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

Abstract

By accurately determining the time when a robot will pass through an entrance / exit gate and providing visual information in advance, smooth movement of facility users and robots within the facility is achieved. [Solution] A facility management system that manages the passage of robots moving within a facility acquires operation information of robots passing through priority gates installed within the facility, and performs a notification process that notifies visual information to distinguish whether a robot has passed through the priority gate based on the acquired operation information. Examples of notification processes include turning on a lamp installed at the priority gate, changing the light color of the light-emitting element of the priority gate, widening the gate width of the priority gate, displaying a priority gate sign, an image of the robot moving, or a still image of the robot on a display, and changing the gate height of the priority gate.

Description

[Technical Field]

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

[0002] Patent Document 1 discloses technology related to a robot-linked facility management system. This system technology assigns an appropriate gate from among multiple entrance / exit gates for a robot to pass through, and controls the robot to use the assigned gate. [Prior art documents] [Patent documents]

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

[0004] The system in Patent Document 1 issues an alert when a beacon detects that a robot is approaching a gate. However, the accuracy of position detection using a beacon is not necessarily high depending on the surrounding environment. Therefore, if the beacon cannot detect in advance that a robot is passing through the gate, there is a risk that the system will not be considerate of surrounding users.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a facility management system that can ensure smooth movement of facility users and robots within the facility by accurately determining the time when a robot will pass through an entrance / exit gate and providing visual information in advance. [Means for solving the problem]

[0006] The facility management system disclosed herein is a facility management system that manages the passage of robots moving within a facility, and is equipped with an information acquisition unit that acquires operation information of robots passing through priority gates installed within the facility, and an alarm unit that performs an alarm process to notify visual information to distinguish whether or not a robot has passed through the priority gate based on the operation information. The operation information includes information on the scheduled passage time for the robot to pass through the priority gate, and in the notification process, the notification unit is configured to notify visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time. Alternatively, the operation information includes the robot's location information, and the facility management system is equipped with a control unit that inputs the operation information acquired by the information acquisition unit into an artificial intelligence unit and acquires from the artificial intelligence unit and outputs the planned passage time for the robot to pass through the priority gate corresponding to the operation information, and in the notification processing, the notification unit is configured to notify visual information including information that the robot will pass through the priority gate during a notification time period that includes the planned passage time output from the control unit. Alternatively, the facility management system may include a time restriction setting unit that sets a time restriction period that restricts the robot from passing through the priority gate, and an operation restriction unit that restricts the robot from passing through the priority gate during the time restriction period, and in the notification process, the notification unit is configured to notify visual information including information that the robot will not pass through the priority gate during the time restriction period. Alternatively, the facility management system includes a gate setting unit that sets one or more priority gates from multiple entry / exit gates, and the gate setting unit is configured to adjust the number of priority gates according to the number of robots in use. Alternatively, the facility management system includes a gate setting unit that sets one or more priority gates from among a plurality of entrance / exit gates, and the gate setting unit is configured to adjust the number of priority gates depending on the date and time.

[0007] The facility management method of the present disclosure is executed by a computer and manages the passage of robots moving within a facility, and includes steps of acquiring operation information of robots passing through priority gates installed within the facility, and notifying visual information for distinguishing whether or not a robot has passed through the priority gate based on the operation information. Notification Steps and The operation information includes information about a planned passage time for the robot to pass through the priority gate, and in the notification step, visual information including information that the robot will pass through the priority gate is notified during a notification time period that includes the planned passage time. It is something.

[0008] Furthermore, a facility management program disclosed herein is a facility management program that causes a computer to manage the passage of robots moving within a facility, and acquires operation information of robots passing through priority gates installed within the facility, and notifies visual information for distinguishing whether or not a robot has passed through the priority gate based on the operation information. Perform notification processing configured to cause a computer to The operation information includes information about a planned passage time for the robot to pass through the priority gate, and in the notification process, the facility management program is configured to cause the computer to issue visual information including information that the robot will pass through the priority gate during a notification time period that includes the planned passage time. It is something. [Effects of the Invention]

[0009] According to the technology disclosed herein, by accurately determining the time when a robot will pass through an entrance / exit gate and providing visual information in advance, it is possible to ensure smooth movement of facility users and robots within the facility. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram for explaining an overview of a facility management system according to a first embodiment. [Figure 2] 1 is a block diagram showing functions of a facilities management device according to a first embodiment. [Figure 3] FIG. 10 is a diagram for explaining a first embodiment of a notification process. [Figure 4] FIG. 10 is a diagram for explaining a second embodiment of the notification process. [Figure 5] FIG. 10 is a diagram for explaining a third embodiment of the notification process. [Figure 6] FIG. 10 is a diagram illustrating a fourth embodiment of the notification process. [Figure 7] FIG. 10 is a diagram illustrating a fifth embodiment of the notification process. [Figure 8] FIG. 10 is a diagram for explaining a sixth embodiment of the notification process. [Figure 9] 3 is a flowchart of a process executed in the facility management system according to the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating a modification of the hardware resources of the facilities management device. [Figure 11] FIG. 10 is a diagram for explaining the configuration of a modified example of the notification process. [Figure 12] FIG. 10 is a block diagram showing functions of a facilities management device related to a facilities management system according to a second embodiment. [Figure 13] 10 is a flowchart of a process executed in a facility management system according to a second embodiment. [Figure 14] FIG. 11 is a block diagram showing functions of a facilities management device related to a facilities management system according to a third embodiment. [Figure 15] 11 is a flowchart of a process executed in a facility management system according to a third embodiment. [Figure 16] FIG. 10 is a block diagram showing functions of a facilities management device related to a facilities management system according to a fourth embodiment. [Figure 17] 10 is a flowchart of a process executed in a facility management system according to a fourth embodiment. [Figure 18] FIG. 11 is a block diagram showing a modified example of the functions of a facilities management device in a facilities management system according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment will be described with reference to the drawings. Note that elements common to the various drawings are given the same reference numerals and redundant explanations will be omitted.

[0012] 1. Embodiment 1 1-1. Overview of the facility management system of the first embodiment 1 is a block diagram for explaining an overview of a facility management system according to embodiment 1. Facility management system 100 of this embodiment is a system that realizes smooth passage of facility users and robots moving within the facility at an entrance / exit gate within the facility.

[0013] The facility management system 100 of the first embodiment is applied to a managed area such as a facility. The facility may be, for example, an indoor facility, an outdoor facility, or a facility that combines these. The facility may, for example, consist of one or more buildings. The facility may also be, for example, part of a building. The facility management system 100 includes a facility management device 10, a robot 2, and a priority gate 4.

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

[0015] The robot 2 can pass through a priority gate 4, which will be described later, in cooperation with the facility's equipment control system. The robot 2 operates under the control of a robot control device (not shown). There are no limitations on the attributes and operation control of the robot 2. For example, the attributes of the robot 2 may be a cleaning robot that cleans floors, a security robot that guards buildings, etc. The robot 2 communicates with the robot control device via a communication network 8, for example, wirelessly. Alternatively, the robot control device may be mounted on the robot 2.

[0016] The priority gate 4 is one or more entrance / exit gates installed within the facility that are set as a gate through which the robot 2 is given priority. There are no limitations on how the priority gate 4 is set. For example, the priority gate 4 is set in advance from one or more entrance / exit gates. Note that the priority gate 4 is intended to give priority to the robot's passage, and is not intended to prohibit other facility users from passing through.

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

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

[0019] The memory 14 stores a facility management program 141 and various data 142 for operating the facility management program 141. The processor 12 includes a CPU (Central Processing Unit). The processor 12 reads and executes the facility management program 141 to realize various functions of the facility management device 10. The realized functions will be described in detail below. The facility management program 141 may be recorded on a computer-readable recording medium, or may be stored on a server capable of communicating with the facility management device 10, such as a cloud server.

[0020] Consider a case where a robot 2 passes through a priority gate 4 in an area of ​​a facility to which such a facility management system 100 is applied. The facility management device 10 acquires operation information from the robot 2. This process will be referred to as "information acquisition process" hereinafter. The operation information here is information for understanding the movement status of the robot 2 within the facility, and includes, for example, information for identifying the priority gate 4 through which the robot 2 is scheduled to pass within the facility, and information on the planned passage time for passing through the priority gate 4.

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

[0022] Facility management device 10 issues a notification command during the notification time period set in the time period setting process, thereby notifying facility users around priority gate 4 of visual information for distinguishing whether robot 2 is passing through. This process will be referred to as the "notification process" hereinafter. A specific example of the notification process will be described later.

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

[0024] 1-2. Functional configuration of the facility management device according to the first embodiment Next, the functional configuration of facility management device 10 included in facility management system 100 will be described in more detail. Fig. 2 is a block diagram showing the functions of the facility management device according to embodiment 1. Facility management device 10 includes an information acquisition unit 20, a time period setting unit 22, and an alarm unit 24 as functions realized by processor 12 reading and executing facility management program 141.

[0025] The information acquisition unit 20 is a functional block for executing the above-mentioned information acquisition process. The operation information acquired by the information acquisition process is sent to the time period setting unit 22.

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

[0027] The notification unit 24 is a functional block for executing the above-mentioned notification process. Some specific examples of the notification process will be described below.

[0028] 1-3. Specific Example of Notification Processing 1-3-1. First Example FIG. 3 is a diagram for explaining a first embodiment of the notification process. In the first embodiment, the facility management system 100 is provided with a lamp 40 installed at the priority gate 4. The lamp 40 has, for example, a cylindrical shape, and a priority display 40a indicating "robot use permitted (priority)" is provided on the cylindrical surface. The lamp 40 is configured to be switchable between a lit state shown in (A) of the figure and an off state shown in (B) of the figure. The priority display 40a is configured to be visible when the lamp 40 is lit, and to be difficult to see when the lamp 40 is off.

[0029] The lamp 40 is controlled to be in an off state as shown in (B) in the figure during normal times except during the notification time period. In the notification process of the first embodiment, the notification unit 24 issues a notification instruction during the robot priority time period, which is the notification time period, and turns on the lamp 40 as shown in (A) in the figure. As a result, visual information indicating that the robot 2 will be passing through the priority gate 4 is notified to those around during the notification time period.

[0030] In the first embodiment of the notification process, the priority display 40a provided on the lamp 40 is not an essential component. That is, for example, if the priority gate 4 is configured to have a permanent display indicating that "robots are allowed (priority) when the lamp is lit," it can be made known to those around that "robots have priority" when the lamp 40 is lit.

[0031] 1-3-2. Second embodiment of notification process 4 is a diagram for explaining a second embodiment of the notification process. In the second embodiment, the facility management system 100 is equipped with a light-emitting device 42 that changes the light color of a light-emitting unit 42a of a priority gate 4. The light-emitting unit 42a is installed in a position that is visible from the front of the priority gate 4, and is configured so that, for example, an internal area shaped like an arrow emits light. The light-emitting device 42 is configured to be able to change the light color of the light-emitting unit 42a between a green light-emitting state shown in (A) of the figure and a red light-emitting state shown in (B) of the figure.

[0032] During normal times other than the notification time period, the light-emitting unit 42a is controlled to emit green light, as shown in (A) in the figure. In the notification process of the second embodiment, the notification unit 24 issues a notification instruction to the light-emitting device 42 during the robot priority time period, which is the notification time period, and causes the light-emitting unit 42a to emit red light, as shown in (A) in the figure. This notifies those around it with visual information indicating that the robot 2 is passing through the priority gate 4.

[0033] In the second embodiment of the notification process, there are no limitations on the shape, color, or form of light emitted by the light-emitting unit 42a. In addition, to inform facility users of the light-emitting state when robots have priority, a sign such as "Red light indicates robots will be used (priority)" may be permanently displayed at the priority gate 4.

[0034] 1-3-3. Third embodiment of notification process FIG. 5 is a diagram illustrating a third embodiment of the notification process. In the third embodiment, the facility management system 100 includes a width adjustment mechanism 44 installed at the priority gate 4. The width adjustment mechanism 44 is configured to be able to adjust the gate width by moving one or both of a pair of structures 44a that make up the priority gate 4 in the width direction of the priority gate 4. Specifically, the width adjustment mechanism 44 is configured to be able to switch the gate width of the priority gate 4 between a normal gate width during normal operation shown in FIG. 5A and a wide gate width during robot priority operation shown in FIG. 5B. The wide gate width is wider than the normal gate width.

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

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

[0037] 1-3-4. Fourth embodiment of notification processing FIG. 6 is a diagram for explaining a fourth embodiment of the notification process. In the fourth embodiment, the facility management system 100 is provided with a display 46 installed at the priority gate 4. The display 46 is provided with a screen 46a capable of displaying an image. The display 46 is configured to be switchable between a no-display state shown in FIG. 6(A) and an image display state shown in FIG. 6(B). The displayed image here is an image indicating that "robot use is permitted (priority)," and examples thereof include an image of a priority gate sign, an image of the robot moving, a still image of the robot, etc.

[0038] The display 46 is controlled to the no-display state shown in (A) in the figure during normal times except during the notification time period. In the notification process of the fourth embodiment, the notification unit 24 issues a notification instruction to the display 46 during the robot priority time period, which is the notification time period, and causes an image to be displayed on the screen 46a shown in (B) in the figure. This notifies those around it with visual information indicating that the robot 2 is passing through the priority gate 4.

[0039] In the fourth embodiment of the notification process, the image displayed on the screen 46a of the display device 46 is not limited to a specific configuration as long as it is an image that can make facility users aware that "robot priority" is given to the facility users. Furthermore, the display device 46 is not limited to a specific location or configuration as long as the screen 46a is visible from around the priority gate 4 where it is installed.

[0040] 1-3-5. Fifth embodiment of notification processing FIG. 7 is a diagram illustrating a fifth embodiment of the notification process. In the fifth embodiment, the facility management system 100 includes a height adjustment mechanism 48 installed in the priority gate 4. The height adjustment mechanism 48 is configured to adjust the gate height by moving an upper frame 48a constituting the priority gate 4 in the height direction of the priority gate 4. Specifically, the height adjustment mechanism 48 is configured to switch the gate height of the priority gate 4 between a normal gate height during normal operation shown in FIG. 7A and a specified gate height during robot priority operation shown in FIG. 7B. The specified gate height is a height that is determined in advance as a height different from the normal gate height. The specified gate height may be any height higher or lower than the normal gate height, as long as it is within the range of gate heights that the robot 2 can pass through. FIG. 7B illustrates an example in which the specified gate height is lower than the normal gate height.

[0041] During normal times, excluding the notification time period, the gate height of the priority gate 4 is controlled to the normal gate height shown in (A) in the figure. Then, in the notification process of the fifth embodiment, the notification unit 24 issues a notification instruction to the height adjustment mechanism 48 during the robot priority time period, which is the notification time period, to change the gate height of the priority gate 4 to the specified gate height shown in (B) in the figure. The priority gate 4 that has been changed to the specified gate height can provide visual information indicating that the robot 2 will pass through the priority gate 4. This visually notifies those around that the robot 2 will pass through the priority gate 4.

[0042] In the third embodiment of the notification process, the specific internal configuration of the height adjustment mechanism 48 is not limited.

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

[0044] The opening / closing mechanism 50 is controlled so that the flap 50a is in the open state shown in (A) in the figure during normal times except during the notification time period. In the notification process of the sixth embodiment, the notification unit 24 issues a notification instruction to the opening / closing mechanism 50 during the robot priority time period, which is the notification time period, and operates the flap 50a to the closed state shown in (B) in the figure. The priority gate 4 with the flap 50a in the closed state can provide visual information indicating that the robot 2 will pass through the priority gate 4. This visually notifies those around that the robot 2 will pass through the priority gate 4.

[0045] In the first embodiment of the notification process, the priority display 50b on the flap 50a is not an essential component. In other words, as long as the configuration can make facility users aware that "robots have priority" when the flap 50a is closed, for example, a display indicating "robots can be used (priority) when the flap is closed" may be permanently displayed on the priority gate 4.

[0046] 1-4. Specific processing executed by the facilities management device according to the first embodiment Specific processing executed in facility management system 100 will be described below with reference to a flowchart. Fig. 9 is a flowchart of processing executed in the facility management system according to the first embodiment. The routine shown in Fig. 9 is executed by processor 12 of facility management device 10 executing facility management program 141 stored in memory 14. Note that this routine also represents part of a facility management method in facility management system 100 that notifies in advance visual information for distinguishing whether or not robot 2 has passed through priority gate 4.

[0047] In step S100 of the routine shown in Fig. 9, the information acquisition unit 20 executes information acquisition processing to acquire operation information of the robot 2 activated within the facility. The operation information includes information on the planned passage time for passing through the priority gate 4. The acquired operation information is sent to the time zone setting unit 22. After the processing of step S100 is performed, the process proceeds to step S102.

[0048] In step S102, the time period setting unit 22 executes a time period setting process to set a notification time period. The set notification time period is sent to the notification unit 24. After the process of step S102 is performed, the process proceeds to step S104.

[0049] In step S104, the notification unit 24 executes notification processing to notify visual information to facility users around the priority gate 4. Here, the processing of any one of the first to sixth embodiments described above is executed. When the processing of step S104 is executed, the processing of this routine ends.

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

[0051] 1-5. Variations The facility management system 100 of the first embodiment may employ the following modified aspects: These modified aspects may also be applied to facility management systems of other embodiments described later.

[0052] 1-5-1. Hardware Resources of Facility Management Device 10

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

[0054] The memory 14 may be independent of the facility management device 10 and may be performed by a cloud or the like.

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

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

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

[0058] In the notification process, the notification unit 24 may perform a combination of two or more processes among the processes of the first to sixth embodiments described above.

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

[0060] 2-1. Functional configuration of the facility management system according to the second embodiment Facility management system 100 of the second embodiment is characterized by a process of using artificial intelligence (AI) functions to acquire the planned passage time for robot 2 to pass through priority gate 4. Fig. 12 is a block diagram showing the functions of a facility management device related to the facility management system of the second embodiment.

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

[0062] The artificial intelligence unit 30 refers to an artificial intelligence having intelligent functions such as inference and judgment, and its operating environment. The artificial intelligence unit 30 is composed of a trained model storage unit 32 and a model control unit .

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

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

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

[0066] The control unit 26 is an interface capable of exchanging information with external systems. Operation information is input to the control unit 26 from the information acquisition unit 20. The control unit 26 inputs the acquired operation information to the artificial intelligence unit 30, thereby acquiring the planned passage time corresponding to the operation information from the artificial intelligence unit 30. That is, the control unit 26 inputs the operation information acquired from the information acquisition unit 20 to the artificial intelligence unit 30 in order to acquire the planned passage time corresponding to the operation information from the artificial intelligence unit 30. The control unit 26 outputs the acquired planned passage time to the time period setting unit 22.

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

[0068] The trained model storage unit 32 stores trained models. The trained models are models that are trained by linking, for example, past robot positions with the robot's travel route records.

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

[0070] The model may be, for example, a model called a neural network (NN), a convolutional neural network (CNN), a recurrent neural network (RNN), a variational autoencoder (VAE), a generative adversarial network (GAN), a diffusion model, a transformer, a large language model (LLM), a visual language model (VLM), a bidirectional encoder representations from transformers (BERT), a generative pre-trained transformer (GPT), or a contrastive language image pre-training (CLIP). Note that the above-mentioned models are not exclusive; for example, LLM, VLM, BERT, and GPT are included in the transformer. Also, for example, the transformer is included in the neural network. Furthermore, the learning algorithm and model may be a combination of multiple types. The model also includes a multimodal model that is trained by combining multiple different types of data.

[0071] When the model control unit 34 acquires operation information, it outputs a scheduled travel time corresponding to the operation information based on the operation information and the trained model. That is, when the model control unit 34 acquires operation information, it generates and outputs a scheduled travel time corresponding to the operation information using the model indicated by the trained model.

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

[0073] 2-2. Specific processing executed by the facility management system according to the second embodiment Fig. 13 is a flowchart of processing executed in the facility management system according to embodiment 2. The routine shown in Fig. 13 is executed by processor 12 of facility management device 10 executing facility management program 141 stored in memory 14. Note that this routine also represents part of a facility management method in facility management system 100 that notifies in advance visual information for distinguishing whether or not robot 2 will pass through priority gate 4.

[0074] In step S200 of the routine shown in Fig. 13, the information acquisition unit 20 executes information acquisition processing to acquire operation information of the robot 2 activated within the facility. The operation information includes position information of the robot 2. The acquired operation information is sent to the control unit 26. After the processing of step S200 is performed, the process proceeds to step S202.

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

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

[0077] 2-3. Variations The facility management system 100 according to the second embodiment may employ the following modified aspects.

[0078] 2-3-1. Artificial Intelligence Department 30 12 shows a case where artificial intelligence unit 30 is provided externally to facility management device 10. However, part or all of artificial intelligence unit 30 may be provided internally to facility management device 10. When part of artificial intelligence unit 30 is provided internally to facility management device 10, facility management device 10 may include model control unit 34 instead of control unit 26. When the entire artificial intelligence unit 30 is provided internally to facility management device 10, facility management device 10 may include artificial intelligence unit 30 instead of control unit 26.

[0079] The trained model storage unit 32 may also be configured with multiple databases connected via a network.

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

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

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

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

[0084] 3-2. Specific processing executed by the facility management system according to the third embodiment Fig. 15 is a flowchart of processing executed in the facility management system according to embodiment 3. The routine shown in Fig. 15 is executed by processor 12 of facility management device 10 executing facility management program 141 stored in memory 14. Note that this routine also represents part of a facility management method in facility management system 100 that notifies in advance visual information for distinguishing whether or not robot 2 will pass through priority gate 4.

[0085] In step S300, the information acquisition unit 20 executes information acquisition processing to acquire operation information of the robot 2 activated within the facility. The acquired operation information is sent to the time period setting unit 22 and the gate setting unit 28. After the processing of step S300 is performed, the processing proceeds to steps S302 and S304.

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

[0087] In step S304, the time period setting unit 22 executes a time period setting process to set the notification time period. Information about the set notification time period is sent to the notification unit 24. After the processes of steps S302 and S304 are performed, the process proceeds to step S306.

[0088] In step S306, the notification unit 24 executes notification processing during the notification time period, and notifies visual information at the set priority gate 4. When the processing of step S306 is executed, the processing of this routine ends.

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

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

[0091] 4-1. Functional configuration of the facility management system according to the fourth embodiment Facility management system 100 according to the fourth embodiment is characterized by a process for restricting the time periods during which robot 2 can pass through priority gate 4. Fig. 16 is a block diagram showing the functions of a facility management device related to the facility management system according to the fourth embodiment.

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

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

[0094] The time restriction setting unit 36 ​​is a functional block for executing a process for setting a time restriction that restricts the robot 2 from passing through the priority gate 4. This process is hereinafter referred to as the "time restriction setting process." In the time restriction setting process, the time restriction setting unit 36 ​​sets a predetermined time period as a time period during which many users of the entrance / exit gate are present as the time restriction. Examples of the predetermined time period include the arrival / departure time period and the lunch break time period. The set time restriction is sent to the operation restriction unit 38 and the notification unit 24.

[0095] The movement restriction unit 38 is a functional block for executing a process for restricting the movement of the robot 2 during a restricted time period. This process is hereinafter referred to as the "movement restriction process." In the movement restriction process, if the planned passage time falls within the restricted time period set by the time period setting process, the movement restriction unit 38 generates an operation instruction for restricting the movement of the robot 2 passing through the priority gate 4. Examples of the operation instruction here include an instruction to detour around the priority gate 4, an instruction to wait at a waiting location, etc. The generated operation instruction is sent to the robot 2. Upon receiving the operation instruction, the robot 2 has its movement controlled in accordance with the operation instruction.

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

[0097] 4-2. Specific processing executed by the facility management system according to the fourth embodiment Fig. 17 is a flowchart of processing executed in a facility management system according to embodiment 4. The routine shown in Fig. 17 is executed by processor 12 of facility management device 10 executing facility management program 141 stored in memory 14. Note that this routine also represents part of a facility management method in facility management system 100 that notifies in advance visual information for distinguishing whether or not robot 2 will pass through priority gate 4.

[0098] In step S400, the information acquisition unit 20 executes information acquisition processing to acquire operation information of the robot 2 activated within the facility. The acquired operation information is sent to the time limit setting unit 36 ​​and the operation restriction unit 38. After the processing of step S400 is performed, the process proceeds to step S402.

[0099] In step S402, the time limit setting unit 36 ​​executes a time limit setting process to set a time limit. Information about the set time limit is sent to the operation limit unit 38 and the notification unit 24. After the process of step S402 is performed, the process proceeds to step S404.

[0100] The processing in steps S404 and S406 corresponds to the operation restriction processing executed by the operation restriction unit 38. In step S404, the operation restriction unit 38 determines whether the scheduled travel time included in the acquired operation information is included in the restricted time period. If the determination is affirmative, the processing proceeds to step S406, and if the determination is negative, the processing proceeds to step S408.

[0101] In step S406, the movement restriction unit 38 generates a movement instruction for restricting the movement of the robot 2 passing through the priority gate 4, and transmits it to the robot 2. After the process of step S406 is performed, the process proceeds to step S408.

[0102] In step S408, the notification unit 24 executes notification processing to notify visual information including information that the robot 2 will not pass through the priority gate 4 during the restricted time period. When the processing of step S308 is executed, the processing of this routine ends.

[0103] According to the facility management system 100 of the fourth embodiment described above, it is possible to restrict the robot 2 from passing through the priority gate 4 during a set restricted time period, and to provide visual information including information that the robot 2 will not be passing through the priority gate 4. This makes it possible to realize smooth movement of the robot 2 and facility users within the facility.

[0104] 4-3. Modified Examples The facility management system 100 of the fourth embodiment may employ the following modified aspects: These modified aspects may also be applied to the facility management systems of the other embodiments.

[0105] 4-3-1. Facility management system 100 of the fourth embodiment may be configured to use artificial intelligence (AI) functions to obtain the planned passage time for robot 2 to pass through priority gate 4. FIG. 18 is a block diagram showing a modified example of the functions of a facility management device related to the facility management system of the fourth embodiment. Facility management system 100 of the modified example shown in this figure further includes an artificial intelligence unit 30 in addition to facility management device 10. Facility management device 10 also includes a control unit 26 as one of its functional blocks. The configurations of artificial intelligence unit 30 and control unit 26, and the operation of obtaining the planned passage time, are similar to those of facility management system 100 of the second embodiment described above.

[0106] According to the facility management system 100 of this modified example of the fourth embodiment, the artificial intelligence unit 30 can accurately estimate the planned passage time period during which the robot 2 will use the priority gate 4. This makes it possible to restrict the robot 2 from passing through the priority gate 4 during the set restricted time period, and to provide visual information including information that the robot 2 will not be passing through the priority gate 4.

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

[0108] Various aspects of the present disclosure are summarized below as appendices.

[0109] (Appendix 1) In a facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; A facility management system equipped with: (Appendix 2) the operation information includes information about a planned passage time for the robot to pass through the priority gate, In the notification process, the notification unit notifies the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time. 2. The facility management system of claim 1, configured to: (Appendix 3) the operation information includes position information of the robot, a control unit that inputs the operation information acquired by the information acquisition unit into an artificial intelligence unit, and acquires from the artificial intelligence unit and outputs a planned passage time for the robot to pass through the priority gate, the planned passage time corresponding to the operation information; In the notification process, the notification unit notifies the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time output from the control unit. 2. The facility management system of claim 1, configured to: (Appendix 4) a ramp installed at the priority gate; In the notification process, the notification unit turns on the lamp. The facility management system according to any one of Supplementary Note 1 to Supplementary Note 3, configured as follows: (Appendix 5) a light-emitting device that changes the color of light emitted from a light-emitting portion of the priority gate; In the notification process, the notification unit controls the light emitting device to change the light emission color of the light emitting unit. The facility management system according to any one of Supplementary Note 1 to Supplementary Note 4, configured as follows: (Appendix 6) a width adjustment mechanism for adjusting the gate width of the priority gate; In the notification process, the notification unit The width adjusting mechanism is driven to widen the gate width of the priority gate. 6. The facility management system according to any one of appendices 1 to 5, configured as follows: (Appendix 7) A display is provided at the priority gate, In the notification process, the notification unit A priority gate sign, an image of the robot moving, or a still image of the robot is displayed on the display. 7. The facility management system according to any one of appendices 1 to 6, configured as follows: (Appendix 8) a height adjustment mechanism for adjusting the gate height of the priority gate; In the notification process, the notification unit The height adjustment mechanism is driven to change the gate height of the priority gate. 8. The facility management system according to any one of appendices 1 to 7, configured as follows: (Appendix 9) an opening / closing mechanism for opening and closing a flap installed at the priority gate; In the notification process, the notification unit The opening and closing mechanism is driven to close the flap. 9. The facility management system according to any one of appendices 1 to 8, configured as follows: (Appendix 10) a time limit setting unit that sets a time limit during which the robot is permitted to pass through the priority gate; a movement restriction unit that restricts the robot from passing through the priority gate during the restricted time period, In the notification process, the notification unit notifies the visual information including information that the robot will not pass through the priority gate during the restricted time period. 10. The facility management system according to any one of Supplementary Note 1 to Supplementary Note 9, configured as follows: (Appendix 11) The time limit setting unit sets a predetermined specified time period as the time limit. 11. The facility management system of claim 10, configured to: (Appendix 12) the operation information includes position information of the robot, a control unit that inputs the operation information acquired by the information acquisition unit into an artificial intelligence unit, and acquires from the artificial intelligence unit and outputs a planned passage time for the robot to pass through the priority gate, the planned passage time corresponding to the operation information; The operation restriction unit restricts the robot from passing through the priority gate when the planned passage time is included in the restricted time period. 11. The facility management system of claim 10, configured to: (Appendix 13) 13. A facility management system according to any one of claims 1 to 12, comprising a gate setting unit that sets one or more priority gates from a plurality of entrance and exit gates. (Appendix 14) The gate setting unit adjusts the number of priority gates according to the number of robots in use. 14. The facility management system of claim 13, configured to: (Appendix 15) The gate setting unit adjusts the number of priority gates depending on the date and time. 14. The facility management system of claim 13, configured to: (Appendix 16) A facility management method executed by a computer for managing passage of a robot moving within a facility, comprising: acquiring operation information of the robot passing through a priority gate installed in the facility; a step of notifying visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; A facility management method comprising: (Appendix 17) A facility management program that causes a computer to manage the passage of a robot moving within a facility, Acquire operation information of the robot passing through a priority gate installed in the facility; Based on the operation information, visual information is provided to distinguish whether the robot has passed through the priority gate. A facility management program configured to cause a computer to perform the following. [Explanation of symbols]

[0110] 2 Robot, 4 Priority gate, 8 Communication network, 10 Facility management device, 12 Processor, 14 Memory, 16 Dedicated hardware, 18 Processing circuit, 20 Information acquisition unit, 22 Time period setting unit, 24 Notification unit, 26 Control unit, 28 Gate setting unit, 30 Artificial intelligence unit, 32 Learned model memory unit, 34 Model control unit, 36 Restricted time period setting unit, 38 Operation restriction unit, 40 Lamp, 40a Priority display, 40b Permanent display, 40c Normal display, 42 Light-emitting device, 42a Light-emitting unit, 44 Width adjustment mechanism, 44a Structure, 46 Display, 46a Screen, 48 Adjustment mechanism, 48a Upper frame, 50 Opening and closing mechanism, 50a Flap, 50b Priority display, 100 Facility management system, 141 Facility management program, 142 Data

Claims

1. In a facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; Equipped with the operation information includes information about a planned passage time for the robot to pass through the priority gate, In the notification process, the notification unit notifies the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time. A facility management system configured as follows:

2. A facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; Equipped with the operation information includes position information of the robot, a control unit that inputs the operation information acquired by the information acquisition unit into an artificial intelligence unit, and acquires from the artificial intelligence unit and outputs a planned passage time for the robot to pass through the priority gate, the planned passage time corresponding to the operation information; In the notification process, the notification unit notifies the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time output from the control unit. A facility management system configured as follows:

3. a ramp installed at the priority gate; In the notification process, the notification unit turns on the lamp.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

4. a light-emitting device that changes the color of light emitted from a light-emitting portion of the priority gate; In the notification process, the notification unit controls the light emitting device to change the light emission color of the light emitting unit.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

5. a width adjustment mechanism for adjusting the gate width of the priority gate; In the notification process, the notification unit The width adjusting mechanism is driven to widen the gate width of the priority gate.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

6. A display is provided at the priority gate, In the notification process, the notification unit A priority gate sign, an image of the robot moving, or a still image of the robot is displayed on the display.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

7. a height adjustment mechanism for adjusting the gate height of the priority gate; In the notification process, the notification unit The height adjustment mechanism is driven to change the gate height of the priority gate.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

8. an opening / closing mechanism for opening and closing a flap installed at the priority gate; In the notification process, the notification unit The opening and closing mechanism is driven to close the flap.

3. The facility management system according to claim 1, wherein the facility management system is configured to:

9. A facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; a time limit setting unit that sets a time limit during which the robot is permitted to pass through the priority gate; a movement restriction unit that restricts the robot from passing through the priority gate during the restricted time period, In the notification process, the notification unit notifies the visual information including information that the robot will not pass through the priority gate during the restricted time period. A facility management system configured as follows:

10. The time limit setting unit sets a predetermined specified time period as the time limit. The facility management system according to claim 9, configured to:

11. the operation information includes position information of the robot, a control unit that inputs the operation information acquired by the information acquisition unit into an artificial intelligence unit, and acquires from the artificial intelligence unit and outputs a planned passage time for the robot to pass through the priority gate, the planned passage time corresponding to the operation information; The operation restriction unit restricts the robot from passing through the priority gate when the planned passage time is included in the restricted time period. The facility management system according to claim 9, configured to:

12. A facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; a gate setting unit that sets one or more priority gates from a plurality of entrance / exit gates, The gate setting unit adjusts the number of priority gates according to the number of robots in use. A facility management system configured as follows:

13. A facility management system that manages the passage of robots moving within a facility, an information acquisition unit that acquires operation information of the robot passing through a priority gate installed in the facility; a notification unit that performs notification processing to notify visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; a gate setting unit that sets one or more priority gates from a plurality of entrance / exit gates, The gate setting unit adjusts the number of priority gates depending on the date and time. A facility management system configured as follows:

14. A facility management method executed by a computer for managing passage of a robot moving within a facility, comprising: acquiring operation information of the robot passing through a priority gate installed in the facility; a notification step of notifying visual information for distinguishing whether the robot has passed through the priority gate based on the operation information; Equipped with the operation information includes information about a planned passage time for the robot to pass through the priority gate, A facility management method, wherein in the notification step, the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time is notified.

15. A facility management program that causes a computer to manage the passage of a robot moving within a facility, Acquire operation information of the robot passing through a priority gate installed in the facility; Based on the operation information, a notification process is performed to notify visual information for distinguishing whether the robot has passed through the priority gate. configured to cause a computer to the operation information includes information about a planned passage time for the robot to pass through the priority gate, In the notification processing, the facility management program is configured to cause a computer to notify the visual information including information that the robot will pass through the priority gate during a notification time period that includes the scheduled passage time.

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