Mobile vehicle operation management device, mobile vehicle operation management system, and mobile vehicle operation management method

Abstract

To prevent a moving body, such as a robot, from coming to a standstill.SOLUTION: An operation managing server 1 according to one embodiment of the present invention comprises a travel-route managing section 15c that generates movement permission-range information defining a movement permission range within which a robot 2 is allowed to move, based on environment information acquired from an environment sensor 3 to detect information on a surrounding of the robot 2, and a token managing section 15d that performs control to transmit the movement permission-range information to the robot 2. The movement permission range is set in a range not overlapped with a movement permission range given to another robot.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005] , ,

[0001] The present invention relates to a mobile body operation management device, a mobile body operation management system, and a mobile body operation management method.

Background Art

[0002] Conventionally, a robot that autonomously moves based on detection information from various sensors mounted on itself is known. When such an autonomously moving robot passes by a person or another robot, the robot temporarily stops based on the detection information from various sensors, or calculates a movement route where no collision occurs and moves along the movement route to avoid a collision.

[0003] As a method for smoothly passing by a robot, for example, the method disclosed in Patent Document 1 is known. Patent Document 1 discloses a movement control device including a position prediction means for predicting the relative position after a predetermined time of the current passing target with respect to the moving object at the predicted position after a predetermined time, a target position calculation means for calculating the target position of the moving object based on the relative position predicted by the position prediction means and the destination of the moving object, and a control means for moving the moving object to the target position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Many autonomous robots are equipped with distance sensors such as infrared sensors to detect obstacles in their surroundings. However, when robots pass each other, the outputs from these distance sensors (light, radio waves, beams, etc.) can interfere with each other. This is because there is not always enough space for robots to pass each other in the environment in which they are moving. If the outputs of distance sensors interfere with each other, the robot may mistakenly determine that it has detected an obstacle and stop moving. In this case, the robot will be unable to pass other robots properly and will become stuck.

[0006] This invention was made in consideration of the above circumstances, and its purpose is to prevent mobile objects such as robots from becoming stuck. [Means for solving the problem]

[0007] A mobile vehicle operation management device according to one aspect of the present invention is a mobile vehicle operation management device that manages the operation of a mobile vehicle. The mobile vehicle operation management device according to one aspect of the present invention comprises: a range information management unit that generates movement permission range information which defines the movement permission range in which the movement of the mobile vehicle is permitted, based on environmental information acquired from an environmental sensor that detects information about the surroundings of the mobile vehicle; and a transmission control unit that performs control to transmit the movement permission range information to the mobile vehicle. The range information management unit sets the movement permission range to a range that does not overlap with the movement permission range granted to other mobile vehicles. Furthermore, the system includes a movement route management unit that generates a movement route for a mobile object based on environmental information, and the permitted movement range is set around the movement route, with the range information management unit setting the permitted movement range to a range where the output from the distance measuring sensor of one mobile object does not interfere with the output from the distance measuring sensor of another mobile object. do. [Effects of the Invention]

[0008] According to at least one aspect of the present invention, it becomes possible to prevent situations in which a moving object becomes stuck. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing an example configuration of the control system for a robot operation management system according to one embodiment of the present invention. [Figure 2] This figure shows an example configuration of a robot management table according to one embodiment of the present invention. [Figure 3] This figure shows an example configuration of a robot position information management table according to one embodiment of the present invention. [Figure 4] This figure shows an example configuration of a token management table related to one embodiment of the present invention. [Figure 5] This figure shows an example of setting the range of movement permission according to one embodiment of the present invention. [Figure 6] This figure shows an example configuration of a priority management table according to one embodiment of the present invention. [Figure 7] This flowchart shows an example of a procedure for a robot operation management method using a robot operation management system according to one embodiment of the present invention. [Figure 8] This flowchart shows an example of a procedure for a robot operation management method using a robot operation management system according to one embodiment of the present invention. [Figure 9] This is a block diagram showing an example of the configuration of the control system for a robot operation management system according to Modification 2 of the present invention. [Modes for carrying out the invention]

[0010] Hereinafter, examples of embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the accompanying drawings. The present invention is not limited to these embodiments, and various numerical values ​​and the like in the embodiments are illustrative. Furthermore, in this specification and drawings, the same reference numerals will be used for identical components or components having substantially the same function, and redundant explanations will be omitted.

[0011] <Outline configuration of the robot operation management system> First, with reference to Figure 1, the configuration of the robot operation management system 100 according to one embodiment of the present invention will be described. Figure 1 is a block diagram showing an example of the configuration of the control system of the robot operation management system 100.

[0012] As shown in FIG. 1, a robot operation management system 100 (an example of a mobile body operation management system) includes an operation management server 1 (an example of a mobile body operation management device) that manages the operation of a robot 2 (an example of a mobile body) that autonomously moves, the robot 2, and an environment sensor 3 that detects information around the robot 2. Although only one robot 2 is illustrated in FIG. 1, it is assumed that a plurality of robots 2 are arranged in a building.

[0013] The operation management server 1, the robot 2, and the environment sensor 3 are connected via a network 4. The network 4 is configured by, for example, a mobile phone network, the Internet, a short-range wireless communication network such as a wireless LAN (Local Area Network), or a combination of a plurality of these.

[0014] In the present embodiment, the robot 2 communicates with the operation management server 1 via the network 4 in order to move within a building (not shown) in which the robot 2 is arranged, and transmits information on its movement destination to the operation management server 1. The operation management server 1 that has acquired the information on the movement destination transmitted from the robot 2 calculates a travel route (an example of a movement route) that enables the robot 2 to smoothly pass by other robots and people based on the environmental information detected by the environment sensor 3.

[0015] Then, the operation management server 1 sets a movement permission range around the calculated travel route. For example, in the movement permission range, a range that can prevent interference between an output such as infrared rays from a self-position estimation sensor 25 mounted on another robot and an output such as infrared rays from a self-position estimation sensor 25 mounted on the robot 2 when the robot 2 moves within the range is set.

[0016] The operation management server 1 includes the generated driving route and the information on the movement permission range in the payload of the token as the movement permission range information, and transmits the token to the robot 2. By moving the robot 2 within the movement permission range described in this movement permission range information, it becomes possible to appropriately execute passing by other robots 2, etc., so that it is possible to prevent the occurrence of a situation where the robot 2 gets stuck. Note that the token is transmitted to the robot 2 via the API (Application Programming Interface) provided by the token management unit 15d described later.

[0017] In addition, the operation management server 1 according to the present embodiment sets a priority according to the class indicating the type of service provided by the robot 2, the time zone, and the congestion situation for each robot 2. Then, the operation management server 1 performs control such that the robot 2 with a higher priority can move to the movement destination in a shorter time. By performing such control, while preventing the occurrence of a situation where the robot 2 gets stuck, it is possible to more reliably prevent the occurrence of delays in service provision by the robot 2 with a high priority. The information on the priority set for the robot 2 is stored and managed in the priority management table 20 shown in FIG. 6.

[0018] [Operation Management Server] The operation management server 1 is composed of a computer including an arithmetic unit 10, a storage device 11, a memory 12, and a communication device 13.

[0019] The arithmetic unit 1 is a processor composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), etc. that control various operations.

[0020] The storage device 11 is a storage device composed of recording media such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 11 pre-stores the control program 15, robot management table 16, map DB (Data Base) 17, robot position information management table 18, token management table 19, priority management table 20, etc. Therefore, the storage device 11 is used as an example of a computer-readable, non-transient recording medium that stores programs executed by a computer.

[0021] The robot management table 16 is a table that manages various information about robot 2, such as the robot ID that identifies robot 2 and the class that indicates the type of service provided by robot 2. The robot management table 16 will be described in detail with reference to Figure 2 below.

[0022] Map DB17 is a database that stores map information of the building's interior. The map shows the structure of each floor within the building, and is represented, for example, by a spatial coordinate system corresponding to the building's actual space. Information such as the robot 2's destination is represented by labels in the spatial coordinate system. Alternatively, information such as the robot 2's destination may be represented by the three-dimensional relative distance from the origin set in the spatial coordinate system.

[0023] The robot position information management table 18 is a table that stores the position information of robot 2, etc., which is determined based on the detection information from the environmental sensor 3. The robot position information management table 18 will be described in detail later with reference to Figure 3.

[0024] The token management table 19 is a table that stores information about the various tokens sent to robot 2. The token management table 19 will be described in detail later with reference to Figure 4.

[0025] The priority management table 20 is a table that stores information on the priority set for robots according to the building's congestion level, time of day, and the service (class) of robot 2. The operation management server 1 also refers to the priority information for each class of robot 2 stored in the priority management table 20 to set the travel route. The priority management table 20 will be described in detail later with reference to Figure 6.

[0026] The control program 15 includes a login management unit 15a, an environmental condition management unit 15b, a driving route management unit 15c, and a token management unit 15d.

[0027] The login management unit 15a manages the login status information of robot 2 to the operation management server 1. The login status information of robot 2 managed by the login management unit 15a is stored in the token management table 19 shown in Figure 4.

[0028] The environmental condition management unit 15b periodically acquires environmental information of the building based on detection information obtained from the environmental sensor 3. This environmental information includes, for example, information on the location, size, and movement speed of robots 2 and people inside the building, and information on the location or size of residual objects placed on the passageways.

[0029] The environmental information acquisition cycle by the environmental condition management unit 15b can be set to any desired cycle depending on the operating mode of the robot operation management system 100, for example, a cycle of 100 milliseconds to several seconds can be set. In addition, the environmental condition management unit 15b also manages information such as the type of building, such as office buildings, commercial buildings, or condominiums, and information on the distinction between daytime and nighttime as part of the environmental information.

[0030] The travel route management unit 15c (an example of a range information management unit) calculates the optimal travel route for the robot 2 based on environmental information acquired by the environmental sensor 3 and managed by the environmental condition management unit 15b. The travel route management unit 15c also calculates a travel route when it receives a token issuance request from the robot 2. Furthermore, based on the calculated travel route, the travel route management unit 15c sets a movement permission range for the robot 2 around the travel route. It then supplies the calculated travel route and movement permission range information to the token management unit 15d as "movement permission range information".

[0031] Furthermore, it is conceivable that, in the building where the robot 2, whose operation is managed by the robot operation management system 100 according to this embodiment, is operating, there may also be robots operating that are not registered with the robot operation management system 100. If the mobility performance and self-position estimation performance of these unregistered robots are low, it is possible that the robot may not be able to properly pass by such unregistered robots in confined spaces, etc.

[0032] Therefore, the environmental condition management unit 15b classifies objects into people and other moving objects based on camera image analysis acquired from the environmental sensor 3, and recognizes all non-human moving objects that are outside the control range of the operation management server 1 as unregistered robots.

[0033] The route management unit 15c then controls registered robots 2 to move away from unregistered robots or to move them to locations far away, based on the environmental information recognized by the environmental condition management unit 15b. This control by the route management unit 15c ensures that no robots controllable by the operation management server 1 are present near unregistered robots, thus preventing any collisions. Therefore, even in environments where unregistered robots and registered robots controllable by the operation management server 1 coexist, appropriate overall operation can be achieved simply by modifying the control of the registered robots 2.

[0034] The token management unit 15d (an example of a transmission control unit) provides various APIs to the robot 2. APIs provided by the token management unit 15d to the robot 2 include, for example, a login request API, a token acquisition API, and a logout request API.

[0035] The login request API is used when robot 2 requests to log in to operation management server 1, using the robot ID and password that have been pre-registered with operation management server 1.

[0036] When a password is sent from robot 2 to the operation management server 1 via the login request API, the token management unit 15d of the operation management server 1 verifies the password and authenticates robot 2 based on the verification result. Only authenticated robot 2 will then be able to access (log in to) the operation management server 1 and send and receive various types of information between it and the operation management server 1.

[0037] The token acquisition API is used when robot 2 is logged into the operation management server 1 and requests the operation management server 1 to issue a token. The token issuance request from robot 2 to the operation management server 1 is made at times such as when robot 2 starts moving, for the purpose of robot 2 obtaining information about the permitted movement range from the operation management server 1.

[0038] The logout request API is used by robot 2 to request logout from the operation management server 1. After logging in to the operation management server 1 using the login API, robot 2 can either be automatically logged out of the operation management server 1 due to a timeout, or explicitly logged out of the operation management server 1 using the logout API.

[0039] Furthermore, the token management unit 15d assigns to the token information that indicates the travel route and the permitted movement range, which are information set by the travel route management unit 15c. The token management unit 15d then transmits the token to the robot 2 via the communication device 13. The permitted movement range will be explained later with reference to Figure 5.

[0040] The tokens issued by the token management unit 15d include not only information about the permitted movement range, but also information such as the token issuance time and token expiration date. Since expired tokens become invalid, robot 2 holding an expired token cannot perform movements based on the permitted movement range information contained in the token. Therefore, robot 2 holding an expired token needs to request the operation management server 1 to issue a new token containing the permitted movement range information.

[0041] In this way, by transmitting information from the token management unit 15d of the operation management server 1 to the robot 2 via a token, it is possible to prevent information such as movement permission range information from being transmitted to robots that do not have access rights to the operation management server 1 or robots installed for criminal purposes.

[0042] Furthermore, since tokens have an expiration date, even if a token falls into the hands of a third party, if the token has expired, the third party will not be able to access the operation management server 1. In other words, by using tokens, it is possible to prevent unauthorized access to the operation management server 1 by third parties.

[0043] In other words, according to this embodiment, information about the permitted movement range can be transmitted to the robot 2 while ensuring security, thereby preventing situations in which the robot 2 becomes stuck because it cannot properly pass other robots or people.

[0044] Memory 12 is a temporary storage device used as the work memory of the arithmetic unit 10. The arithmetic unit 10 reads information stored in storage device 11 into memory 12 as needed and uses it. Each function of the operation management server 1 is realized by the arithmetic unit 10 reading and executing the program for realizing each function from memory 12. Therefore, memory 12 is also used as an example of a computer-readable, non-transient recording medium that stores programs executed by a computer.

[0045] The communication device 13 is a device that performs communication using wireless communication, radio wave communication, short-range wireless communication, wired communication, or a combination of these. Wireless communication includes Wi-Fi (registered trademark) and mobile phone lines, while radio wave communication includes Bluetooth (registered trademark) and ZigBee. Short-range wireless communication includes infrared short-range communication such as IrDA (Infrared Data Association), ultrasonic communication, and optical communication. Wired communication includes communication via wired LAN. The operation management server 1 connects to the network 4 via this communication device 13. The communication device 13 then controls the transmission and reception of various signals and data between the robot 2 or the environmental sensor 3 via the network 4.

[0046] [robot] Robot 2 includes a control device 21, a self-position estimation sensor 25, a movement mechanism 26, and a communication device 27.

[0047] The control device 21 (an example of a control unit) is composed of a computer equipped with an arithmetic unit 22, memory 23, and storage device 24. The arithmetic unit 22 is a processor consisting of a CPU, GPU, etc., which is responsible for controlling the movement of the entire robot 2, and the memory 23 is a temporary storage device that the arithmetic unit 22 uses by reading necessary information from information pre-stored in the storage device 24 as needed.

[0048] The storage device 24 pre-stores various programs for the robot 2 to perform specific services, map information (not shown) representing the structure of each floor within the building where the robot 2 is located, and information about its destination. In other words, the storage device 24 is used as an example of a computer-readable, non-transient recording medium that stores programs executed by a computer.

[0049] The self-position estimation sensor 25 is a sensor used by the robot 2 to estimate its own position, and consists of various distance measuring sensors such as an LRF (Laser Range Finder), LiDAR (Light imaging Detection and Ranging), ultrasonic sensor, infrared sensor, ToF (Time of Flight) sensor, a camera, a GPS (Global Positioning System) receiver, or a combination of multiple sensors. The robot 2's computing unit 22 estimates its current position within the building based on the information acquired by the self-position estimation sensor 25 and the map information of the building stored in the storage device 24.

[0050] The mobility mechanism 26 is composed of, for example, caterpillar-type wheels, and the robot 2 is moved by the rotation of the wheels. However, the mobility mechanism 26 is not limited to wheels, and any mechanism that can move (travel) along a passageway may be used.

[0051] The communication device 27 connects to the network 4 via wireless communication, radio communication, short-range wireless communication, or wired communication. The communication device 27 then controls the transmission and reception of various signals, data, etc., between the operation management server 1 or the environmental sensor 3 via the network 4.

[0052] The environmental sensor 3 consists of multiple security cameras, various sensors such as ultrasonic sensors, ToF sensors, and infrared sensors, or a combination of these multiple sensors. The environmental sensor 3 supplies the detected information to the environmental condition management unit 15b of the control program 15 of the robot operation management system 100.

[0053] <Robot Management Table> Next, the configuration of the robot management table 16 will be described with reference to Figure 2. Figure 2 shows an example of the configuration of the robot management table 16.

[0054] As shown in Figure 2, the robot management table 16 has the following fields: "Robot ID", "Robot Class", "Robot Size", "Movement Margin", "ID Expiration Date", and "Password". Each record that makes up the robot management table 16 stores information about one robot 2.

[0055] The "Robot ID" field stores the Robot ID, which is a unique identifier assigned to each robot 2. The "Robot Class" field stores the class corresponding to the service provided by Robot 2. Examples of "Classes" include "Cleaning" for cleaning inside a building, "Transportation" for transporting items inside a building, "Security" for providing security inside a building, and "Firefighting" for initial firefighting and evacuation guidance in the event of a fire inside a building. Note that the robot classes shown in Figure 2 are just examples, and other classes may exist besides those shown in Figure 2.

[0056] The "Robot Size" field stores information about the width (mm) of Robot 2 in the direction of movement. Note that the size information for Robot 2 may be set more precisely according to its dimensions in the length, width, and height directions.

[0057] The "Movement Margin" field stores information about the distance (mm) required for robot 2 to avoid collisions with people, objects, other robots, etc. Note that the value registered in "Movement Margin" does not need to be constant; the calculation unit 10 may dynamically change the value of the movement margin according to the movement speed of robot 2 and the environment. For example, if robot 2 can move at high speed due to an uncongested situation, the movement margin can be set wider than usual. On the other hand, if robot 2 cannot move at high speed due to a congested situation, the movement margin can be set narrower than usual to allow movement even in a congested situation.

[0058] The "ID Expiration Date" field stores the expiration date information set for each robot ID. A robot ID is only valid within its expiration date. If the operation management server 1 detects access by robot 2 with an expired robot ID, it will reject the access by that robot.

[0059] The "Password" field stores a unique password for robot 2 that has been pre-registered for robot 2. The expiration date of the robot ID stored in the "ID Expiration Date" field, and the password stored in the "Password" field, are sent to the operation management server 1 via the login request API when robot 2 requests login from the operation management server 1.

[0060] In the top record of the robot management table 16 shown in Figure 2, it is indicated that robot 2, with robot ID "A1001", is of the "transport" class, has a size of "1200 (mm)", and a movement margin of "200 (mm)". It is also indicated that the ID expiration date for robot ID "A1001" is "July 27, 2021, 12:34:56", and the password is "AAAAA".

[0061] Note that the example shown in Figure 2 is just one example, and the robot management table 16 may contain other information about robot 2.

[0062] <Robot Location Information Management Table> Next, the configuration of the robot position information management table 18 will be described with reference to Figure 3. Figure 3 is a diagram showing an example of the configuration of the robot position information management table 18.

[0063] As shown in Figure 3, the robot location information management table 18 has the following items: "Robot ID", "Current Location", "Destination", "Direction of Travel", "Movement Speed", and "Update Time". Each record that makes up the robot location information management table 18 stores information about one robot 2.

[0064] The "Robot ID" field stores the robot ID information. The "Current Location" field stores information about the robot 2's current location within the building, calculated by the computing unit 10 based on information acquired by the environmental sensor 3 (see Figure 1). The "Destination" field stores information about the destination robot 2 is traveling to within the building, as notified by robot 2 when it requests a token. In this embodiment, an example is given where robot 2 holds the destination information, but the present invention is not limited to this. The operation management server 1 may also hold the destination information of robot 2.

[0065] The current position and destination information of robot 2 may be indicated, for example, by information showing labels on a spatial coordinate system. Alternatively, the current position and destination information may be indicated by the three-dimensional relative distance from an arbitrary point defined as the origin in a space.

[0066] The "Direction of Travel" field stores information about the direction of travel of the robot 2, calculated by the computing unit 10 (see Figure 1) based on information acquired by the environmental sensor 3. The direction of travel information is indicated, for example, by angle (°), radians (rad), etc.

[0067] The "Movement Speed" field stores information about the robot 2's movement speed, calculated by the computing unit 10 based on information acquired by the environmental sensor 3.

[0068] The "Update Time" field stores the date and time when the operation management server 1 acquired information from the environmental sensor 3 and updated the record in the robot position information management table 18.

[0069] In the top record of the robot location information management table 18 shown in Figure 3, it is indicated that robot 2, with robot ID "A1001", has its current location at "X1", its destination at "X2", its direction of travel at "X3", and its movement speed at "X4". It is also indicated that the update time of this record is "July 27, 2021, 12:34:30".

[0070] Note that the example shown in Figure 3 is just one example, and the robot position information management table 18 may also contain other information regarding the position of robot 2.

[0071] <Configuration of the token management table> Next, the configuration of the token management table 19 will be explained with reference to Figure 4. Figure 4 is a diagram showing an example of the configuration of the token management table 19.

[0072] As shown in Figure 4, the token management table 19 has the following items: "Robot ID", "Login Status", "Last Login Time", "Token", "Token Issuance Time", "Token Expiration Date", and "Movement Permit Scope". Each record that makes up the token management table 19 stores information related to one robot 2.

[0073] The "Robot ID" field stores the robot ID information. The "Login Status" field stores information on whether robot 2 is logged into the operation management server 1. Specifically, it stores "Yes" if robot 2 is logged in, and "No" if robot 2 is not logged in.

[0074] The "Last Login Time" field stores information about the time when robot 2 logged out of the operation management server 1. This information about the time robot 2 logged out of the operation management server 1 is recorded by the login management unit 15a included in the control program 15 of the operation management server 1.

[0075] The "Token" field stores the tokens issued to the robot 2 by the token management unit 15d included in the control program 15 of the operation management server 1. The "Token Issuance Time" field stores information about the date and time when the token management unit 15d issued a token to robot 2. The "Token Expiration Date" field stores the expiration date information set for the token by the token management unit 15d. The token's expiration date is set to a time (5 minutes in the example shown in Figure 4) obtained by adding a predetermined time to the time the token was issued. If the validity period of an issued token has expired when robot 2 starts moving, robot 2 requests the operation management server 1 to issue a new token.

[0076] The "Movement Permit Range" field stores the movement permit range information indicated in the movement permit range information that was included in the token and sent to robot 2.

[0077] Note that the example shown in Figure 4 is just one example, and the token management table 19 may contain other information related to the tokens.

[0078] <Example of setting movement permission range> Now, with reference to Figure 5, an example of setting the permitted movement range by the travel route management unit 15c will be explained. Figure 5 is a diagram showing an example of setting the permitted movement range.

[0079] Figure 5 shows that robot 2a, which moves to destination D1, has a movement permission area R1 set, and robot 2b, which moves to destination D2, has a movement permission area R2 set. Movement permission areas R1 and R2 are set as mesh-like regions located around the travel route shown by the solid lines.

[0080] The permitted movement ranges R1 and R2 are set to ranges in which infrared radiation emitted from the self-position estimation sensor 25 (see Figure 1) of robot 2a does not interfere with infrared radiation emitted from the self-position estimation sensor 25 of the other robot 2.

[0081] In the example shown in Figure 5, it is assumed that robot 2a and robot 2b will pass each other in the area enclosed by the dashed frame. Even in this situation, by having robot 2a move within the permitted movement range R1 and robot 2b move within the permitted movement range R2, interference between infrared rays and other signals emitted from their respective self-position estimation sensors 25 can be prevented, allowing robots 2a and 2b to pass each other appropriately.

[0082] The travel route management unit 15c may also control the movements of robot 2a and / or robot 2b so that the permitted movement ranges R1 and R2 do not overlap in time, rather than physically.

[0083] Furthermore, the token management unit 15d may dynamically expand or contract the permitted movement range depending on the size of the robot 2, the size of the movement margin set for the robot 2, the accuracy of the robot 2's self-position estimation, the width of the passageway, the congestion level of the building, the network environment such as Wi-Fi, etc. By performing such control by the token management unit 15d, it becomes possible to allow the robots 2 to pass each other appropriately even in congested situations. Also, in uncongested situations, it becomes possible to widen the movement range of the robots 2.

[0084] Furthermore, in this embodiment, if it is anticipated that even if the permitted movement range is reduced, sufficient width for robot 2 to travel cannot be secured, the token management unit 15d of the operation management server 1 controls robot 2 to move to a waiting area. The waiting area is, for example, a place where there is sufficient space for robot 2 to pass each other. The token management unit 15d can cause robot 2 to move to the waiting area by transmitting a token to robot 2 that includes an instruction to move to the waiting area. By controlling robot 2 to move to the waiting area in this way, it is possible to prevent robot 2 from becoming stuck, even in narrow spaces or other situations where it is difficult to pass other robots 2.

[0085] Then, after arriving at the designated waiting location, robot 2 estimates its own position, and if the estimated position does not match the destination, it notifies the operation management server 1 of its destination again. Furthermore, robot 2 requests the operation management server 1 to issue a token containing information on the permitted movement range. Upon receiving the token issuance request, the operation management server 1 recalculates the travel route starting from the waiting location and ending at the destination, issues a token containing the travel route and information on the permitted movement range, and transmits it to robot 2.

[0086] This control by the token management unit 15d prevents the robot 2 from getting stuck in confined spaces, while allowing the robot 2 to move smoothly to its destination.

[0087] <Priority Management Table> Next, with reference to Figure 6, we will describe the priority management table 20 referenced by the route management unit 15c (see Figure 1) of the operation management server 1. Figure 6 shows an example of the configuration of the priority management table 20.

[0088] As shown in Figure 6, the priority management table 20 has the following items: "Congestion Level," "Time Slot," and "Service." In the example shown in Figure 6, it is assumed that the building is an office building, and the congestion level and time slot information is set accordingly.

[0089] The "Congestion Level" field stores two pieces of information indicating the level of congestion inside the building: "Normal" or "Congested." However, the information indicating congestion level is not limited to these two; more detailed classifications may also be used.

[0090] The "Time Zone" field stores information about the time zones during which Robot 2 provides services. In the example shown in Figure 6, the "Time Zone" field stores information for five time zones: "Daytime," "Commuting Hours," "Lunch Break," "Commuting Hours," and "Nighttime." Note that the "Time Zone" zones are not limited to those shown in Figure 6 and may be other zones. Also, the "Time Zone" information may be indicated by time, etc.

[0091] The "Services" section stores information about the types of services (classes) that the robots provide. In the example shown in Figure 6, the robots provide five services: "Cleaning," "Transportation," "Security," "Guidance," and "Firefighting." The priority management table 20 then assigns priorities from "1" (high priority) to "5" (low priority) based on congestion, time of day, and service content.

[0092] In the example shown in Figure 6, when the congestion level is "normal" and the time of day is "daytime," the "cleaning" robot and "security" robot are assigned a priority of "4," while the "transport" robot and "guidance" robot are assigned a priority of "2." The "firefighting" robot is assigned a priority of "1."

[0093] On the other hand, when the congestion level is "normal" and the time of day is "nighttime," the "transport" robots are assigned a priority of "4," and the "cleaning" robots are assigned a priority of "3." In addition, the "security" robots and "guidance" robots are assigned a priority of "2," and the "firefighting" robots are assigned a priority of "1."

[0094] In other words, in the priority management table 20 shown in Figure 6, when the congestion level is "normal" during the "daytime," the priority of "transportation" robots and "guidance" robots is set higher than that of "cleaning" robots and "security" robots, excluding "firefighting" robots. On the other hand, at "nighttime," when the congestion level is also "normal," the priority of "cleaning" robots, "security" robots, and "guidance" robots is set higher than that of "transportation" robots, excluding "firefighting" robots.

[0095] The route management unit 15c (see Figure 1) of the operation management server 1 then calculates a route that allows for shorter travel times for robots 2 with higher priority set in the priority management table 20. A route that allows for shorter travel times can be achieved, for example, by readjusting the travel margin set for the corresponding robot 2 to a narrower setting.

[0096] Figure 6 shows an example where priority is set for each robot 2 based on information such as "congestion level," "time of day," and "service (class)," but the present invention is not limited to this. Priority may be set by taking other information into consideration, or priority may be set based only on the class information of the robot 2.

[0097] <Method of managing operations using a robot operation management system> Next, with reference to Figures 7 and 8, a method of operation management using the robot operation management system 100 according to this embodiment will be described. Figures 7 and 8 are flowcharts showing an example of the procedure for operation management using the robot operation management system 100.

[0098] First, the environmental condition management unit 15b (see Figure 1) of the operation management server 1 periodically acquires environmental information from the environmental sensor 3 (step SA1). Then, the environmental condition management unit 15b updates the contents of the robot position information management table 18 (see Figure 3) with the acquired information.

[0099] Robot 2 sends a login request to the operation management server 1 using the login API, such as when starting to provide a service (step SB1). Upon receiving the login request, the login management unit 15a of the operation management server 1 performs a login authentication process (step SA2). In the login authentication process, the login management unit 15a refers to the robot management table 16 (see Figure 2) and checks whether there are any problems with the expiration date of the robot ID or the password set for robot 2 that made the login request. If it determines that there are no problems, it authenticates the login of robot 2 to the operation management server 1.

[0100] Next, the login management unit 15a updates the login status information of robot 2 in the token management table 19 (see Figure 4) based on the result of the login authentication process performed in step SA2 (login authentication result) (step SA3). Then, the login management unit 15a sends the login authentication result, indicating whether or not login authentication was successful, to robot 2 (step SA4).

[0101] After receiving the login authentication result sent from the operation management server 1 in step SA4, and when the robot 2 is ready to begin moving in accordance with the service provision, the robot 2 notifies the operation management server 1 of its destination using the token acquisition API (step SB2).

[0102] In step SB2, the token management unit 15d of the operation management server 1 receives the destination information transmitted from robot 2 and checks the login status of robot 2 by referring to the token management table 19 (see Figure 4) (step SA5).

[0103] Next, the route management unit 15c of the operation management server 1 calculates the route and movement permission range for robot 2 (step SA6). Specifically, the route management unit 15c calculates a route that robot 2 can move smoothly based on the environmental information acquired in step SA1, information such as the size and movement margin of robot 2 stored in the robot management table 16, the priority information of robot 2 stored in the priority management table 20, and information on the destination of robot 2. Then, the route management unit 15c sets a movement permission range around the route.

[0104] The token management unit 15d issues a token containing the calculated travel route and permitted movement range as permitted movement range information (step SA7). The token management unit 15d then stores the issued token in the token management table 19. Next, the token management unit 15d transmits the token to the robot 2 via the communication device 13 (see Figure 1) (step SA8).

[0105] Next, the processing of the operation management server 1 from step SA8 onwards, and the processing of robot 2 from step SB2 onwards, will be explained with reference to Figure 8.

[0106] In step SB2 of Figure 7, robot 2 sends information about its destination to the operation management server 1, and then determines whether or not it has received a token sent from the operation management server 1 (step SB3). If step SB3 determines that the token has not been received (step SB3 is a NO determination), the control device 21 of robot 2 (see Figure 1) continues the determination in step SB3.

[0107] On the other hand, if it is determined in step SB3 that a token has been received (if step SB3 is determined to be YES), the control device 21 of robot 2 controls robot 2 to move to the destination based on the movement permission range information contained in the token (step SB4).

[0108] Next, the control device 21 of robot 2 determines whether or not robot 2 has arrived at its destination (step SB5). If it is determined in step SB5 that robot 2 has not arrived at its destination (if step SB5 is determined to be NO), the control device 21 performs the process in step SB4.

[0109] On the other hand, if it is determined in step SB5 that the robot has arrived at its destination (if step SB5 is determined to be YES), it is determined whether the arrived destination is the same destination that was sent to the operation management server 1 when the robot 2 started moving (step SB6). Specifically, after the robot 2 arrives at its destination, the control device 21 of the robot 2 estimates its own position based on the detection information from the self-position estimation sensor 25 mounted on it. The control device 21 then determines whether the current position of the robot matches the destination that was sent to the operation management server 1 when the robot 2 started moving.

[0110] If the token determined to have been received in step SB3 is a token instructing movement to a waiting location, the destination indicated on that token will be different from the destination that robot 2 sent to the operation management server 1 when it started moving. In this case, step SB6 will result in a NO determination.

[0111] If step SB6 is determined to be NO, the control device 21 of robot 2 controls the robot to send a token issuance request to the operation management server 1 via the communication device 27 (step SB7). The control device 21 includes the destination information, in this case the initial destination information that was sent to the operation management server 1 at the start of movement, in the token sent to the operation management server 1. After processing in step SB7, the control device 21 makes the determination in step SB3.

[0112] On the other hand, if step SB6 determines that the destination reached is the same destination that was sent to the operation management server 1 at the start of the movement (i.e., step SB6 is determined to be YES), then the processing in robot 2 ends.

[0113] Figure 8 shows an example where the robot 2 determines whether its arrival location matches the initial destination, but the present invention is not limited to this. This determination may also be made by the operation management server 1.

[0114] After sending a token to the robot 2 in step SA8 of Figure 7, the computing unit 10 of the operation management server 1 periodically acquires environmental information (step SA9). Next, the computing unit 10 determines whether or not it has detected an environmental change that requires a change in the travel route (step SA10). For example, if it is determined that the robot 2 needs to move to a narrow place where it needs to wait in a waiting area, step SA10 will result in a YES determination.

[0115] If step SA10 determines that no environmental changes requiring a change in the travel route have been detected (step SA10 is a NO determination), the computing unit 10 determines whether or not it has received a token issuance request from robot 2 (step SA11). If a token issuance request has been issued in step SB7, step SA11 is a YES determination.

[0116] If it is determined in step SA11 that no token issuance request has been received (step SA11 is a NO determination), the arithmetic unit 10 performs the processing in step SA9. On the other hand, if step SA11 is a YES determination, or if step SA10 is a YES determination, the route management unit 15c of the operation management server 1 recalculates the route and sets the permitted movement range based on the route. Then, the token management unit 15d issues a token containing permitted movement range information indicating the route and permitted movement range (step SA12).

[0117] If step SA10 is determined to be YES, that is, if an environmental change requiring a change in the travel route is detected, for example, a scenario is envisioned where robot 2 moves to a waiting area and waits there after moving through a narrow space. In this case, the travel route management unit 15c generates a travel route with the waiting area as the new travel destination. The token management unit 15d then issues a token that includes the travel route and travel permission range information indicating the travel permission range.

[0118] If step SA11 is determined to be YES, that is, if it is determined that a token issuance request has been received, then in step SB7, it is assumed that a token issuance request containing information about the destination is sent from robot 2 to operation management server 1. In this case, the travel route management unit 15c sets the original destination as the destination again and generates a travel route from the waiting area to the newly set destination. Then, the token management unit 15d issues a token containing the travel route and travel permission range information indicating the travel permission range.

[0119] Then, after processing in step SA12, the token management unit 15d of the operation management server 1 controls the robot 2 to send the issued token via the communication device 13 (step SA13). After processing in step SA13, the computing unit 10 returns to step SA9 to perform processing.

[0120] In the embodiment described above, the operation management server 1 includes a travel route management unit 15c that generates movement permission range information, which defines the movement permission range in which the robot 2 is permitted to move, based on environmental information acquired from an environmental sensor 3 that detects information around the robot 2, and a token management unit 15d that controls the transmission of the movement permission range information to the robot 2. The token management unit 15d sets the movement permission range to a range that does not overlap with the movement permission ranges assigned to other robots 2. Therefore, according to this embodiment, by moving along the movement permission range set for itself, it is possible to prevent the robot 2 from becoming stuck because it cannot properly pass other robots.

[0121] Furthermore, in the embodiment described above, the travel route management unit 15c sets the movement permission range to a range in which the output of infrared rays, etc., from the self-position estimation sensor 25 of robot 2 does not interfere with the output of the self-position estimation sensor 25 of other robots 2. Therefore, according to this embodiment, by moving along the movement permission range set for itself, it is possible to prevent interference between the output of infrared rays, etc., from the self-position estimation sensor 25 of other robots 2 and the output of its own self-position estimation sensor 25. Therefore, according to this embodiment, robot 2 will not stop its operation by mistakenly recognizing other robots 2 that pass by it as obstacles, etc.

[0122] <Variation> [Example 1] In the embodiment described above, an example was given in which the operation management server 1 transmits a token containing movement permission range information indicating the travel route and the permitted movement range to the robot 2, and the robot 2 is made to move based on the movement permission range indicated in the token, thereby preventing the robot 2 from becoming stuck. However, the present invention is not limited to this.

[0123] If the robot 2 controlled by the operation management server 1 is a robot with high mobility, the operation management server 1 may send information about the restricted movement range to the robot 2 instead of the permitted movement range. A robot with high mobility refers to a robot that has high self-position estimation accuracy and collision avoidance capabilities with people, objects, or other robots (self-position estimation and collision avoidance performance meet predetermined standards), and can move sufficiently even in confined spaces using its own built-in behavior control algorithm.

[0124] By setting a restricted area for movement where it would be difficult for the highly mobile robot 2 to pass other robots, and communicating this information via a token, it is possible to prevent situations where robot 2 becomes stuck due to being unable to properly pass other robots. Furthermore, once information about the restricted area is communicated, robot 2 can move freely in areas outside of the restricted area. This makes it possible, for example, to transmit information about restricted areas to robot 2 in large spaces such as airports, thereby increasing the range of service that each robot 2 can provide.

[0125] Furthermore, since the restricted movement area is expected to be smaller than the permitted movement area, this modification makes it possible to further reduce the computational load on the route management unit 15c of the operation management server 1. The operation management server 1 may also perform operation management by combining both types of control, such as sending a token with restricted movement area information to robots 2 with high mobility performance and a token with permitted movement area information to robots 2 with low mobility performance.

[0126] [Differentiation 2] Furthermore, in the embodiments or modifications described above, an example was given in which the operation management server 1 transmits to the robot 2 a token containing movement permission range information indicating the travel route and the permitted movement range, thereby preventing the robot 2 from becoming stranded. However, the present invention is not limited thereto.

[0127] For example, instead of issuing a token, the operation management server 1 may prevent robot 2 from becoming stuck by generating a virtual barrier and physically altering robot 2's route. A virtual barrier is a virtual obstacle that is invisible to the human eye and recognized only as an obstacle by robot 2, generated by means of infrared radiation or the like.

[0128] Figure 9 is a block diagram showing an example of the control system configuration of the robot operation management system 100A according to Modification 2. The differences between the robot operation management system 100A according to Modification 1 and the robot operation management system 100 shown in Figure 1 are that a virtual barrier control unit 15e is provided in the control program 15A of the operation management server 1A instead of the token management unit 15d, and that the token management table 19 does not exist in the storage device 11A of the operation management server 1A. Another difference is that a virtual barrier generation device 5 is provided to generate virtual barriers. The parts of the robot operation management system 100A that are common with the robot operation management system 100 will not be explained.

[0129] The virtual barrier control unit 15e of the operation management server 1A instructs the virtual barrier generator 5 to generate a virtual barrier when it determines that robot 2 may become stuck due to entering a narrow space. Based on this instruction, the virtual barrier generator 5 generates a virtual barrier around robot 2, allowing robot 2 to move while avoiding the virtual barrier. This prevents interference with infrared rays emitted from the self-position estimation sensors 25 of other nearby robots 2, enabling appropriate passing of other robots 2.

[0130] Furthermore, the virtual barrier is not limited to those generated by infrared irradiation. It may be generated by other means, such as radio waves or laser light, as long as it is invisible to humans and only recognizable by robot 2. Also, the barrier is not limited to virtual ones, but may be physically present. For example, a partition that can move along rails installed on the floor or ceiling of a building, which can be controlled by the robot operation management system 100A, or an autonomously moving partition device may be used as a barrier.

[0131] By controlling the robot operation management system 100A to change the path of robot 2 using physical barriers, it becomes possible to adjust the travel routes and timing of robots not registered with the robot operation management system 100A.

[0132] Furthermore, the robot operation management systems 100 and 100A may perform both control using virtual or physical barriers and control that transmits information about the permitted movement range to the robot 2 using tokens (or control that transmits information about the prohibited movement range to the robot 2 using tokens), as described in the above-described embodiment.

[0133] Furthermore, in the embodiments and various modifications described above, examples were given in which a token is used as a means of transmitting information on the permitted or prohibited movement range from the operation management server 1 to the robot 2, but the present invention is not limited thereto. The operation management server 1 may, for example, attach the permitted or prohibited movement range information to time-limited information such as a one-time password and transmit it to the robot 2.

[0134] Alternatively, the movement permission range information or movement prohibition range information from the operation management server 1 to the robot 2 may be transmitted in a public key encrypted packet. Alternatively, the operation management server 1 may send the movement permission range information or movement prohibition range information to the robot 2 using a normal packet that is not encrypted.

[0135] Furthermore, the embodiments and modifications described above are intended to explain the configuration of the apparatus and system in detail and specifically in order to make the present invention easier to understand, and are not necessarily limited to those comprising all the configurations described.

[0136] Furthermore, the control lines or information lines shown as solid lines in Figures 1 and 9 are those deemed necessary for explanation and do not necessarily represent all control lines or information lines in the actual product. In reality, it can be assumed that almost all components are interconnected.

[0137] Furthermore, in this specification, processing steps describing chronological processing include not only processing performed chronologically in the order described, but also processing that is not necessarily performed chronologically but is executed in parallel or individually (for example, parallel processing or processing by objects). [Explanation of Symbols]

[0138] 1, 1A…Operation management server, 2…Robot, 3…Environmental sensor, 5…Virtual barrier generator, 10…Computation unit, 11, 11A…Storage device, 12…Memory, 13…Communication device, 15, 15A…Control program, 15a…Login management unit, 15b…Environmental status management unit, 15c…Driving route management unit, 15d…Token management unit, 15e…Virtual barrier control unit, 16…Robot management table, 17…Map DB, 18…Robot location information management table, 19…Token management table, 20…Priority management table, 100, 100A…Robot operation management system

Claims

1. A mobile vehicle operation management device for managing the operation of a mobile vehicle, The mobile object operation management device includes a range information management unit that generates movement permission range information, which defines the movement permission range in which the movement of the mobile object is permitted, based on environmental information acquired from an environmental sensor that detects information about the surroundings of the mobile object. The system includes a transmission control unit that controls the transmission of the movement permission range information to the moving object, The range information management unit sets the permitted movement range to a range that does not overlap with the permitted movement range granted to other moving objects. The system further includes a movement route management unit that generates a movement route for the moving object based on the aforementioned environmental information. The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects. Mobile traffic management device.

2. The transmission control unit issues a token containing the movement permission range information and transmits the token to the mobile body. The mobile vehicle operation management device according to claim 1.

3. The range information management unit expands or reduces the permitted movement range based on the content of the environmental information. The mobile vehicle operation management device according to claim 2.

4. If the aforementioned movement route management unit determines that even if the permitted movement range is reduced, it is not possible to secure the space necessary for passing other moving objects, it recalculates a movement route with the waiting area of ​​the moving object as the destination and outputs the information of the calculated movement route to the range information management unit. The mobile vehicle operation management device according to claim 3.

5. The system further comprises a priority management table that stores correspondence information between the mobile body and priority information set according to the content of the services provided by the mobile body, The aforementioned movement route management unit calculates the movement route of the moving object based on the priority information defined in the priority management table. A mobile vehicle operation management device according to any one of claims 1 to 4.

6. The range information management unit, if the mobility performance of the mobile body meets predetermined criteria, sets a prohibited movement range in place of the permitted movement range, and transmits prohibited movement range information indicating the prohibited movement range to the mobile body. The mobile vehicle operation management device according to claim 1.

7. A mobile vehicle operation management system having a mobile vehicle and a mobile vehicle operation management device for managing the operation of the mobile vehicle, The mobile object operation management device includes a range information management unit that generates movement permission range information, which defines the movement permission range in which the movement of the mobile object is permitted, based on environmental information acquired from an environmental sensor that detects information about the surroundings of the mobile object. The system includes a transmission control unit that controls the transmission of the movement permission range information to the moving object, The mobile body includes a control unit that controls its movement within the permitted movement range defined in the permitted movement range information transmitted from the mobile body operation management device, The range information management unit sets the permitted movement range to a range that does not overlap with the permitted movement range granted to other moving objects. The mobile vehicle operation management device further comprises a mobile route management unit that generates a mobile vehicle's travel route based on the environmental information, The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects. Mobile vehicle operation management system.

8. A method for managing the operation of a mobile object using a mobile object operation management device, A procedure for the range information management unit to generate movement permission range information that defines the movement permission range in which the movement of the moving object is permitted, based on environmental information obtained from an environmental sensor that detects information about the surroundings of the moving object, The procedure includes a transmission control unit performing control to transmit the aforementioned movement permission range information to the moving object, The aforementioned permitted movement range is set to a range that does not overlap with the permitted movement range granted to other moving objects. The mobile vehicle operation management device further comprises a mobile route management unit that generates a mobile vehicle's travel route based on the environmental information, The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects. Mobile vehicle operation management method.

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