server 10. This operational flow is executed mainly by control unit 13 of server 10 in cooperation with each element of server 10, based on a program previously stored in memory unit 12 of server 10. This operational flow is executed for a work area in which working robot 30 has been controlled to start work in the start determination process, and is started when control means 132 outputs a control signal to working robot 30 to start work.

[0071] First, the control means 132 determines whether or not the work status associated with the target work area is set to completed in the work area table 120 (step S41). If the work status associated with the target work area is set to completed (step S41-Y), the control means 132 determines that the work robot 30 has performed all of the predetermined work in the target work area and has voluntarily completed the work, and ends the series of processes. If the work status associated with the target work area is not set to completed (step S41-N), the control means 132 identifies the number of people in the target work area (step S42). The control means 132 identifies the number of people set in association with the target work area in the work area table 120 as the number of people in the target work area. The control means 132 may identify the value obtained by subtracting the number of people with a predetermined attribute from the number of people set in association with the target work area in the work area table 120 as the number of people in the target work area.

[0072] Next, the control means 132 sets a threshold for determining the number of people present (step S43). The control means 132 identifies the available work time zone, the required work time, and the number of people threshold set in association with the target work area in the work area table 120. If the remaining time of the identified available work time zone is longer than the identified required work time, the control means 132 sets the threshold to the identified number of people threshold. If the remaining time of the identified available work time zone from the current time is equal to or shorter than the identified required work time, the control means 132 sets the threshold to a value greater than the identified number of people threshold. When the control means 132 identifies the number of occupants set in association with the target work area in the work area table 120 as the number of occupants in the target work area, the control means 132 may change the threshold value according to the number of occupants with a predetermined attribute. The control means 132 may reset the threshold value higher when there are occupants with a predetermined attribute. The control means 132 may reset the threshold value higher as the number of occupants with a predetermined attribute increases. The control means 132 may set the threshold value to the number of people threshold value set in association with the target work area in the work area table 120, and may set the threshold value to a fixed value. Furthermore, the threshold used in the start determination process and the end determination process may be the same, or the threshold used in the end determination process may be a predetermined percentage larger than the threshold used in the start determination process.

[0073] Next, the control means 132 judges whether the number of people set in the table is equal to or greater than a threshold (step S44). The number of people in the room becoming equal to or greater than the threshold while the work robot 30 is performing a predetermined task is one example of an end condition.

[0074] If the number of people present is less than the threshold value (step S42-N), the control means 132 determines that the work of the working robot 30 is not yet finished (step S45), and the process proceeds to step S41. If the number of occupants is equal to or greater than the threshold (step S42-Y), the control means 132 decides to end the work of the working robot 30 (step S43). Next, the control means 132 executes termination control of the working robot 30 (step S44) and ends the series of processes. As the termination control of the working robot 30, the control means 132 generates a control signal for ending the work of the working robot 30 and outputs it to the working robot 30 via the communication unit 11. When the movement control means 371 of the working robot 30 receives a control signal to end the work from the server 10 via the communication unit 31, it ends the work of the working robot 30 in response to the received control signal. Next, the movement control means 371 outputs a work status signal indicating the end of work to the server 10 via the communication unit 31, and causes the working robot 30 to wait at the position where the work status signal was output. After outputting the work status signal, if there is no other work area where work can be started, the movement control means 371 controls the traveling unit 33 to return the working robot 30 to the home position 460, and if there is another work area where work can be started, it moves the working robot 30 to that work area and has the robot carry out the work. This concludes the explanation of the series of processes.

[0075] In this way, the control means 132 obtains information for determining the end conditions for the work of the working robot 30, and controls the working robot 30 to end a predetermined work according to the end conditions. This allows the management system 1 to force the working robot 30 to end a work if it reaches a state where it should end the work before the working robot 30 completes the predetermined work.

[0076] Furthermore, the control means 132 ends the work of the working robot 30 when the number of people in the work area while the working robot 30 is performing a predetermined task reaches or exceeds a threshold value as a termination condition. If the number of people increases, there is a high possibility that the operation of the working robot 30 will get in the way of users when the working robot 30 performs a task. For this reason, the management system 1 can prevent the operation of the working robot 30 from getting in the way of users by ending the work of the working robot 30. Furthermore, if there is a person with a predetermined attribute among the people in the work area, the control means 132 resets the threshold value to be higher than when there is no person with the predetermined attribute. The predetermined attribute is an attribute related to the work of the work robot 30, such as a cleaner, and since it is assumed that the impact of the work robot performing work on the surroundings is small, resetting the threshold value higher increases the likelihood that the work robot 30 will continue working. In this way, the management system 1 enables the cleaner or other person present in the room to work in cooperation with the work robot 30.

[0077] In the process of step S44, the control means 132 may compare the number of people present with the threshold value according to the number of people with the specified attribute minus the number of people with the specified attribute from the number of people associated with the target work area in the work area table 120 with the threshold value, instead of comparing the number of people present with the threshold value. By subtracting the number of users with attributes related to the work of the work robot 30, such as cleaners, from the number of people present, the number of users with attributes related to the work of the work robot 30 does not affect the decision of whether to end the work. In this way, the management system 1 allows cleaners and others present in the room to work in cooperation with the work robot 30, just as in the case of changing the threshold value according to the number of people with the specified attribute.

[0078] In addition, if there is a person with a specified attribute, the work robot 30 may start work in a work area where the time condition is met but the number of people present is above a threshold value (i.e., regardless of the number of people present) and may continue work in a work area where the work robot 30 is performing work even if the number of people present is above a threshold value (i.e., regardless of the number of people present).

[0079] As explained above, the entrance / exit control device 20 according to the present invention determines the presence status of users in a work area based on the number of entries and exits, and the server 10 controls the working robot 30 according to the work start conditions and the presence status of the working robot 30. This allows the management system 1 to more appropriately control the operation of the working robot 30 according to the presence status of users.

[0080] Note that the management system 1 may have multiple servers 10 distributed over a network so that services can be provided in the form of cloud computing, with each server 10 working together to share the processes shown in Fig. 5. In particular, the management system 1 may have a server 10 that manages the entrance / exit control device 20 and a server 10 that controls the work robot 30, which are provided separately, with the servers 10 working together to manage the entrance / exit control device 20 and the work robot 30.

[0081] In the above embodiment, the management system 1 has a server 10, an entrance / exit control device 20, and a working robot 30. Furthermore, the server 10, which is communicatively connected between the entrance / exit control device 20 and the working robot 30, generates a control signal based on an occupancy status signal, etc., received from the entrance / exit control device 20, and outputs the generated control signal to the working robot 30 to control the working robot 30. However, the entrance / exit control device 20 and the working robot 30 may be communicatively connected directly, and may transmit and receive occupancy status signals, control signals, etc., without going through the server 10. In this case, all of the functions related to the generation of control signals, etc., in the server 10 in the above embodiment may be realized by the entrance / exit control device 20 or the working robot 30, or some of the functions may be realized by the entrance / exit control device 20 and other functions may be realized by the working robot 30.

[0082] 8 is a diagram showing the configuration of a management system 2 according to another embodiment of the present invention. The same names are used for components corresponding to those in the management system 1 of the above embodiment, and the following description will focus on the differences from the management system 1 of the above embodiment. In this embodiment, the management system 2 has an entrance / exit control device 20-2 and a work robot 30-2 that are wirelessly connected to each other for communication, and the entrance / exit control device 20-2 realizes all of the functions related to the control signals of the server 10 in the above embodiment.

[0083] The communication unit 21-2 of the entrance / exit control device 20-2 and the communication unit 31-2 of the work robot 30-2 have communication interface circuits that comply with corresponding short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), specific low power radio, etc. The communication units 21-2 and 31-2 communicate between the entrance / exit control device 20-2 and the work robot 30-2 to transmit and receive various signals. The storage unit 22-2 of the entrance / exit control device 20-2 stores a work area table 220-2. The control unit 23-2 of the entrance / exit control device 20-2 has an acquisition unit 234-2 and a control unit 235-2 in addition to an identification information acquisition unit 231-2, an authorization determination unit 232-2, and an occupancy status determination unit 233-2.

[0084] In the management system 2, the occupancy status determination means 233-2 of the entrance / exit control device 20-2 notifies the acquisition means 234-2 of the work area in which the number of occupants has been changed, the number of occupants, and the number of occupants with a specified attribute, instead of outputting an occupancy status signal to the server 10. Also, instead of using the received occupancy status signal, the acquisition means 234-2 sets the number of occupants and the number of occupants with a specified attribute associated with the work area in the work area table 120, using the notified work area, number of occupants, and number of occupants with a specified attribute. That is, in the management system 2, the entrance / exit management device 20-2 manages the entrance / exit of users to the work area, and controls the work robot 30-2 by generating and outputting a control signal for controlling the work robot 30-2 according to the work start conditions and the occupancy status in the work area.

[0085] Like the management system 1, the management system 2 can control the operation of the working robot 30 depending on the presence of the user in the room.

[0086] 9 is a diagram showing the configuration of a management system 3 according to yet another embodiment of the present invention. In this embodiment, like management system 2, management system 3 has an entrance / exit control device 20-3 and a work robot 30-3, which are wirelessly connected to each other for communication. In this embodiment, the work robot 30-3 realizes all of the functions related to the control signals of server 10 in the above embodiment.

[0087] The communication unit 21-3 of the entrance / exit control device 20-3 and the communication unit 31-3 of the work robot 30-3 have communication interface circuits that comply with corresponding short-range wireless communication standards. The communication units 21-3 and 31-3 communicate between the entrance / exit control device 20-3 and the work robot 30-3 to transmit and receive various signals. The memory unit 36-3 of the work robot 30-3 stores a work area table 362-3 in addition to an environmental map 361-3. The control unit 37-3 of the working robot 30 has, in addition to a motion control means 371-3, an acquisition means 372-3 and a control means 373-3.

[0088] In the management system 3, the movement control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the work status of the work robot 30-3 instead of outputting a work status signal to the server 10. Also, the acquisition means 372-3 receives a work status signal, and instead of setting the work status of the work area indicated by the work status signal in the work area table 120, sets the work status of the notified work area in the work area table 362-3. Furthermore, the movement control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the current position of the work robot 30-3 instead of outputting a current position signal to the server 10. The acquisition means 372-3 also receives the current position signal, and acquires the notified current position instead of acquiring the current position of the work robot 30-3 indicated by the current position signal. 5, the control means 373-3 for the work robot 30-3 instructs the movement control means 371-3 to start the work of the work robot 30-3 as start control (step S26) for the work robot 30-3. The movement control means 371-3 starts the work of the work robot 30-3 in response to the instruction from the control means 373-3. 7, the control means 373-3 instructs the movement control means 371-3 to end the work of the work robot 30-3 as end control (step S46). The movement control means 371-3 ends the work of the work robot 30-3 in response to the instruction from the control means 373-3.

[0089] Like the management system 1, the management system 3 can control the operation of the working robot 30 depending on the presence of the user in the room.

[0090] As described above, various modifications can be made to the embodiments within the scope of the present invention. [Explanation of symbols]

[0091] 1, 2, 3 Management system, 10 Server, 12, 22-2, 36-3 Memory unit (memory means), 20, 20-2, 20-3 Entrance / exit management device, 30, 30-2, 30-3 Work robot, 132, 235-2, 373-3 Control means (determination means), 231, 231-2, 231-3 Identification information acquisition means, 232, 232-2, 232-3 Permit / reject determination means, 233, 233-2, 233-3 Occupancy status determination means

Claims

1. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two.

1. A management system comprising:

2. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status determination means determines the number of users present in each management section constituting the management target, The determination means determines the time condition for each work area of ​​the work robot, the control means controls the work to be started in a management section corresponding to the work area determined to satisfy the time condition when the number of occupants in the management section corresponding to the work area is less than a threshold value; 1. A management system comprising:

3. The occupancy status determination means determines the number of users present in each management section constituting the management target, The control means selects a work area in which the predetermined work is to be started first according to the number of occupants. The management system according to claim 1 or 2.

4. the time condition is that the current time is within a time period in which work by the work robot is permitted; The management system according to any one of claims 1 to 3.

5. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; A storage means for storing a work required time for a scheduled work, The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined task when the time condition is satisfied and the number of occupants is less than a threshold value; the control means resets the threshold value to a higher value when the remaining time of a time period during which the work robot is permitted to perform work becomes equal to or less than the required work time for the unperformed work, or controls the work robot to start the predetermined work regardless of the number of occupants.

1. A management system comprising:

6. A work robot capable of autonomous movement and performing a predetermined task; An access management device for managing the access of users to a management target, The entrance / exit control device includes: an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; and an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the determination means determines whether or not a completion condition for the work of the working robot is satisfied; when it is determined that the termination condition is satisfied, the control means controls the work robot to terminate the predetermined task; the termination condition is that the number of people in the room becomes equal to or greater than a threshold while the work robot is performing the predetermined task, 1. A management system comprising:

7. the identification information includes attribute information indicating an attribute of the operator, When the attribute information is a predetermined attribute, the control means resets the threshold to a high value, or controls the device to perform the predetermined task regardless of the number of occupants. The management system according to claim 1 or 2.

8. A server communicably connected to a work robot capable of moving autonomously and performing a predetermined task, and an entrance / exit management device that manages the entrance / exit of users in a managed area and determines the presence status of users in the managed area, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. A server comprising:

9. An entrance / exit management device that is communicably connected to a work robot that is autonomously mobile and performs a predetermined task, and that manages the entrance / exit of users in a managed area, an identification information acquisition means for acquiring identification information in response to an entry / exit operation of an operator; a permission / rejection determination means for determining permission / rejection of entry or exit based on the identification information; an occupancy status determination means for determining the occupancy status of users within the management target based on the number of entries and exits; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. An access control device characterized by:

10. A work robot capable of moving autonomously and performing a predetermined task, the work robot being communicably connected to an entrance / exit management device that manages the entrance / exit of users in a managed area and determines the presence status of users in the managed area, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work execution of the working robot in accordance with the result of the determination of the time condition and the occupancy status; having The occupancy status includes the number of occupants in the managed area, the control means controls the work robot to start the predetermined work when the time condition is satisfied and the number of occupants is less than a threshold value that is equal to or greater than two. A working robot characterized by:

Images