Mobility management system, mobility management method and program

Abstract

The purpose of the present disclosure is to restrict the movement of a robot more accurately. A movement management system (1) comprises: a positioning unit (131); a generating unit (132); and a notification processing unit (133). The positioning unit (131) determines the position of a robot (2) on the basis of a beacon signal (B2) received by a scanner (3) installed in a facility. The beacon signal (B2) is transmitted from a robot beacon (23) mounted on the robot (2) which moves autonomously. The generating unit (132) generates movement guidance information. The notification processing unit (133) transmits the movement guidance information to the robot (2). The movement guidance information includes position information regarding the position of the robot (2) obtained by the positioning unit (131), and restriction information regarding a range of restricted areas within the facility where the movement of the robot (2) is restricted.

Description

[Technical Field]

[0001] The present disclosure generally relates to a mobility management system, a mobility management method, and a program, and more particularly to a mobility management system, a mobility management method, and a program for controlling an autonomously moving robot. [Background technology]

[0002] The robot described in Patent Document 1 includes a moving mechanism, a photographing unit, a marker recognition unit, and a movement control unit. The photographing unit photographs the surrounding space. The marker recognition unit recognizes a predetermined marker included in the image photographed by the photographing unit. The movement control unit controls the movement of the moving mechanism based on the recognized marker.

[0003] In this way, the robot described in Patent Document 1 is configured to control its movement by recognizing captured images. However, if the robot described in Patent Document 1 has low image recognition capabilities, there is a possibility that its movement will not be controlled accurately. For example, the robot may not be able to recognize the presence of a transparent obstacle made of glass or the like, and may not be able to restrict its movement into an area where the obstacle exists. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 240208 Summary of the Invention

[0005] The present disclosure aims to provide a movement management system, a movement management method, and a program that can more accurately restrict the movement of a robot.

[0006] A mobility management system according to an aspect of the present disclosure includes a positioning unit, a generation unit, and a notification processing unit. a processing unit;The positioning unit determines the position of the robot based on a beacon signal received by a scanner installed in a facility. The beacon signal is transmitted from a robot beacon mounted on the autonomously moving robot. The generation unit generates travel guidance information. The notification processing unit transmits the travel guidance information to the robot. The processing unit moves the robot in accordance with the movement guide information. The movement guidance information includes position information regarding the position of the robot determined by the positioning unit, and restriction information regarding the range of a restricted area within the facility in which the movement of the robot is restricted. The processing unit moves the robot so as to avoid the restricted area.

[0007] A mobility management method according to one aspect of the present disclosure includes a positioning step, a generating step, and a notifying step. processing steps; The method includes: determining the position of the robot based on a beacon signal received by a scanner installed in a facility; transmitting the beacon signal from a robot beacon mounted on the autonomously moving robot; generating movement guidance information; and transmitting the movement guidance information to the robot. In the processing step, the robot is moved in accordance with the movement guide information. The movement guidance information includes position information regarding the position of the robot determined in the positioning step, and restriction information regarding the range of a restricted area within the facility in which the movement of the robot is restricted. In the processing step, the robot is moved so as to avoid the restricted area.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors of a computer system to execute the mobility management method. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram of a mobility management system and devices used with the mobility management system according to one embodiment. [Figure 2] FIG. 2 is a plan view of a facility in which the mobility management system is used. [Figure 3] FIG. 3 is a sequence diagram showing an example of the operation of the mobility management system. DETAILED DESCRIPTION OF THE INVENTION

[0010] A mobility management system, a mobility management method, and a program according to an embodiment will be described below with reference to the drawings. However, the embodiment described below is merely one of various embodiments of the present disclosure. The embodiment described below can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, each figure described in the embodiment described below is a schematic diagram, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios.

[0011] (Embodiment) (overview) A mobility management system 1 (see FIG. 1) of this embodiment controls the movement of a robot 2 in a facility F1 (see FIG. 2). The mobility management system 1 is capable of communicating with the robot 2. The mobility management system 1 controls the movement of the robot 2 by communicating with the robot 2. In this disclosure, "capable of communication" means that signals can be sent and received directly or indirectly via a network, a repeater, or the like, using an appropriate communication method such as wired communication or wireless communication.

[0012] In the present disclosure, a "facility" refers to, for example, a house, a store, an office building, a factory, a warehouse, a commercial complex, a library, an art gallery, a museum, an amusement facility, a theme park, a park, an airport, a train station, a baseball stadium, a hotel, a hospital, etc. Alternatively, a "facility" may be, for example, a mobile object such as a ship or a railroad car. Furthermore, a "facility" may be an indoor facility or an outdoor facility.

[0013] As shown in FIG. 1, the movement management system 1 of this embodiment includes a positioning unit 131, a generation unit 132, and a notification processing unit 133. The positioning unit 131 determines the position of the robot 2 based on a beacon signal B2 received by a scanner 3 installed in facility F1. The beacon signal B2 is transmitted from a robot beacon 23 mounted on the autonomously moving robot 2. The generation unit 132 generates movement guidance information. The notification processing unit 133 transmits the movement guidance information to the robot 2. The movement guidance information includes position information regarding the position of the robot 2 determined by the positioning unit 131 and restriction information regarding the range of a restricted area R1 (see FIG. 2) within facility F1 in which the movement of the robot 2 is restricted.

[0014] According to this embodiment, the restricted area R1 can be determined more reliably than when the robot 2 determines the restricted area R1 based only on the output of the sensor 24 provided in the robot 2. Therefore, the movement of the robot 2 can be restricted more accurately.

[0015] The movement management method of this embodiment also includes a positioning step, a generation step, and a notification step. In the positioning step, the position of the robot 2 is determined based on a beacon signal B2 received by a scanner 3 installed in the facility F1. The beacon signal B2 is transmitted from a robot beacon 23 mounted on the autonomously moving robot 2. In the generation step, movement guidance information is generated. In the notification step, the movement guidance information is transmitted to the robot 2. The movement guidance information includes position information regarding the position of the robot 2 determined in the positioning step, and restriction information regarding the range of a restricted area R1 within the facility F1 in which the movement of the robot 2 is restricted.

[0016] The mobility management method can be realized as a program. The program of this embodiment is a program for causing one or more processors of a computer system to execute the mobility management method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0017] (detail) (1) Overall structure The mobility management system 1 of this embodiment and various configurations used together with the mobility management system 1 will be described in more detail below.

[0018] As shown in FIG. 1, the mobility management system 1 is used, for example, together with one or more (two in FIG. 1) robots 2, one or more (three in FIG. 1) scanners 3, one or more (two in FIG. 1) facility beacons 4, a hub 5, a repeater 6, and an information terminal 7.

[0019] The hub 5 relays communications between the mobility management system 1 and the plurality of scanners 3. A signal output from the mobility management system 1 is branched at the hub 5 and transmitted to the plurality of scanners 3.

[0020] The hub 5 is, for example, a PoE (Power over Ethernet) hub, and is electrically connected to the plurality of scanners 3 via LAN (Local Area Network) cables. The hub 5 supplies power to the plurality of scanners 3.

[0021] The repeater 6 relays communication between the mobility management system 1 and the multiple robots 2. The repeater 6 also relays communication between the mobility management system 1 and the multiple facility beacons 4. The repeater 6 is, for example, a Wi-Fi (registered trademark) router. The repeater 6 communicates with the multiple robots 2 and the multiple facility beacons 4 via wireless communication using radio waves or the like.

[0022] Each of the multiple robots 2 has a robot beacon 23 that transmits a beacon signal B2. Each of the multiple facility beacons 4 transmits a beacon signal B4. The beacon signals B2 and B4 are radio wave signals. Each of the multiple scanners 3 receives the beacon signals B2 and B4 and measures the received signal strength (RSSI: Received Signal Strength Indicator) of the received beacon signals B2 and B4.

[0023] (2) Movement management system The mobility management system 1 includes a communication unit 11, a storage unit 12, and a processing unit 13.

[0024] The communication unit 11 includes a communication interface device. The communication unit 11 is capable of communicating with a plurality of robots 2, a plurality of scanners 3, and a plurality of facility beacons 4 via the communication interface device. The communication unit 11 acquires, from the plurality of scanners 3, information on the received signal strength of the beacon signals B2 and B4 and identification information on the transmission sources of the beacon signals B2 and B4.

[0025] The storage unit 12 is a storage device configured by a hard disk drive (HDD), a solid state drive (SSD), etc. The storage unit 12 stores map information of the facility F1, information on the positions of the multiple scanners 3, etc.

[0026] The processing unit 13 includes a computer system having one or more processors and a memory. At least some of the functions of the processing unit 13 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0027] The processing unit 13 has a positioning unit 131, a generation unit 132, and a notification processing unit 133. Note that these merely indicate functions realized by the processing unit 13, and do not necessarily indicate actual configurations.

[0028] The positioning unit 131 determines the position of the source of the beacon signals B2 and B4 using information on the received signal strength of the beacon signals B2 and B4. For example, when the positioning unit 131 determines the position of the robot 2 that is the source of the beacon signal B2, the multiple scanners 3 measure the received signal strength of the beacon signal B2. The beacon signal B2 also includes identification information of the robot 2 that is the source of the beacon signal. Each of the multiple scanners 3 transmits a first signal to the mobility management system 1, the first signal including information on the received signal strength of the beacon signal B2, the identification information of the source, and the identification information of the scanner 3 itself. The communication unit 11 of the mobility management system 1 receives the first signal. Based on the received signal strength measured by three or more scanners 3 out of the multiple scanners 3, the positioning unit 131 determines the distance between the robot 2 that is the source of the beacon signal B2 and each of the three or more scanners 3. Furthermore, the positioning unit 131 determines the position of the robot 2 by three-point positioning using the distances.

[0029] Furthermore, when the positioning unit 131 determines the position of the facility beacon 4 that is the transmission source of the beacon signal B4, the multiple scanners 3 measure the received signal strength of the received beacon signal B4. The beacon signal B4 also includes identification information of the facility beacon 4 that is the transmission source. Each of the multiple scanners 3 transmits a second signal to the mobility management system 1, the second signal including information on the received signal strength of the beacon signal B4, the identification information of the transmission source, and the identification information of the scanner 3 itself. The communication unit 11 of the mobility management system 1 receives the second signal. The positioning unit 131 determines the distance between the facility beacon 4 that is the transmission source and each of the three or more scanners 3 based on the received signal strength measured by three or more scanners 3 out of the multiple scanners 3. Furthermore, the positioning unit 131 determines the position of the facility beacon 4 by three-point positioning using the distances.

[0030] The generation unit 132 generates the movement guidance information. The notification processing unit 133 transmits the movement guidance information to the robot 2. More specifically, the notification processing unit 133 controls the communication unit 11 to cause the communication unit 11 to transmit the movement guidance information.

[0031] (3) Travel information As described above, the movement guidance information includes location information regarding the location of the robot 2 determined by the positioning unit 131, and restriction information regarding the range of the restricted area R1 (see FIG. 2) within the facility F1 in which the movement of the robot 2 is restricted. When the robot 2 receives the movement guidance information, it updates the information regarding the restricted area R1. The robot 2 moves autonomously while imposing specific restrictions on its movement in the restricted area R1.

[0032] In this embodiment, the restriction on the robot 2's movement in the restricted area R1 includes prohibiting the robot 2 from entering the restricted area R1. In other words, the robot 2 moves autonomously so as not to enter the restricted area R1. The robot 2, for example, stores map information of the facility F1 in advance, and upon acquiring travel guidance information, extracts the restriction information included in the travel guidance information. Thereafter, the robot 2 associates information (restriction information) relating to the range of the restricted area R1 with the map information. This updates the information on the restricted area R1 stored in the robot 2.

[0033] Restrictions on the movement of the robot 2 in the restricted area R1 are not limited to prohibiting the robot 2 from entering the restricted area R1. Restrictions on the movement may include, for example, the robot 2 moving slowly in the restricted area R1. Restrictions on the movement may also include, for example, the robot 2 temporarily stopping before entering the restricted area R1. Restrictions on the movement may also include, for example, the robot 2 issuing a warning by sound or the like before entering the restricted area R1. Restrictions on the movement may also include, for example, the robot 2 moving to leave the restricted area R1 after entering the restricted area R1.

[0034] The restricted area R1 may include a predetermined area.

[0035] The restricted area R1 may include an area determined in response to a user operation. For example, the information terminal 7 that communicates with the mobility management system 1 may be equipped with a user interface 72, and the restricted area R1 may be determined in response to a user operation on the user interface 72, and information related to the determined restricted area R1 may be transmitted to the mobility management system 1. Alternatively, the mobility management system 1 may be equipped with the above-described user interface 72.

[0036] The positioning unit 131 may determine the position of the facility beacon 4, and the generation unit 132 may include in the restricted area R1 an area corresponding to the position of the facility beacon 4 determined by the positioning unit 131. The area corresponding to the position of the facility beacon 4 includes, for example, the position of the facility beacon 4 and its surrounding locations.

[0037] In this way, the positioning unit 131 determines the position of the facility beacon 4 based on the beacon signal B4 transmitted from the facility beacon 4 attached to the object 8 (see FIG. 2) present in the facility F1 and received by the scanner 3. The object 8 is an object 81 to 83 installed in the facility F1 or a person 84 present in the facility F1. The generation unit 132 may include an area corresponding to the position of the facility beacon 4 determined by the positioning unit 131 in the restricted area R1.

[0038] The object as the target 8 is, for example, an obstacle that hinders the movement of the robot 2. More specifically, the object as the target 8 is, for example, a piece of furniture such as a shelf or a desk. The object as the target 8 is, for example, an object that does not have a self-propelled function. The object 8 may also be an object that can be moved by being carried by a person or a transport device (such as the robot 2 or a forklift).

[0039] Furthermore, the object as the target 8 may be, for example, a sign informing that entry is prohibited. Examples of such signs are traffic cones and signs. The sign may be a sign informing a person that entry is prohibited, or a sign informing a robot 2 that entry is prohibited.

[0040] When the target 8 is an object, the facility beacon 4 being attached to the target 8 means, for example, that the facility beacon 4 is attached to the target 8. Furthermore, the facility beacon 4 does not necessarily have to be fixed to the target 8; for example, the facility beacon 4 may be placed on the target 8. Furthermore, the facility beacon 4 does not necessarily have to be in contact with the target 8; for example, the facility beacon 4 may be attached to the ceiling above where the target 8 is installed, or may be placed on the floor around the target 8.

[0041] The target 8 may also be the ceiling, floor, or wall of the facility F1. In other words, the facility beacon 4 may be installed on the floor of a location where the robot 2 should not enter or on the ceiling or wall surrounding the floor.

[0042] When the object 8 is a person, the facility beacon 4 being attached to the object 8 means, for example, that the person carries the facility beacon 4 with them.

[0043] The relationship between the position of the facility beacon 4 and the range of the restricted area R1 (hereinafter referred to as the "position-range relationship") may be determined, for example, by a user's operation on the user interface 72. The position-range relationship may also be determined individually for each facility beacon 4. For example, for a facility beacon 4 attached to a certain object 81 (see FIG. 2), a relatively small area around the facility beacon 4 may be set as the restricted area R1. For a facility beacon 4 attached to another object 82 (see FIG. 2), a relatively large area around the facility beacon 4 may be set as the restricted area R1.

[0044] Also, for example, the shape of the restricted area R1 may be different between one object 8 and another object 8. Using Fig. 2 as an example, for a facility beacon 4 attached to an object 83, the restricted area R1 is an area that is long in one direction and includes the facility beacon 4. Also, for a facility beacon 4 attached to a person 84, the restricted area R1 is a circular area centered on the facility beacon 4.

[0045] The user may operate the user interface 72 to determine the dimensions of the restricted area R1, such as width, length, and height, as well as the shape of the restricted area R1.

[0046] As described above, the beacon signal B4 transmitted from the facility beacon 4 includes the identification information of the facility beacon 4. The movement management system 1 acquires this identification information via the scanner 3. The generation unit 132 may then acquire attribute information of the target 8 based on this identification information and determine restrictions on the movement of the robot 2 in the restricted area R1 based on the attribute information. Specifically, the storage unit 12 of the movement management system 1 pre-stores the correspondence between the identification information of the facility beacon 4 and the attribute information of the target 8, and upon acquiring the identification information, the generation unit 132 reads the corresponding attribute information from the storage unit 12.

[0047] The attribute information includes, for example, information on whether the target 8 is a person or an object. Determining the restriction on the movement according to the attribute information also includes, for example, varying the position-range relationship depending on the attribute information. That is, the position-range relationship may be varied depending on whether the target 8 is a person or an object. As an example, if the target 8 is a person, the restricted area R1 may be a range within a first distance from the person, and if the target 8 is an object, the restricted area R1 may be a range within a second distance from the object, where the first distance may be longer than the second distance. As another example, the robot 2 may slow down or stop when approaching a person, but may not slow down or stop when approaching an object.

[0048] Furthermore, if the target 8 is a person, the attribute information may include, for example, information about the age of the person. If the target 8 is an object, the attribute information may include, for example, information about at least one of the type and size of the object.

[0049] Furthermore, the movement guidance information may include information regarding restrictions on the movement of the robot 2 in the restricted area R1 for each time period. In other words, the restrictions on the movement of the robot 2 in the restricted area R1 may differ for each time period. As an example, entry into a certain restricted area R1 may be prohibited in the morning and permitted in the afternoon. In other words, entry into a certain restricted area R1 may be prohibited in the morning and this restricted area R1 may no longer exist in the afternoon. As another example, entry into a certain restricted area R1 may be prohibited in the morning and entry except when moving slowly may be prohibited in the afternoon.

[0050] For example, information regarding restrictions for each time period may be stored in the storage unit 12 of the mobility management system 1. Then, by referring to this information, the generation unit 132 may generate different mobility guidance information for each time period.

[0051] Furthermore, the movement guidance information may include information regarding restrictions on the movement of the robot 2 in the restricted area R1 for each purpose of the movement. In other words, the restrictions on the movement of the robot 2 in the restricted area R1 may differ depending on the purpose of the movement of the robot 2. As one example, in a certain restricted area R1, entry for the purpose of inspecting the facility F1 may be permitted, while entry for other purposes may be prohibited. As another example, in a certain restricted area R1, entry for the purpose of inspecting the facility F1 may be permitted, while entry for other purposes may be permitted only when moving slowly.

[0052] For example, the storage unit 12 of the movement management system 1 may store information relating to restrictions for each movement purpose linked to the identification information of each robot 2. Then, by referring to this information, the generation unit 132 may generate different movement guidance information for each movement purpose of each robot 2. Furthermore, information relating to the movement purpose may be transmitted from the robot 2 to the movement management system 1. Alternatively, the movement purpose of each robot 2 may be determined by a user's operation on the user interface 72.

[0053] (4) Robots Next, the configuration of the robot 2 will be described with reference to FIG.

[0054] The robot 2 includes a communication unit 21, a memory unit 22, a robot beacon 23, a sensor 24, a processing unit 25, and a movement mechanism 26.

[0055] The communication unit 21 includes a communication interface device, and is capable of communicating with the mobility management system 1 via the communication interface device.

[0056] The storage unit 22 is a storage device configured by a hard disk drive (HDD), a solid state drive (SSD), etc. The storage unit 22 stores identification information of the robot itself (robot 2), map information of the facility F1, etc.

[0057] The robot beacon 23 transmits a beacon signal B2.

[0058] The sensor 24 acquires information relating to the movement of the robot 2. The information relating to the movement of the robot 2 includes, for example, information relating to the detection of an obstacle. The sensor 24 includes, for example, a camera, and the camera captures images of the surroundings of the robot 2.

[0059] The processing unit 25 includes a computer system having one or more processors and a memory. The processing unit 25 performs overall control of the robot 2. For example, the processing unit 25 determines a movement route by referring to movement guidance information notified from the movement management system 1. Furthermore, the processing unit 25 controls the operation of the movement mechanism 26 to move the robot 2 along the movement route.

[0060] Furthermore, for example, the processing unit 25 detects an obstacle by analyzing an image captured by the camera of the sensor 24. The processing unit 25 moves the robot 2 so as to avoid the obstacle detected by the processing unit 25 and the restricted area R1 notified by the movement management system 1.

[0061] The movement mechanism 26 is a driving part for moving the robot 2. The movement mechanism 26 includes, for example, wheels and a motor. The motor rotates the wheels, causing the robot 2 to move.

[0062] (5) Scanner The scanners 3 are installed, for example, on the ceiling of the facility F1. Each scanner 3 receives a beacon signal B2 transmitted from the robot 2 and a beacon signal B4 transmitted from the facility beacon 4, and measures the strength of the received signals. Furthermore, each scanner 3 transmits the strength of the received signals, the identification information of the transmission source contained in the beacon signals B2 and B4, and the identification information of the scanner 3 itself to the mobility management system 1.

[0063] (6) Facility beacons Facility F1 uses multiple facility beacons 4. As an example, in FIG. 2 , one facility beacon 4 is attached to an object 81, another facility beacon 4 is attached to an object 82, and another facility beacon 4 is attached to an object 83. In addition, another facility beacon 4 is carried by a person 84.

[0064] Each of the multiple facility beacons 4 transmits a beacon signal B4.

[0065] The facility beacon 4 may be, for example, a dedicated terminal having only the function of transmitting the beacon signal B4, or may be a mobile phone such as a smartphone, a wearable terminal, or the like.

[0066] (7) Information terminals As shown in FIG. 1, the information terminal 7 includes a communication unit 71 and a user interface 72.

[0067] The communication unit 71 includes a communication interface device, and is capable of communicating with the mobility management system 1 via the communication interface device.

[0068] The user interface 72 receives operations from the user and includes, for example, at least one of a button, a mouse, a touchpad, a touch panel, and a touch panel display.

[0069] The restricted area R1 is determined by a user's operation on the user interface 72, and information relating to the determined restricted area R1 is transmitted to the mobility management system 1 by the communication unit 71.

[0070] (8) Example of operation (8.1) Basic Example Next, an example of the operation of the robot 2 based on the control of the movement management system 1 will be described with reference to Figures 2 and 3. Here, the explanation will be given assuming that the robot 2 is prohibited from entering a restricted area R1. Also, the explanation will be given for a case where the robot 2 moves to a destination G1.

[0071] The robot 2 transmits a beacon signal B2 (step ST1). A plurality of facility beacons 4 (only one is shown in FIG. 3) transmit a beacon signal B4 (step ST2). For example, the robot 2 and the plurality of facility beacons 4 transmit the beacon signals B2 and B4 at predetermined time intervals.

[0072] The multiple scanners 3 (only one is shown in FIG. 3 ) receive the beacon signals B2 and B4 and measure the received signal strength (RSSI) (step ST3). Furthermore, each scanner 3 transmits signals (first and second signals) including the received signal strength, the identification information of the transmission source included in the beacon signals B2 and B4, and the identification information of the scanner 3 itself (scanner 3) to the mobility management system 1 (step ST4). Based on the first and second signals, the positioning unit 131 of the mobility management system 1 determines the respective positions of the robot 2 and the multiple facility beacons 4 (step ST5).

[0073] The generation unit 132 determines the restricted area R1 based on the positions of each of the facility beacons 4 determined by the positioning unit 131 (step ST6). More specifically, the generation unit 132 includes in the restricted area R1 a position corresponding to the position of each facility beacon 4. The restricted area R1 may further include a predetermined area, an area determined in response to a user operation on the user interface 72, and the like.

[0074] The notification processing unit 133 transmits movement guidance information to the robot 2 (step ST7). The movement guidance information includes position information regarding the position of the robot 2 determined by the positioning unit 131. Furthermore, the movement guidance information includes restriction information regarding the range of the restricted area R1.

[0075] The robot 2 receives the movement guidance information. The processing unit 25 of the robot 2 determines a movement route based on the movement guidance information (step ST8). The robot 2 moves along the movement route (step ST9).

[0076] 2 shows an example of a travel route 100 determined by the processing unit 25. More specifically, the processing unit 25 creates a travel route that avoids a restricted area R1 and reaches the destination G1.

[0077] Even if an object 8 exists in a passage, it does not necessarily mean that the robot 2 cannot pass through that passage. Whether a passage is impassable or not is determined based on the dimensions of the restricted area R1 corresponding to the object 8, etc. In FIG. 2, a path wide enough for the robot 2 to pass through is secured next to the restricted area R1 corresponding to the object 81 (as the object 8), so the robot 2 creates a movement route that passes beside the object 81.

[0078] In this embodiment, map information of the facility F1 is stored in advance in the storage unit 22 of the robot 2. However, the map information may be transmitted from the movement management system 1 to the robot 2.

[0079] The map information includes, for example, three-dimensional model data such as BIM (Building Information Modeling) data of the facility F1. Therefore, the map information includes information indicating areas in the facility F1 where the robot 2 cannot travel, such as walls, pillars, and steps. The robot 2 creates a movement route that avoids not only the restricted area R1 but also the untravelable areas. In other words, the robot 2 creates a movement route by referring to the map information of the facility F1, the position information of its own robot (robot 2) extracted from the movement guidance information, and the restriction information related to the range of the restricted area R1.

[0080] As described above, the robot 2 and the multiple facility beacons 4 transmit beacon signals B2 and B4 at predetermined time intervals. This causes steps ST1 to ST9 to be repeated. Therefore, the movement management system 1 updates the restricted area R1 and the position information of the robot 2 at predetermined time intervals (for example, every second). The robot 2 also updates its movement route at predetermined time intervals (for example, every second). This allows the movement route to be updated in accordance with the movement of the robot 2. Furthermore, as the object 8 (person 84 and objects 81 to 83) to which the facility beacon 4 is attached moves, the restricted area R1 also moves in the same way, so the robot 2 can be controlled in accordance with the current position of the object 8.

[0081] Furthermore, if the robot 2 is equipped with a sensor 24, the robot 2 may move to avoid an obstacle detected by the sensor 24 in addition to avoiding the restricted area R1. In this embodiment, even if there is an obstacle not detected by the sensor 24, the robot 2 can avoid the obstacle if the location where the obstacle is installed is set as the restricted area R1. Furthermore, it is difficult for the sensor 24 to recognize a no-entry area where there is no obstacle but where it is better for the robot 2 not to travel. However, if the no-entry area is set as the restricted area R1, the robot 2 can avoid the no-entry area.

[0082] (8.2) First Modification 2, there is one robot 2, but there may be multiple robots 2. If any one of the multiple robots 2 is designated as a first robot and the other of the multiple robots 2 is designated as a second robot, the generation unit 132 may include an area corresponding to the position of the second robot in the restricted area R1 for restricting the movement of the first robot. The area corresponding to the position of the second robot includes, for example, the position of the second robot and its surrounding positions.

[0083] (8.3) Second Modification When the robot 2 aims to clean the facility F1, the robot 2 moves sequentially to uncleaned areas while avoiding the restricted area R1, for example.

[0084] Here, as shown in FIG. 2, a facility beacon 4 is attached to an object 83 located at the entrance to a room 92, and the corresponding restricted area R1 is set to block the entrance to the room 92. This prohibits the robot 2 from entering the room 92. On the other hand, since no facility beacon 4 is installed at the entrance to the room 91, the robot 2 enters the room 91 and cleans it. In this way, by installing the object 83 with the facility beacon 4 in an appropriate location, the movement of the robot 2 can be managed without the need for complicated settings. Furthermore, by moving the object 83 together with the facility beacon 4, the manner in which the movement of the robot 2 is managed can be changed.

[0085] (8.4) Third Modification In the basic example, the robot 2 determines its own movement route. Alternatively, the generation unit 132 of the movement management system 1 may determine the movement route. In this case, the notification processing unit 133 transmits movement guidance information including route instruction information instructing the movement route of the robot 2 to the robot 2. The robot 2 extracts the movement route from the route instruction information and moves along the movement route.

[0086] Furthermore, the movement guidance information transmitted from the movement management system 1 to the robot 2 may include instructions for the operation of the robot 2. For example, when the robot 2 has entered or is about to enter the restricted area R1, the movement management system 1 may instruct the robot 2 to change its direction of travel by using the movement guidance information.

[0087] (Other Modifications of the Embodiments) Other variations of the embodiment are listed below. The following variations may be implemented in appropriate combination. The following variations may also be implemented in appropriate combination with the above-described variations.

[0088] The restricted area R1 may include a first restricted area and a second restricted area, and the first restricted area and the second restricted area may have different restrictions on the movements of the robot 2. For example, a second restricted area may be set around the first restricted area, and the robot 2 may be prohibited from entering the first restricted area. If the robot 2 enters the second restricted area, the robot 2 may move out of the restricted area R1.

[0089] Two devices that communicate via wired communication in the embodiment may instead communicate via wireless communication. Conversely, two devices that communicate via wireless communication in the embodiment may instead communicate via wired communication.

[0090] The positioning unit 131 determines the positions of the sources of the beacon signals B2 and B4 based on the received signal strengths of the beacon signals B2 and B4. Here, the method by which the positioning unit 131 determines the position of the source is not limited to three-point positioning. For example, if the beacon signal B2 transmitted from the robot 2 is received by a specific scanner 3, the positioning unit 131 can determine that the position of the robot 2 is within the area surrounding the specific scanner 3.

[0091] The positioning unit 131 may determine the positions of the sources of the beacon signals B2 and B4 based on the phases of the beacon signals B2 and B4 instead of the received signal strengths of the beacon signals B2 and B4.

[0092] The sensor 24 is not limited to a configuration that captures an image of an obstacle using a camera, and may include, for example, an ultrasonic sensor, an infrared sensor, or a LiDAR (Light Detection and Ranging) to detect an obstacle.

[0093] 1, the movement management system 1 communicates with the robot 2 via a communication path separate from the communication path for communication with the scanner 3. Alternatively, the scanner 3 may relay communication between the movement management system 1 and the robot 2.

[0094] The number of robots 2 and scanners 3 is not limited to the number shown in the embodiment, and may be one or more.

[0095] The number of facility beacons 4 is not limited to the number shown in the embodiment, and may be 1. Furthermore, the facility beacon 4 is not an essential component.

[0096] The hub 5, the repeater 6 and the information terminal 7 are not essential components.

[0097] The execution entity of the mobility management system 1 or mobility management method of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. At least a portion of the functions of the execution entity of the mobility management system 1 or mobility management method of the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs or LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0098] Furthermore, it is not essential for the mobility management system 1 that multiple functions in the mobility management system 1 are integrated into one device, and multiple components of the mobility management system 1 may be distributed across multiple devices. Furthermore, at least some of the functions of the mobility management system 1, for example, at least some of the functions of the generation unit 132, may be realized by a server, a cloud (cloud computing), or the like.

[0099] The mobility management system 1 may further include at least one robot 2. In this case, a device (hereinafter referred to as a basic device) including the communication unit 11, memory unit 12, and processing unit 13 of the mobility management system 1 is provided separately from the robot 2. In other words, the multiple components of the mobility management system 1 are distributed across multiple devices. The robot 2 is provided with a sensor 24 that recognizes obstacles.

[0100] The mobility management system 1 may further include at least one scanner 3. In this case, the basic device of the mobility management system 1 is provided separately from the scanner 3.

[0101] (summary) The above-described embodiments and the like disclose the following aspects.

[0102] The movement management system (1) according to the first aspect includes a positioning unit (131), a generation unit (132), and a notification processing unit (133). The positioning unit (131) determines the position of a robot (2) based on a beacon signal (B2) received by a scanner (3) installed in a facility (F1). The beacon signal (B2) is transmitted from a robot beacon (23) mounted on the autonomously moving robot (2). The generation unit (132) generates movement guidance information. The notification processing unit (133) transmits the movement guidance information to the robot (2). The movement guidance information includes position information regarding the position of the robot (2) determined by the positioning unit (131) and restriction information regarding the range of a restricted area (R1) in the facility (F1) in which the movement of the robot (2) is restricted.

[0103] According to the above configuration, the restricted area (R1) can be determined more reliably than when the robot (2) determines the restricted area (R1) based solely on the output of the sensor (24) provided in the robot (2). Therefore, the movement of the robot (2) can be restricted more accurately.

[0104] In the mobility management system (1) according to the second aspect, in the first aspect, the positioning unit (131) determines the position of the facility beacon (4) based on a beacon signal (B4) transmitted from the facility beacon (4) attached to an object (8) present in the facility (F1) and received by the scanner (3). The object (8) is an object installed in the facility (F1) or a person present in the facility (F1). The generation unit (132) includes an area corresponding to the position of the facility beacon (4) determined by the positioning unit (131) in the restricted area (R1).

[0105] According to the above configuration, even if the target (8) moves together with the facility beacon (4), the positioning unit (131) can determine the position of the target (8), and the generation unit (132) can set a new restricted area (R1).

[0106] In the movement management system (1) according to the third aspect, in the second aspect, the beacon signal (B4) transmitted from the facility beacon (4) includes identification information of the facility beacon (4). The generation unit (132) acquires attribute information of the target (8) based on the identification information, and determines restrictions on the movement of the robot (2) in the restricted area (R1) according to the attribute information.

[0107] According to the above configuration, the robot (2) can be made to perform an action according to the attribute information.

[0108] In addition, in the movement management system (1) according to the fourth aspect, in any one of the first to third aspects, the restriction on the movement of the robot (2) in the restricted area (R1) includes prohibiting the robot (2) from entering the restricted area (R1).

[0109] According to the above configuration, it is possible to reduce the possibility of an incident occurring, such as the robot (2) colliding with an obstacle.

[0110] In addition, in the movement management system (1) according to a fifth aspect, in any one of the first to fourth aspects, the movement guidance information includes information on restrictions for each time period regarding the operation of the robot (2) in the restricted area (R1).

[0111] According to the above configuration, it is possible to set restrictions on the movement of the robot (2) for each time period.

[0112] In addition, in the movement management system (1) according to a sixth aspect, in any one of the first to fifth aspects, the movement guidance information includes information on restrictions for each purpose of movement regarding the movement of the robot (2) in the restricted area (R1).

[0113] According to the above configuration, it is possible to set restrictions on the movement of the robot (2) for each purpose of the movement of the robot (2).

[0114] In addition, in the movement management system (1) according to a seventh aspect, in any one of the first to sixth aspects, the movement guidance information includes route instruction information that instructs the movement route of the robot (2).

[0115] According to the above configuration, the load on the robot (2) for determining the movement route can be reduced.

[0116] In addition, the movement management system (1) according to an eighth aspect is any one of the first to seventh aspects, and further includes a robot (2). The robot (2) includes a sensor (24) that recognizes an obstacle.

[0117] According to the above configuration, the robot (2) can move autonomously based on the output of the sensor (24) and the movement guidance information obtained from the notification processing unit (133).

[0118] In addition, the movement management system (1) according to a ninth aspect is any one of the first to eighth aspects, and further includes a scanner (3).

[0119] The configurations other than the first aspect are not essential for the mobility management system (1) and can be omitted as appropriate.

[0120] Furthermore, a movement management method according to a tenth aspect includes a positioning step, a generation step, and a notification step. In the positioning step, the position of the robot (2) is determined based on a beacon signal (B2) received by a scanner (3) installed in a facility (F1). The beacon signal (B2) is transmitted from a robot beacon (23) mounted on the autonomously moving robot (2). In the generation step, movement guidance information is generated. In the notification step, the movement guidance information is transmitted to the robot (2). The movement guidance information includes position information regarding the position of the robot (2) determined in the positioning step and restriction information regarding the range of a restricted area (R1) in the facility (F1) in which the movement of the robot (2) is restricted.

[0121] According to the above configuration, the movement of the robot (2) can be restricted more accurately.

[0122] A program according to an eleventh aspect is a program for causing one or more processors of a computer system to execute the mobility management method according to the tenth aspect.

[0123] According to the above configuration, the movement of the robot (2) can be restricted more accurately.

[0124] Not limited to the above aspects, various configurations (including modified examples) of the mobility management system (1) according to the embodiment can be embodied as a mobility management method, a (computer) program, or a non-transitory recording medium on which a program is recorded. [Explanation of symbols]

[0125] 1. Movement Management System 2. Robot 3. Scanner 4 Facility Beacons 8. Target 23 Robot Beacon 24 sensors 131 Positioning unit 132 Generation part 133 Notification processing unit B2, B4 beacon signals F1 Facilities R1 Restricted Area

Claims

1. a positioning unit that determines the position of the autonomously moving robot based on a beacon signal transmitted from a robot beacon mounted on the autonomously moving robot and received by a scanner installed in the facility; a generation unit that generates travel guidance information; a notification processing unit that transmits the travel guidance information to the robot; a processing unit that moves the robot in accordance with the movement guide information, the travel guidance information includes position information regarding the position of the robot determined by the positioning unit and restriction information regarding the range of a restricted area within the facility in which movement of the robot is restricted; the processing unit moves the robot so as to avoid the restricted area. Movement management system.

2. the positioning unit determines a position of the facility beacon based on a beacon signal transmitted from the facility beacon attached to an object present in the facility and received by the scanner; The target is an object installed in the facility or a person present in the facility, the generation unit includes an area corresponding to the position of the facility beacon determined by the positioning unit in the restricted area. The mobility management system according to claim 1 .

3. the beacon signal transmitted from the facility beacon includes identification information of the facility beacon; the generation unit acquires attribute information of the target based on the identification information, and determines a restriction on the movement of the robot in the restricted area according to the attribute information. The mobility management system according to claim 2 .

4. the restriction on the movement of the robot in the restricted area includes prohibiting the robot from entering the restricted area; The mobility management system according to any one of claims 1 to 3.

5. the movement guidance information includes information regarding restrictions on the movement of the robot in the restricted area for each time period; The mobility management system according to any one of claims 1 to 3.

6. The movement guidance information includes information regarding restrictions on the movements of the robot in the restricted area for each purpose of the movements. The mobility management system according to any one of claims 1 to 3.

7. the movement guidance information includes route instruction information that instructs a movement route of the robot; The mobility management system according to any one of claims 1 to 3.

8. The robot further comprises: The robot is equipped with a sensor that recognizes obstacles. The mobility management system according to any one of claims 1 to 3.

9. further comprising the scanner; The mobility management system according to any one of claims 1 to 3.

10. a positioning step of determining a position of the autonomously moving robot based on a beacon signal transmitted from a robot beacon mounted on the autonomously moving robot and received by a scanner installed in the facility; a generation step of generating travel guidance information; a notification step of transmitting the travel guidance information to the robot; a processing step of moving the robot along the movement guide information, the movement guidance information includes position information regarding the position of the robot determined in the positioning step, and restriction information regarding a range of a restricted area in the facility in which movement of the robot is restricted; In the processing step, the robot is moved so as to avoid the restricted area. Movement management methods.

11. 11. The method for managing mobility according to claim 10, wherein the method is executed by one or more processors of a computer system, program.

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