Robot, robot control method, and program

Abstract

The robot (10) can move appropriately within a predetermined area based on the state of its battery (16). The robot (10) moves between the first area (52) and the second area (53) in a predetermined area having a first area (52) and a second area (53) adjacent to the first area, and comprises a battery (16), a processor (11), a drive unit (17) for driving the robot (10), and a storage unit for storing map information relating to the first area (52) and the second area (53), wherein the processor (11) acquires state information relating to the state of the battery, the processor (11) acquires position information relating to the current position of the robot (10), and if the position information is included in the first area (52), the processor (11) controls the drive unit (17) to move from the first area (52) to the second area (53) based on the state information.

Description

Technical Field

[0001] The present disclosure relates to a robot, a method for controlling the robot, and a program.

Background Art

[0002] Conventionally, a device that suppresses seed germination and sprout growth by applying sound or vibration to a plant body has been known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, in the technique described in Patent Document 1, when the device is mounted on a moving body such as a vehicle, the power source (for example, battery, fuel) for moving the moving body is not considered. Therefore, depending on the state of the power source of the moving body, the moving body may stop at an unintended location, and there is room for improvement at present.

[0005] Therefore, an object of the present disclosure is to provide a technique that enables a robot to appropriately move within a predetermined area based on the state of a battery.

[0006] A robot according to one aspect of the present disclosure is a robot that moves between a first area and a second area adjacent to the first area in a predetermined area, and comprises a battery, a processor, a drive unit for driving the robot, and a storage unit for storing map information relating to the first area and the second area, wherein the processor acquires state information relating to the state of the battery, the processor acquires position information relating to the current position of the robot, and if the position information is included in the first area, the processor controls the drive unit to move from the first area to the second area based on the state information. Effects of the invention

[0007] According to this disclosure, the robot can move appropriately within a predetermined area based on the state of its battery. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing an example of the configuration of an information processing system. [Figure 2] This figure shows an example of the robot's appearance. [Figure 3] This figure shows an example of a robot's hardware configuration. [Figure 4] This is a diagram showing an example of an airfield. [Figure 5] This is a diagram showing another example of an airfield. [Figure 6] This figure shows an example of a robot's functional block configuration. [Figure 7] This figure shows an example of a map information database. [Figure 8] This is a diagram showing an example of a driving route. [Figure 9] This figure shows an example of the functional block configuration of a terminal device. [Figure 10] This is a flowchart showing an example of a robot's processing procedure. [Modes for carrying out the invention]

[0009] Embodiments of the present disclosure will be described with reference to the attached drawings. In each drawing, components with the same reference numerals have the same or similar configuration. In the following embodiments, as an example, the predetermined area having a first area and a second area adjacent to the first area is assumed to be an airfield 50. That is, the robot 10 will be described as moving within the airfield 50, but is not limited to this. For example, the robot 10 may be placed in any area as the predetermined area, such as an area related to an industrial environment (e.g., a factory, a power plant, a construction site), an area related to an educational environment (e.g., a park, a school), an area related to an infrastructure environment (e.g., a highway, a railway line, a transmission tower), or an area related to a natural environment (e.g., a coastal high wave area, a mountain hazard area), and move within that area.

[0010] In this embodiment, the airfield 50 is a facility where aircraft can take off and land, and includes airport facilities. The term "aircraft" also includes equipment that flies in the atmosphere. Specifically, it includes airplanes, rotary-wing aircraft, gliders, airships, and other equipment that can be used for aviation purposes as specified by government ordinance, which can carry people. Furthermore, the term "aircraft" may also include unmanned equipment such as drones.

[0011] <Information Processing System 1> The following describes the information processing system 1 in the disclosed technology. Figure 1 is a diagram showing an example of the configuration of the information processing system. The information processing system 1 shown in Figure 1 includes one or more robots 10 and one or more terminal devices 20. For example, the robots 10 and terminal devices 20 are connected to each other so as to be able to communicate via a network N. The number of robots 10 and terminal devices 20 is not particularly limited.

[0012] Network N is a network for communication between robot 10 and terminal device 20. For example, network N may consist of a wireless network or a wired network. Examples of networks include mobile phone networks, PHS (Personal Handy-phone System) networks, wireless LAN (Local Area Network, including communication compliant with IEEE 802.11 (so-called Wi-Fi®)), 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), WiMAX®, infrared communication, visible light communication, Bluetooth®, wired LAN, telephone lines, power line communication networks, and networks compliant with IEEE 1394, etc. Network N may also be a network using satellite communication services such as Starlink.

[0013] <Robot 10> Robot 10 is a device that, for example, determines the state of the battery 16 provided by robot 10. Robot 10 may be placed in any area within the airfield 50, for example, and may move around that area.

[0014] Furthermore, the robot 10 may autonomously navigate any area within the airfield 50 and perform tasks to suppress the growth of weeds within the airfield 50. The robot 10 may also output sound through the speaker 32. In addition, the robot 10 may recognize predetermined objects such as obstacles using the camera 31, etc., and navigate to avoid obstacles.

[0015] Figure 2 shows an example of the appearance of the robot 10 according to this embodiment. The body of the robot 10 may be formed in a substantially box shape using, for example, steel. The robot 10 may also be equipped with four wheels 30 (30a to 30d).

[0016] The tire 30 is attached symmetrically on the left and right for example, at the front and the rear of the main body. The robot 10 can step on and press weeds using the tire 30. Also, the robot 10 may be provided with four drive units 17 (e.g., motors) capable of driving the tire 30 independently. The robot 10 can drive the tire 30 by driving the drive unit 17 and move forward, backward, stop, turn left and right, and perform on-the-spot turning, etc. Also, the robot 10 may move using an omni-wheel mechanism.

[0017] In front of the main body of the robot 10, for example, a working unit 18 may be provided. The working unit 18 may be, for example, a weed stepping board for stepping on weeds. When the robot 10 executes work using the working unit 18, it may control the working unit 18 so as to contact the ground. Also, when the robot 10 does not execute work using the working unit 18, it may control to lift the working unit 18 so as not to contact the ground.

[0018] The robot 10 can suppress the growth of weeds by stepping on the weeds with the working unit 18 attached while pushing down the weeds with the tire 30 by moving the tire 30 forward using the drive unit 17.

[0019] Also, in front of the main body of the robot 10, a camera 31 (31a~31b), a speaker 32 (32a~32b) may be provided. Also, the robot 10 may be provided with various sensors (GPS sensor, acceleration sensor, gyro sensor, temperature sensor, sound sensor, light sensor, magnetic sensor, wheel encoder, etc.).

[0020] Also, the robot 10 may be provided with a solar panel 19 above the main body, and the electric power generated by the solar panel 19 may be stored in the battery 16.

[0021] Furthermore, the robot 10's body contains a drive unit 17, a processor 11 that controls the drive of the tires 30, and a battery 16. The battery 16 may have the power generation capacity necessary to drive the robot 10 and a power storage function that temporarily stores the amount of electricity generated by the solar panel 19. By equipping the robot 10 with a solar power generation function, the electricity generated by the solar panel 19 can be used as the power source for the robot 10.

[0022] The appearance of the robot 10 described above is merely an example and is not limited to it. For example, if robot 10 is a transport robot, the work unit 18 may be an arm for unloading or loading cargo. Furthermore, robot 10 only needs to have an appearance that allows it to move autonomously.

[0023] <Hardware Configuration> Figure 3 shows an example of the hardware configuration of robot 10. Robot 10 includes a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The robot 10 includes a processor 11 such as a Processing Unit, memory (e.g., RAM (Random Access Memory) or ROM (Read Only Memory)), a storage device 12 such as an HDD (Hard Disk Drive) and / or an SSD (Solid State Drive). The robot 10 also includes a communication interface 13 for wired or wireless communication, an input device 14 for receiving input operations, an output device 15 for outputting information, and a battery 16 for supplying power to the robot 10.

[0024] The input device 14 is, for example, a camera 31, various sensors, etc. The various sensors may be, for example, at least one of a wheel encoder, acceleration sensor, gyro sensor, temperature sensor, sound sensor, light sensor, and magnetic sensor, and there may be multiple cameras 31. The output device 15 is, for example, a display and / or speaker 32, etc.

[0025] Furthermore, the battery 16 is, for example, a rechargeable secondary battery, such as a lithium-ion battery or a nickel-cadmium battery. It may also be a lead-acid battery, a nickel-metal hydride battery, or an alkaline dry cell battery. The robot 10 may also be equipped with multiple batteries 16. The multiple batteries 16 may, for example, be a main battery used under normal circumstances and a backup battery used in emergencies. The batteries 16 equipped in the robot 10 may also be detachable. The administrator of the robot 10 may attach and detach the batteries 16 from the robot 10, or the control unit 130 may control the robot 10 to autonomously attach and detach the batteries 16.

[0026] Furthermore, the robot 10 is equipped with a drive unit 17. The drive unit 17 may include, for example, a motor and wheels such as tires 30 that contact the ground. The drive unit 17 may also include a steering mechanism.

[0027] The hardware configuration described above is merely an example. The robot 10 in the information processing system 1 may omit some of the hardware shown in Figure 3, or it may have hardware not shown in Figure 3. For example, the robot 10 may further include a work unit 18.

[0028] Furthermore, the hardware shown in Figure 3 may consist of one or more devices. Also, if the robot 10 consists of multiple devices, each device may include at least a part of this hardware.

[0029] <Terminal device 20> The terminal device 20 is, for example, a device used by the administrator of the robot 10 (hereinafter also referred to as the user), and is, for example, a mobile phone terminal (including a smartphone), a tablet, or a personal computer. The user can set predetermined content for the robot 10 by operating the terminal device 20. The terminal device 20 may also be a device that performs some of the information processing functions provided by the information processing system 1.

[0030] Furthermore, the terminal device 20 may have application programs (apps) installed for using various functions provided by the information processing system 1. These apps may be web browsing software. The apps may cause the terminal device 20 to execute at least a portion of the processing disclosed in the embodiments shown below, among the various functions provided by the information processing system 1. When these apps are executed, the terminal device 20 may send and receive information used for executing these apps to the robot 10.

[0031] For example, the user can configure the network N for communication with the robot 10, set the name of the robot 10, etc., by operating the terminal device 20.

[0032] Furthermore, the user can, for example, set the operating time of the robot 10 and remotely control the robot 10 (e.g., stop the robot 10) by operating the terminal device 20. The user can also obtain information such as the robot 10's location and battery information 16. If the robot 10 is equipped with a camera 31, the user can view the image information captured by the robot 10 via the terminal device 20.

[0033] <Airfield 50> Figure 4 shows an example of an airfield 50. The airfield 50 may be an airport, and may include areas such as a parking area 50A, a taxiway 50B, a runway 51, a first area 52, and a second area 53. The manager of the airfield 50 is responsible for maintaining airport facilities such as the runway 51, the first area 52, the parking area 50A, and the taxiway 50B to ensure that aircraft operations are conducted safely and smoothly.

[0034] Parking area 50A is where aircraft are parked for purposes such as passenger and crew boarding and disembarking, cargo loading and unloading, refueling, and simple inspections and maintenance. Taxiway 50B is a pathway for aircraft to move from parking area 50A, etc., to their designated position on runway 51 for takeoff, or to move from runway 51 to parking area 50A, etc., after landing.

[0035] The first area 52 includes, for example, a landing strip adjacent to runway 51. The landing strip is the area surrounding runway 51 to ensure the safety of aircraft landings and includes areas where plants such as grass and weeds grow. The landing strip may also be equipped with markers such as guidance lights to guide aircraft landings.

[0036] The second area 53 includes an area adjacent to the first area 52. The second area 53 may be, for example, an area adjacent to a landing strip. The second area 53 may also be called an evacuation area.

[0037] At least one of the first area 52 and the second area 53 may be an area set by the user or the administrator of the airfield 50.

[0038] Figure 5 shows another example of the airfield 50. The airfield 50 may be a helipad. The runway 51 may include a place for helicopters to take off and land. In the example shown in Figure 5, the first area 52 and the second area 53 are user-defined areas. The user can deploy the robot 10 to any area of ​​the airfield 50, and the robot 10 can then begin to move.

[0039] <Functional Block Configuration> (Robot 10) Figure 6 shows an example of the functional block configuration of robot 10. Robot 10 includes a storage unit 100, a state information acquisition unit 110, a position information acquisition unit 120, and a control unit 130. Robot 10 may also include an operation information acquisition unit 140.

[0040] The memory unit 100 can be implemented using the memory device 12 provided by the robot 10. The state information acquisition unit 110, the position information acquisition unit 120, the control unit 130, and the operation information acquisition unit 140 can be implemented by the robot 10's processor 11 executing a program stored in the memory device 12.

[0041] Furthermore, the program can be stored on a storage medium. The storage medium on which the program is stored may be a computer-readable, non-transitory computer-readable medium. The non-transitory storage medium is not particularly limited, but may be, for example, a USB (Universal Serial Bus) memory or a CD-ROM (Compact Disc Read-Only Memory).

[0042] The memory unit 100 stores the data necessary for the robot 10 to perform information processing. The memory unit 100 includes a map information database 100a. It is possible to add or delete data items to each database as needed. Furthermore, information regarding the date and time when various types of information were acquired may be stored in association with the acquired information.

[0043] Figure 7 shows an example of map information DB 100a. Map information DB 100a manages various information related to the map. Map information DB 100a may store airport IDs, first area information, second area information, and flight route information in association with each other. Hereafter, when there is no particular distinction between the first area and the second area, they will simply be referred to as areas. Similarly, when there is no particular distinction between the first area information and the second area information, they will simply be referred to as area information.

[0044] The airport ID includes information that identifies airport 50. The first area information includes information about the first area. The first area information includes, for example, point information for the first area and position information (e.g., latitude and longitude) at the boundary of the first area. Based on the first area information, robot 10 can determine whether its current position is within the first area.

[0045] The second area information includes information about the second area. For example, the second area information includes location information for the second area and position information (e.g., latitude and longitude) at the boundary of the second area. Based on the second area information, robot 10 can determine whether or not its current position is located within the second area.

[0046] The user may, for example, operate the terminal device 20 to dynamically change at least one of the first area 52 and the second area 53. The user may also generate area information by operating the terminal device 20 to specify an area based on a map of the airfield 50 (e.g., by tracing on the touch panel), and store the generated area information in the storage unit 100. Alternatively, the user may generate area information by registering locations while moving around the area with a positioning device. Alternatively, the robot 10 may generate area information by registering locations. Furthermore, the user may operate the terminal device 20 to appropriately set the first area information and the second area information according to a predetermined area, and output the set information to the robot. The control unit 130 may then store the outputted information in the storage unit 100.

[0047] The travel route information includes information about the route that the robot 10 will travel. For example, the user may move around the first area with a positioning device, register points, construct a route by connecting those points, and store the constructed route as travel route information in the storage unit 100. Alternatively, at least one of the user and the robot 10 may generate the travel route information in the same way as the area information.

[0048] Furthermore, the memory unit 100 may store a map of at least a portion of the airfield 50 and the surrounding environment of the airfield 50. The memory unit 100 may also store identification information of the terminal device 20 used by the user, and setting information such as information set by the user for the robot 10. The memory unit 100 may also store information relating to the work area worked by the robot 10, information relating to the work results, and date and time information. Returning to Figure 6, the explanation continues.

[0049] The status information acquisition unit 110 acquires status information regarding the state of the battery 16. The status information includes information regarding at least one of the following: the remaining charge of the battery 16, the temperature of the battery 16, whether or not the battery 16 is charged, and abnormality information regarding the presence or absence of abnormalities in the battery 16. The remaining charge of the battery 16 may vary between 0 and 100%, and may be indicated by indicators such as "sufficient," "normal," or "almost full."

[0050] The status information acquisition unit 110 may, for example, acquire the remaining charge information of the battery 16 (e.g., 50% remaining) as status information. In addition to the remaining charge of the battery 16, it may also acquire the temperature of the battery 16 as status information.

[0051] The location information acquisition unit 120 acquires location information regarding the current location of the robot 10. The location information acquisition unit 120 may also acquire GPS information as location information, which is a signal that includes radio waves transmitted from GPS satellites and received by the robot 10.

[0052] The location information acquisition unit 120 may also acquire location information (e.g., latitude and longitude) indicating the current location of the robot 10 based on the acquired GPS information. Note that GPS is an example of GNSS (Global Navigation Satellite System), and location information may also be acquired using RTK-GNSS.

[0053] Furthermore, the position information acquisition unit 120 may acquire position information relative to the reference position of the airfield 50, or it may acquire position information indicated by information such as latitude and longitude.

[0054] Furthermore, the location information acquired by the location information acquisition unit 120 is not limited to GPS information. For example, the location information acquisition unit 120 may acquire location information by acquiring Wi-Fi information received by the robot 10 or radio waves received from a base station.

[0055] Furthermore, the position information acquisition unit 120 may acquire position information using at least one of the following: an inertial measurement unit, a vision sensor, map matching, and a wheel encoder. If the robot 10 is equipped with a camera 31 and an inertial measurement unit, position information may be acquired by relative positioning and odometry.

[0056] For example, the robot 10 may include each tire (e.g., four tires 30 (30a to 30d)) connected to the drive unit 17, and each wheel encoder connected to each tire 30. Each wheel encoder may be installed on the wheel of each tire 30. The number of wheel encoders that the robot 10 has is not particularly limited, and for example, at least one of the tires indirectly connected to the drive unit 17 may have a wheel encoder.

[0057] The position information acquisition unit 120 may acquire motion information related to the movement of the tires 30 from each wheel encoder. The position information acquisition unit 120 may then acquire the position information of the robot 10 based on the motion information related to the movement of the tires 30 acquired from each wheel encoder. The position information acquisition unit 120 may acquire motion information from all four wheel encoders and integrate this motion information to acquire the position information of the robot 10.

[0058] The wheel encoder may detect the distance traveled in a predetermined direction by detecting the rotation speed of the tire 30 connected to the wheel encoder as motion information, or it may detect the travel speed, etc. The position information acquisition unit 120 may acquire movement information of the robot 10 (time information, speed information, acceleration information, travel distance information, etc.) based on the motion information, and may acquire position information of the robot 10 based on the acquired movement information and the initial position. The position information acquisition unit 120 may also acquire position information by estimating the travel distance, travel speed, etc. from the rotation speed, rotation speed, rotation angle, rotation difference, etc. of the tire.

[0059] Furthermore, if the robot 10 is offline (e.g., not connected to network N), the position information acquisition unit 120 may acquire the robot's position information based on motion information related to the movement of the tires obtained from the wheel encoder. Also, if the robot 10 is online (e.g., connected to network N and communicating with GNSS), the position information acquisition unit 120 may acquire the robot's position information based on GPS information obtained from a GNSS system (e.g., positioning satellites).

[0060] In this way, the location information acquisition unit 120 can continuously acquire location information by changing the method of acquiring location information depending on the communication status of the robot 10 (online state, offline state).

[0061] Furthermore, if the remaining charge of the battery 16 does not meet a predetermined remaining charge condition (e.g., the remaining charge of the battery 16 is 70% or more), the position information acquisition unit 120 may acquire the robot's position information based on motion information related to the movement of the tires acquired from the wheel encoder. Alternatively, if the remaining charge of the battery 16 meets a predetermined remaining charge condition (e.g., the remaining charge of the battery 16 is 70% or more), the position information acquisition unit 120 may acquire the robot's position information based on GPS information acquired from a GNSS system (e.g., positioning satellites).

[0062] In this way, the location information acquisition unit 120 can acquire location information while appropriately suppressing power consumption by changing the method of acquiring location information based on the status information.

[0063] Furthermore, the location information acquisition unit 120 may acquire location information based on map information stored in the storage unit 100 and image information (e.g., video) captured by the camera 31. The storage unit 100 may also store surrounding images and predetermined objects (e.g., landmark targets) included in the image information captured by the camera 31. The location information acquisition unit 120 may also acquire location information from the image information captured by the camera 31 during driving based on the direction, angle, distance, etc., of the predetermined object.

[0064] Furthermore, the location information acquisition unit 120 may acquire location information using RFID. RFID may be a wireless tag that has a built-in battery, emits radio waves, and can communicate over long distances. The location information acquisition unit 120 may use RFID to acquire ID information to identify the current location, and then acquire location information based on the ID information.

[0065] Furthermore, the location information acquisition unit 120 may acquire location information using Bluetooth. For example, the location information acquisition unit 120 can acquire location information by connecting to a beacon transmitter connected via Bluetooth. Alternatively, the location information acquisition unit 120 may acquire the location information of the robot 10 based on a pre-measured magnetic pattern of a structure and, for example, a magnetic sensor.

[0066] Furthermore, the robot 10 does not necessarily have to possess functions such as various sensors, RFID, and Bluetooth. For example, an information processing device that works in conjunction with the robot 10 may have such functions, acquire the location information of the information processing device, and the location information acquisition unit 120 may consider the location information of the information processing device as the location information of the robot 10.

[0067] The location information acquisition unit 120 may, if necessary, acquire the location information of the robot 10 using one or a combination of the location information acquisition methods described above. In addition to GPS information, the location information acquisition unit 120 may also use one or a combination of the location information acquisition methods described above as an auxiliary means for position correction, etc. This makes it possible to acquire location information more appropriately within restricted areas such as the runway 51, taxiway 50B, and parking area 50A of the airport 50.

[0068] Furthermore, the location information acquisition unit 120 may change the method of acquiring location information based on the status information. For example, if the remaining charge of the battery 16 meets a predetermined remaining charge condition (e.g., the remaining charge of the battery 16 is 70% or more), the location information acquisition unit 120 may acquire location information in multiple ways.

[0069] Furthermore, if the status information does not meet the predetermined remaining amount conditions, the location information acquisition unit 120 may acquire location information by any one method. This any one method may be a method set in advance by the user, or it may be set as appropriate. This reduces the processing load on the robot 10 and allows it to operate with appropriate power saving.

[0070] If the position information is included in the first area 52, the control unit 130 controls the drive unit 17 to move from the first area 52 to the second area 53 based on the state information.

[0071] The memory unit 100 stores map information relating to the first area 52 and the second area 53. The map information includes the first area information and the second area information. The map information may also include map information relating to the area within the airfield 50. The control unit 130 may, for example, determine whether the location information is included in the first area 52 based on the location information and the map information.

[0072] Furthermore, the control unit 130 may determine the state of the battery 16 based on the state information. The control unit 130 may, for example, control the drive unit 17 to move from the first area 52 to the second area 53 based on the state information, or it may control the drive unit to travel to the second area 53 based on the acquired position information.

[0073] Furthermore, the control unit 130 may control the speed at which the drive unit 17 is driven based on the status information. The control unit 130 may drive the drive unit 17 at high speed (e.g., 3 km / h) if the remaining charge of the battery 16 meets a predetermined remaining charge condition (e.g., the remaining charge of the battery 16 is 70% or more). Conversely, the control unit 130 may drive the drive unit 17 at low speed (e.g., 1 km / h) if the status information does not meet the predetermined remaining charge condition.

[0074] Through the above process, the robot 10 can move appropriately based on the state of the battery 16. Furthermore, it is possible to prevent the robot 10 from running out of battery power during travel and becoming stuck in a predetermined location (e.g., on the flight path of an aircraft) in a predetermined area (e.g., an airport 50). As a result, the robot 10 can move safely within the predetermined area.

[0075] Furthermore, if the control unit 130 determines that the position information is included in the first area 52 and that the state information does not satisfy the first state information condition, it may control the drive unit 17 to travel from the first area 52 to the second area 53. Alternatively, if the control unit 130 determines that the position information is included in the first area 52 and that the state information does not satisfy the first state information condition, it may control the drive unit 17 to travel from the acquired position information to the second area 53.

[0076] The control unit 130 may, for example, determine that the location information is included in the first area 52 and that the status information does not satisfy the first status information condition (e.g., battery 16 remaining charge is 30% or more), and control the drive unit 17 to move from the first area 52 to the second area 53. The first status information condition may also be a condition related to the temperature of the battery 16 (e.g., the temperature of the battery 16 is below a predetermined value), abnormal information (e.g., no abnormality has occurred), etc., and may be set by the user as appropriate.

[0077] Through the above process, when the robot 10 determines that the state information does not satisfy the first state information condition, it controls the drive unit 17 to move from the first area 52 to the second area 53, thereby enabling it to move appropriately to the second area 53.

[0078] The control unit 130 may control the work unit 18 to perform a predetermined task if it determines that the position information is included in the landing zone and that the state information satisfies the second state information condition. The predetermined task includes tasks such as grass trampling, grass cutting, cargo transport, patrol, cleaning, loading and unloading, and snow removal.

[0079] The control unit 130 may, when it determines that the position information is included in the landing zone, or when it determines that the status information satisfies a second status information condition (e.g., battery 16 remaining charge is 50% or more), control the work unit 18 to perform a predetermined task using a pre-set operation.

[0080] Through the above process, the robot 10 can perform predetermined tasks while ensuring sufficient battery power in the battery 16. Furthermore, if the robot 10 determines that the state information does not meet the second state information condition, it can control the work unit 18 not to perform predetermined tasks, thereby ensuring the power necessary to travel to the second area 53. In addition, by having the robot 10 perform tasks, costs such as labor costs, which are part of the airport maintenance costs, can be reduced.

[0081] The memory unit 100 may store the route that the robot 10 autonomously travels within the first area 52. The user may also have the memory unit 100 store the route that is included in the first area 52.

[0082] Figure 8 shows an example of a travel route 54. Position 55 is an example of the starting position of the travel route 54, and position 56 is an example of the ending position of the travel route 54. The robot 10 can autonomously travel along the travel route 54 stored in the memory unit 100.

[0083] The waiting area 57 is an area where the robot 10 waits, and may contain charging equipment for the robot 10. The waiting area 57 may also be an area set up in advance by the user. The waiting area 57 is included in the second area 53. The waiting area 57 may also be the target position when the robot 10 moves to the second area 53. The second area information may also include waiting area information related to the waiting area 57. The travel route information may include various types of information included in Figure 8.

[0084] For example, if the user places the robot 10 in the waiting area 57, the robot 10 may move toward position 55 based on the travel route information. When the robot 10 reaches position 55, it moves along the travel route. When the robot 10 reaches position 56, it may move toward the waiting area 57.

[0085] The control unit 130 may, when it determines that the position information is included in the landing zone and that the state information satisfies the second state information condition, control the work unit 18 to perform a predetermined task on the travel route.

[0086] Furthermore, the control unit 130 may control the drive unit 17 so that the robot 10 moves along the travel route. The control unit 130 may, for example, move along the travel route based on the position information acquired by the position information acquisition unit and the travel route information.

[0087] Through the above process, the robot 10 can perform predetermined tasks along a memorized travel route by controlling the work unit 18 to perform predetermined tasks along the travel route.

[0088] The control unit 130 may, when it determines that the position information is included in the landing zone and that the state information satisfies the second state information condition, control the work unit 18 to perform grass-treading work on the landing zone.

[0089] The control unit 130 may, for example, control the work unit 18 to perform a compaction process so as to suppress weed growth through contact stimulation. This allows the plants to grow by receiving contact stimulation.

[0090] Through the above process, the robot 10 can control the work unit 18 to perform grass-treading work on the landing zone, thereby continuously making the ground less susceptible to weed growth and enabling proper management of the landing zone. Furthermore, by controlling the robot 10 to perform grass-treading work on the landing zone, the costs associated with maintenance work on the landing zone can be reduced.

[0091] Furthermore, the status information acquisition unit 110 may acquire status information at predetermined intervals (e.g., every 3 minutes), and the location information acquisition unit 120 may acquire location information at predetermined intervals (e.g., every 1 minute). The interval at which the status information acquisition unit 110 acquires status information and the interval at which the location information acquisition unit 120 acquires location information may be the same, or they may be different. In addition, the user can arbitrarily set and change the predetermined intervals, and similarly, the status information conditions can be arbitrarily set and change.

[0092] Furthermore, at least one of the status information acquisition unit 110 and the position information acquisition unit 120 may change the predetermined interval for acquiring information based on the status information. At least one of the status information acquisition unit 110 and the position information acquisition unit 120 may acquire information at short intervals (e.g., every 5 seconds) if the remaining charge of the battery 16 meets a predetermined remaining charge condition (e.g., the remaining charge of the battery 16 is 70% or more). Conversely, if the status information does not meet the predetermined remaining charge condition, information may be acquired at long intervals (e.g., every 5 minutes). This reduces the processing load on the robot 10 and allows it to operate with appropriate power saving.

[0093] If the control unit 130 determines that the position information acquired at predetermined intervals is included in the first area 52, it may specify a route from any position in the first area 52 to the second area 53, or it may specify a route from the position information acquired at predetermined intervals to the second area 53. For example, the control unit 130 may specify a route to move to any position in the second area 53, or it may specify a route to move to the waiting area 57.

[0094] The control unit 130 may, for example, determine that the most recently acquired location information is included in the first area 52, and then specify a route from the most recently acquired location information to the second area 53, or it may specify a route from any location in the first area 52 that is closest to the most recently acquired location information to the second area 53. This arbitrary location may, for example, be a location set in advance by the user. The control unit 130 may also specify a route from the robot 10's current location or an arbitrary location to the second area 53 based on map information stored in the storage unit 100, or it may specify the shortest route from the current location or an arbitrary location to the second area 53. Alternatively, the control unit 130 may specify a route by acquiring a route set in advance by the user from the storage unit 100.

[0095] Furthermore, the control unit 130 may estimate the amount of battery 16 required for the robot 10 to move along the identified route. The control unit 130 may estimate the required amount of battery 16 based, for example, on the total distance of the identified route (e.g., 10m) and the amount of battery 16 used at a predetermined distance (0.5% of battery 16 usage per meter).

[0096] Furthermore, if the difference between the estimated battery usage of the battery 16 and the remaining battery capacity of the battery 16 is less than a predetermined value, the control unit 130 may control the drive unit 17 to move to the second area 53 based on the specified route.

[0097] Furthermore, if the difference between the estimated amount of battery 16 used (e.g., 20% of the remaining battery 16's capacity) and the remaining battery 16's capacity (e.g., 50%) is less than a predetermined value (e.g., less than 20%), the control unit 130 may control the drive unit 17 to move to the second area 53 based on the specified route.

[0098] In the example described above, the difference between the estimated battery usage (e.g., using 20% ​​of the remaining battery capacity) and the remaining battery capacity (e.g., 50%) is 30%, which is greater than or equal to the predetermined value (20%). Therefore, the control unit 130 does not control the unit to move to the second area 53 based on the specified route. In another example, if the estimated battery usage (e.g., using 20% ​​of the remaining battery capacity) and the remaining battery capacity (e.g., 30%) are 10%, which is less than the predetermined value (20%), the control unit 130 may control the drive unit 17 to move to the second area 53 based on the specified route.

[0099] Through the above process, the robot 10 can ensure that it has sufficient battery power 16 to move to the second area 53.

[0100] Furthermore, the control unit 130 may determine the route to move to the second area 53 at the point where the distance between a predetermined position on the travel route and a predetermined position in the second area 53 is the greatest. This will be explained in detail using Figure 8.

[0101] The control unit 130 may determine the position (position 58) that is furthest from the waiting area 57 based on the waiting area 57 and the travel route 54. The control unit 130 may then determine the route from that position (position 58) to a predetermined position (waiting area 57) in the second area 53, and the distance traveled along that route (e.g., distance L).

[0102] The control unit 130 may also estimate the amount of battery 16 needed for the robot 10 to travel along a specified route (e.g., distance L).

[0103] Furthermore, if the difference between the estimated battery usage of the battery 16 and the remaining battery capacity of the battery 16 is less than a predetermined value, the control unit 130 may control the drive unit 17 to move to the second area 53 based on the route.

[0104] Through the above process, the robot 10 can adequately secure the battery 16 necessary to move from the furthest position in the first area 52 to a predetermined position in the second area 53.

[0105] The flight information acquisition unit 140 acquires flight information relating to the flight schedule of aircraft at the airport 50. The flight information acquisition unit 140 may acquire flight information from, for example, the airport's air traffic control system, an ADS-B (Automatic Dependent Surveillance-Broadcast) receiver, a terminal device 20, etc. Alternatively, the flight information acquisition unit 140 may acquire flight information by receiving signals from an aircraft-mounted transponder. Furthermore, the flight information acquisition unit 140 may acquire flight information in real time.

[0106] Furthermore, flight information may include aircraft takeoff and landing status and ground taxiing status, and flight information may include information regarding aircraft takeoff, landing, approach, etc.

[0107] The control unit 130 may determine, based on flight information, whether or not to control the drive unit 17 to move to the second area 53. For example, based on information regarding the aircraft's approach path, approach time, and current position included in the flight information, the control unit 130 may control the drive unit 17 to move to the second area 53 if the robot 10 is operating in the first area 52, which is within a predetermined distance from the runway 51 that the aircraft is scheduled to use.

[0108] Furthermore, the memory unit 100 may store the relationship between the first area 52 and the runway 51, and if an aircraft is scheduled to use a predetermined runway 51 and the robot 10 is operating in the corresponding first area 52, it may be controlled to move to the second area 53.

[0109] Furthermore, the control unit 130 may, based on flight information, control the drive unit 17 to move from its current position to the second area 53 and stop if an aircraft is approaching. If the distance to the aircraft exceeds a predetermined distance, it may then be controlled to return to the location in the first area 52 where it was before moving. In this way, the control unit 130 may store the position from which it started moving when moving to the second area 53.

[0110] Furthermore, the control unit 130 may, based on flight information, control the drive unit 17 to move the robot 10 to the second area 53 a predetermined time in advance at a location where the approach of an aircraft is expected. Also, based on flight information, if the control unit 130 determines that the position information is included in the first area 52 a predetermined time in advance and that the state information does not satisfy the first state information condition, it may control the drive unit 17 to travel from the first area 52 to the second area 53.

[0111] Through the above process, the robot 10 can move appropriately within the airfield 50 by determining whether or not to control it to move to the second area 53 based on the flight information.

[0112] Furthermore, even if the aircraft's flight status changes from the original schedule, the robot 10 can be controlled to move appropriately to the second area 53 based on the updated flight information. As a result, even if the aircraft uses runway 51 in an emergency, the robot 10 can be controlled to move appropriately. This allows the robot 10 to move appropriately to the second area 53 at the time the aircraft approaches runway 51, etc.

[0113] Furthermore, the control unit 130 may output the robot 10's position information to the terminal device 20 when the robot has completed its movement from the first area 52 to the second area 53. The robot 10 may also output a message indicating that the movement is complete. This information may also be output to a management device that manages the airport, not just the terminal device 20. This allows the robot 10 to notify that it has completed its movement to the second area 53.

[0114] Furthermore, if the control unit 130 determines that the status information does not meet the predetermined movement conditions for moving from the first area 52 to the second area 53, it may output the status information and position information to the terminal device 20. If the control unit 130 determines that the predetermined movement conditions (e.g., battery level 1% or more, no abnormality in the battery) are not met due to an unexpected malfunction, it may output the status information and position information to the terminal device 20. In addition, the robot 10 may output a message indicating that an abnormality has occurred and the movement has not been completed.

[0115] Through the above process, if the battery status of the robot 10 is not in a state that allows it to move to the second area 53, the terminal device 20 can be notified of the status of the robot 10, and the user can retrieve the robot 10 based on the outputted location information, etc.

[0116] Furthermore, the robot 10 may be equipped with a solar panel 19, and the status information acquisition unit 110 may acquire status information when the power generated by the solar panel 19 has charged the battery 16. In addition, the status information acquisition unit 110 may acquire weather information regarding the weather at the location where the robot 10 is operating.

[0117] Furthermore, if the control unit 130 determines that the position information is included in the first area 52 and that the state information does not satisfy the third state information condition, it may control the drive unit 17 to travel from the first area 52 to the second area 53.

[0118] The control unit 130 may, for example, control the drive unit 17 to move from the first area 52 to the second area 53 if it determines that the third state information condition (e.g., battery 16 remaining charge is 20% or more) is not met.

[0119] Furthermore, the third state information condition may be set so that the threshold for the remaining battery level 16 is lower than that for the first state information condition. Also, the third state information condition may be set based on weather information and the remaining battery level 16. For example, the third state information condition may be set so that the remaining battery level 16 is 15% or more when the weather is sunny, and so that the remaining battery level 16 is 20% or more when the weather is cloudy. This will result in conditions that take into account the power generated by the solar panels 19, allowing the robot to operate more appropriately.

[0120] Furthermore, the control unit 130 may dynamically control the third state information condition according to the amount of electricity generated by the solar panel 19. For example, if the amount of electricity generated by the solar panel 19 is greater than or equal to a predetermined value, the control unit 130 may set the remaining battery level 16 as the third state information condition to 10% lower than the predetermined value. Alternatively, if the amount of electricity generated by the solar panel 19 is less than the predetermined value, the control unit 130 may set the remaining battery level 16 as the third state information condition to 5% lower than the predetermined value.

[0121] Furthermore, the robot may, during daylight hours, use power from the battery and power generated by the solar panels 19, and store any surplus power. The robot may also operate using the stored power at sunset. By operating while utilizing power generated by the solar panels 19, the robot 10 can reduce the power consumption of the battery 16.

[0122] Through the above process, the robot 10 can be controlled to move to the second area 53 based on a third state information condition, where the battery 16 is charged with electricity generated by the solar panel 19. This allows the robot 10 to move more appropriately within the airfield 50.

[0123] Robot 10 may also be equipped with a camera 31. By equipping robot 10 with a camera 31, robot 10 can image its surrounding environment and determine the presence and location of objects. Robot 10 may also perform sensing for terrain recognition based on the image information it has captured. Furthermore, robot 10 may perform anomaly detection at the airport (e.g., a hole in the fence) and security management (e.g., detection of a suspicious person) based on the image information it has captured.

[0124] The camera 31 may have multiple operating modes. The operating modes include, for example, a power-off mode, a normal mode, and a power-saving mode. The power-off mode is a mode that includes at least one of the following: a state in which the power is turned off, and a state in which the battery 16 is depleted of charge.

[0125] Normal mode is the mode used under normal conditions. Power saving mode is a mode that consumes less power than normal mode. Power saving mode may also reduce power consumption compared to normal mode by, for example, limiting the functions and performance of camera 31, such as the image quality, resolution, and frequency of image capture by camera 31.

[0126] The control unit 130 may output the image information captured by the camera 31 to the terminal device 20 when the camera 31 detects a predetermined object.

[0127] Furthermore, if the control unit 130 controls the operating mode of the camera 31 to power-saving mode, it may restrict the output of imaging information to the terminal device 20. This allows the robot 10 to operate with reduced power consumption.

[0128] The control unit 130 may, based on the status information, control the operating mode of the camera 31 to power-saving mode if the location information is included in the first area 52. The control unit 130 may also control the operating mode based, for example, the remaining charge of the battery 16.

[0129] Specifically, the camera may operate in power-off mode when the battery level of the battery 16 is "0", in power-saving mode when the battery level of the battery 16 is "less than 50%", and in normal mode when the battery level of the battery 16 is "50% or more". In this way, the control unit 130 may control the operating mode of the camera 31 from normal mode to power-saving mode based on the status information.

[0130] Through the above process, the robot 10 can appropriately conserve power by controlling the operating mode of the camera 31 to a power-saving mode based on the state information. As a result, the robot 10, which is capable of recognizing the surrounding environment, can output imaging information to the terminal device 20 based on the state information.

[0131] Furthermore, when the control unit 130 detects a predetermined object (e.g., a sign such as a guide light) located on the travel route, it may determine a route that avoids the object while returning to the travel route.

[0132] Furthermore, the control unit 130 may, for example, determine a route in which the robot 10 changes direction and moves forward when it detects a predetermined object, and then returns to the travel route. Also, if there is an obstacle on the travel route, the control unit 130 may determine an alternative route and travel along the determined route.

[0133] Furthermore, the control unit 130 may specify a route to return to the original route if the vehicle deviates from the route. Also, the control unit 130 may control the vehicle to stop moving if it is unable to return to the original route within a predetermined time.

[0134] The control unit 130 may control the work unit 18 to perform a predetermined task on the travel route when it returns to the travel route via a specified route. The control unit 130 may stop the operation of the work unit 18 when it has left the travel route.

[0135] Through the above process, the robot 10 can travel while avoiding predetermined objects such as obstacles, and when it returns to its travel route, it can perform predetermined tasks on the travel route by the work unit 18.

[0136] Furthermore, the robot 10 may be equipped with a speaker 32. The control unit 130 may output a predetermined sound to an object via the speaker 32 when the camera 31 detects a predetermined object. The control unit 130 may also output a predetermined sound to a bird via the speaker 32 when the camera 31 detects a bird. This makes it possible to implement bird control measures, such as driving away birds.

[0137] The speaker 32 may have multiple operating modes. The operating modes include, for example, a power-off mode, a normal mode, and a power-saving mode. The power-off mode and the normal mode are as described above. The power-saving mode is a mode that consumes less power than the normal mode. The power-saving mode may consume less power than the normal mode by, for example, limiting the functions and performance of the speaker 32, such as the volume of the speaker 32, the sound output, and the frequency at which the speaker 32 outputs sound.

[0138] The control unit 130 may, based on the status information, control the operating mode of the speaker 32 to power-saving mode if the position information is included in the first area 52. The control unit 130 may, for example, control the operating mode based on the remaining charge of the battery 16, as described above.

[0139] Through the above process, the robot 10 can appropriately conserve power by controlling the operating mode of the speaker 32 to a power-saving mode based on the state information. As a result, based on the state information, it can appropriately respond to problems such as bird damage that hinder the safe and smooth operation of aircraft.

[0140] Furthermore, by equipping the robot 10 with a camera 31 and a speaker 32, it can, for example, issue a voice warning to a suspicious person if it detects one. The robot 10 may also be equipped with a microphone. The control unit 130 may, for example, acquire sounds from the vicinity of the robot 10 via the microphone and output said sounds to the terminal device 20.

[0141] The memory unit 100 may store time information relating to the time required to perform a predetermined task. The memory unit 100 may store time information that associates the date with the time required to perform the predetermined task (e.g., 2025 / x / xx, 10:00~12:00, and 20:00~24:00). The user may set the time information by operating the terminal device 20. The time information may also include, for example, the time spent waiting in the waiting area, the time spent departing from the waiting area, and the time spent arriving.

[0142] The control unit 130 may control the work unit 18 to perform a predetermined task on the travel route based on the current time and time information. The control unit 130 may, for example, be equipped with a clock function, a timer, and may obtain the current time from an external device. Furthermore, if the control unit 130 determines that the current time is within the time specified by the time information, it may control the work unit to perform a predetermined task.

[0143] Through the above process, the robot 10 can move more appropriately within the airfield 50 by performing tasks based on the current time and time information. Furthermore, safety can be improved by performing tasks at times specified in advance by the user.

[0144] The robot 10 may also charge its battery by docking the battery 16 to a charging device that supplies power. The control unit 130 may control the drive unit 17 to charge the battery 16 using the charging device when the remaining charge of the battery 16 is below a predetermined value. The control unit 130 may also control the robot 10 to make fine adjustments to the positions of the charging device and the robot 10 when docking to the charging device. The charging device may be located, for example, within the waiting area 57.

[0145] Furthermore, if the robot is equipped with multiple batteries 16 (main battery, spare battery), the control unit 130 may control the robot 10 to supply power from the spare battery instead of the main battery if the remaining charge of the main battery falls below a predetermined value. Similarly, if an abnormality (e.g., some malfunction) occurs in the main battery, the control unit 130 may control the robot 10 to supply power from the spare battery instead of the main battery. This allows the robot 10 to move appropriately by supplying power from the spare battery even if the main battery is unusable. In addition, the control unit 130 may control the drive unit 17 to swap the battery 16 with a remaining charge below a predetermined value with another battery provided in the charging equipment if the remaining charge of the battery 16 falls below a predetermined value.

[0146] (Terminal device 20) Figure 9 shows an example of the functional block configuration of the terminal device 20. The terminal device 20 includes a storage unit 200, a UI (User Interface) unit 210, and a control unit 220.

[0147] The memory unit 200 can be implemented using the storage device 12 provided by the terminal device 20. The UI unit 210 and the control unit 220 can be implemented by the processor 11 of the terminal device 20 executing a program stored in the storage device 12. This program can be stored in a storage medium. The storage medium on which the program is stored may be a computer-readable, non-temporary storage medium. The non-temporary storage medium is not particularly limited, but may be, for example, a USB memory stick or a CD-ROM.

[0148] The memory unit 200 stores the data necessary for the control unit 220 to perform information processing.

[0149] The UI unit 210 has the function of receiving various inputs from the user and displaying various screens on the display unit. The UI unit 210 may also display information output from the robot 10 on the display unit (e.g., display) of the terminal device 20.

[0150] The control unit 220 works in conjunction with the robot 10 to provide various functions necessary for performing information processing.

[0151] Furthermore, the various processes described above may be executed by the processor of the robot 10, by the processor of the terminal device 20, or by the processors of the robot 10 and the terminal device 20 working together.

[0152] <Processing Procedure> Next, the operation of the robot 10 according to this embodiment will be described. Figure 10 is a flowchart showing an example of the processing procedure of the robot 10. In this embodiment, before the processing shown in Figure 10 is started, various data, including map information relating to the first area 52 and the second area 53, is stored in the storage unit 100.

[0153] In step S101, the status information acquisition unit 110 acquires status information regarding the state of the battery 16. The status information includes information regarding at least one of the following: the remaining charge of the battery 16, the temperature of the battery 16, whether or not the battery 16 is charged, and abnormality information regarding whether or not there is an abnormality in the battery 16.

[0154] In step S102, the location information acquisition unit 120 acquires location information regarding the current location of the robot 10. The location information acquisition unit 120 may acquire GPS information as location information, which is a signal that includes radio waves transmitted from GPS satellites and received by the robot 10.

[0155] In step S103, the control unit 130 may determine whether the location information is included in the first area 52. The control unit 130 may determine whether the location information is included in the first area 52 based, for example, on the location information and the map information.

[0156] If the control unit 130 determines that the location information is included in the first area 52 (step S103-YES), the process proceeds to step S104. If the control unit 130 determines that the location information is not included in the first area 52 (step S103-NO), the process terminates.

[0157] In step S104, the control unit 130 may determine the state of the battery 16 based on the state information. For example, the control unit 130 may determine whether the state information satisfies a first state information condition.

[0158] If the control unit 130 determines that the state information satisfies the first state information condition (step S104-YES), it terminates the process. If the control unit 130 determines that the state information does not satisfy the first state information condition (step S104-NO), the process proceeds to step S105.

[0159] In step S105, the control unit 130 may control the drive unit 17 to move from the first area 52 to the second area 53.

[0160] Through the above process, the robot 10 can move appropriately based on the state of the battery 16. Furthermore, the robot 10 can move safely within the airfield 50.

[0161] The embodiments described above are provided to facilitate understanding of this disclosure and are not intended to limit it. The flowcharts, sequences, elements, and their arrangement, materials, conditions, shapes, and sizes described in the embodiments are not limited to those exemplified and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined.

Claims

1. In an airfield having a first area which is a landing strip adjacent to a runway and a second area adjacent to the first area, a robot that moves between the first area and the second area, Battery and Processor and A drive unit for driving the robot, The system comprises a storage unit that stores map information relating to the first area and the second area, The processor acquires status information regarding the state of the battery, The processor acquires location information regarding the current position of the robot, The processor determines that the position information is included in the first area and that the state information does not satisfy the first state information condition, and then controls the drive unit to move from the first area to the second area. robot.

2. The robot further comprises a work unit that performs work on the landing strip, The processor determines that the position information is included in the landing strip and that the state information satisfies the second state information condition, and then controls the work unit to perform a predetermined operation. The robot according to claim 1.

3. The memory unit stores the route the robot autonomously travels within the first area. When the processor determines that the position information is included in the landing strip and that the state information satisfies the second state information condition, it controls the work unit to perform a predetermined task along the travel route. The robot according to claim 2.

4. The robot is a robot that performs tasks on plants growing in the landing zone, When the processor determines that the position information is included in the landing zone and that the state information satisfies the second state information condition, it controls the work unit to perform the grass-treading work on the landing zone. The robot according to claim 2.

5. The processor acquires the position information and the state information at predetermined intervals. The processor acquires the remaining battery charge as state information, If the processor determines that the location information acquired at the predetermined interval is included in the first area, it identifies a route from the location information acquired at the predetermined interval to the second area. The processor estimates the amount of battery usage required for the robot to move along the identified route. The processor controls the drive unit to move to the second area based on the identified route if the difference between the estimated battery usage and the remaining battery capacity is less than a predetermined value. The robot according to claim 1.

6. The memory unit stores the route the robot autonomously travels through the first area. The processor acquires the remaining battery charge as state information, The processor determines the route to move to the second area at the point where the distance between a predetermined position on the travel route and a predetermined position in the second area is the greatest, The processor estimates the amount of battery usage required for the robot to move along the identified route. The processor controls the drive unit to move to the second area based on the route if the difference between the battery usage and the remaining battery capacity is less than a predetermined value. The robot according to claim 1.

7. The processor acquires operational information relating to the flight schedule of aircraft at the airport, The processor determines, based on the operational information, whether or not to control the drive unit to move to the second area. The robot according to claim 1.

8. When the robot has completed moving from the first area to the second area, the processor outputs the robot's position information to a predetermined information processing device. The robot according to claim 1.

9. The processor includes outputting the state information and the position information to the predetermined information processing device when it determines that the state information does not satisfy predetermined movement conditions for moving from the first area to the second area. The robot according to claim 8.

10. The robot is further equipped with solar panels, The processor acquires the state information when the battery is charged with power generated by the solar panel. The processor determines that the position information is included in the first area and that the state information does not satisfy the third state information condition, and then controls the drive unit to move from the first area to the second area. The robot according to claim 1.

11. The robot is further equipped with a camera, When the camera detects a predetermined object, the processor outputs the image information captured by the camera to a predetermined information processing device. If the location information is included in the first area, the processor controls the operating mode of the camera to power-saving mode based on the state information. The robot according to claim 1.

12. The robot is further equipped with a camera, When the camera detects a predetermined object located along the travel route, the processor identifies a route that avoids the object while returning to the travel route. The processor controls the work unit to perform a predetermined task along the travel route when it returns to the travel route via the specified route. The robot according to claim 3.

13. The robot further comprises a speaker and The processor, when the camera detects a predetermined object, outputs a predetermined sound to the object via the speaker. If the position information is included in the first area, the processor controls the operating mode of the speaker to power-saving mode based on the state information. The robot according to claim 11.

14. The storage unit stores time information relating to the time required to perform the predetermined operation. The processor controls the work unit to perform a predetermined task based on the current time and the time information. The robot according to claim 2.

15. The robot further comprises a tire and a wheel encoder connected to the tire, The processor, when the robot is offline, obtains the robot's position information based on motion information regarding the movement of the tires obtained from the wheel encoder. The robot according to claim 1.

16. A method for controlling a robot moving between the first area and the second area in an airfield having a first area which is a landing strip adjacent to a runway and a second area adjacent to the first area, The robot has a battery and Processor and A drive unit for driving the robot, The system comprises a storage unit that stores map information relating to the first area and the second area, The processor acquires status information regarding the state of the battery, The processor acquires location information regarding the current position of the robot, The processor determines that the position information is included in the first area and that the state information does not satisfy the first state information condition, and then controls the drive unit to move from the first area to the second area. Robot control methods.

17. A program for controlling a robot moving between the first area and the second area in an airfield having a first area which is a landing strip adjacent to a runway and a second area adjacent to the first area, The robot has a battery and Processor and A drive unit for driving the robot, The system comprises a storage unit that stores map information relating to the first area and the second area, The processor is instructed to acquire status information regarding the state of the battery. The processor is instructed to acquire positional information regarding the current position of the robot. The processor is instructed to control the drive unit to move from the first area to the second area when it determines that the position information is included in the first area and that the state information does not satisfy the first state information condition. program.

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