Information processing equipment, systems, mobile devices, methods and programs

Abstract

To provide an information processing device, a system, a moving body, a method, and a program that can improve safety.SOLUTION: An information processing device according to the embodiment comprises a first processing unit that identifies a first path along which a first moving body is traveling, identifies a second moving body different from the first moving body based on the identified first path, and generates a second control signal for the travel of the identified second moving body when a status signal for the status of the first moving body moving based on the first control signal for the travel of the first moving body is not received.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] Embodiments of the present invention relate to an information processing apparatus, a system, a mobile body, a method, and a program.

Background Art

[0002] In recent years, it has been known to provide various services by controlling mobile bodies such as AMRs (Autonomous Mobile Robots) and AGVs (Automatic Guided Vehicles).

[0003] However, when a mobile body performs an unintended operation, there is a possibility of harm to surrounding structures and people.

[0004] For this reason, a mechanism for suppressing a decrease in safety due to an unintended operation of a mobile body is required.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, the problem to be solved by the present invention is to provide an information processing apparatus, a system, a mobile body, a method, and a program capable of improving safety.

Means for Solving the Problems

[0007] The information processing device according to the embodiment includes a first processing unit that, when no status signal is received regarding the state of the first mobile body moving based on a first control signal regarding the movement of the first mobile body, identifies a first path on which the first mobile body is moving, identifies a second mobile body different from the first mobile body based on the identified first path, and generates a second control signal regarding the movement of the identified second mobile body. The second control signal includes a signal to stop the second mobile body. The first processing unit generates a third control signal to restart the movement of the second mobile body if, after the second control signal has been transmitted to the second mobile body, the status signal is received from the first mobile body, the second mobile body, and other mobile bodies moving in the space in which the first and second mobile bodies are moving. [Brief explanation of the drawing]

[0008] [Figure 1] A diagram illustrating the overview of a mobile robot system according to an embodiment. [Figure 2] A diagram showing an example of the functional configuration of an information processing device. [Figure 3] A diagram showing an example of the system configuration of an information processing device. [Figure 4] A diagram showing an example of the functional configuration of a mobile robot. [Figure 5] A diagram showing an example of the configuration of the communication status detection unit on the information processing device side. [Figure 6] A diagram showing an example of the configuration of the communication status detection unit on the mobile robot side. [Figure 7] A flowchart illustrating an example of the processing procedure for an information processing device. [Figure 8] A diagram to specifically explain the operation of the communication status detection unit on the information processing device side. [Figure 9] A flowchart illustrating an example of a mobile robot's processing procedure. [Figure 10] A diagram to specifically explain the operation of the communication status detection unit on the mobile robot side. [Figure 11] A diagram illustrating safety in mobile robot systems. [Figure 12] A flowchart illustrating an example of the processing procedure used by an information processing device when a mobile robot resumes movement. [Figure 13] A flowchart illustrating an example of the processing procedure for an information processing device when changing the path of a mobile robot. [Figure 14]A diagram for explaining the safety when changing the path of a mobile robot.

Embodiment for Carrying out the Invention

[0009] Hereinafter, embodiments will be described with reference to the drawings. The information processing apparatus according to the present embodiment is used to control a moving body that moves within a predetermined space (hereinafter referred to as a target space), such as a warehouse or a factory. Note that the moving body in the present embodiment assumes, for example, an AMR (Autonomous Mobile Robot), an AGV (Automated Guided Vehicle), and a drone, etc., but other moving bodies may also be used. In the following description, the moving body is described as a mobile robot (for example, an AMR), but the same applies to the moving body controlled by the information processing apparatus.

[0010] Here, referring to FIG. 1, an overview of the mobile robot system (moving body system) according to the present embodiment will be described. As shown in FIG. 1, the mobile robot system 1 includes an information processing apparatus 10, a wireless base station (access point) 20, and a mobile robot 30.

[0011] The information processing apparatus 10 includes an electronic device such as a MEC (Multi-access Edge Computing) server or a cloud server that implements, for example, a movement control function (travel control function) for the mobile robot 30, and controls the mobile robot 30 in real time. In this case, the information processing apparatus 10 transmits a control signal related to the movement of the mobile robot 30 to the mobile robot 30 via the wireless base station 20.

[0012] The mobile robot 30 receives the control signal transmitted from the information processing apparatus 10 via the wireless base station 20 and moves based on the control signal.

[0013] In the mobile robot system 1 shown in FIG. 1 described above, for example, by wirelessly controlling the mobile robot 30 using Wi-Fi (registered trademark), LTE (Long Term Evolution), or local 5G, etc., a service can be provided to automatically transport (carry) luggage to a destination (a determined position on the passage).

[0014] In FIG. 1, only one mobile robot 30 is shown for convenience, but the mobile robot system 1 is assumed to include a plurality of mobile robots 30. The mobile robot system 1 in which the information processing device 10 wirelessly controls a plurality of mobile robots 30 is called an integrated mobile robot system. Such a mobile robot system 1 (integrated mobile robot system) can be constructed at a lower cost compared to a system in which each of the plurality of mobile robots 30 operates autonomously by integrating the function of controlling the plurality of mobile robots 30 into one device (information processing device 10). Also, since the information of the plurality of mobile robots 30 moving within the target space can be managed collectively, the management of the mobile robots 30 is relatively easy.

[0015] By the way, in the above-described mobile robot system 1 (integrated mobile robot system), stable wireless communication is required to control the mobile robot 30 wirelessly. However, various kinds of luggage and equipment are arranged in the target space such as the above-described warehouse or factory, and the luggage and equipment can become obstacles that block radio waves (control signals). That is, the radio wave environment for receiving the control signal changes constantly according to the movement of the mobile robot 30 and the arrangement of obstacles. Depending on the location where the mobile robot 30 moves, the radio wave intensity of the control signal transmitted from the wireless base station 20 (or antenna) weakens, and the control of the mobile robot 30 may become unstable (that is, the control signal may not be received normally in the mobile robot 30).

[0016] If the control of the mobile robot 30 is unstable in this way, the mobile robot 30 may perform unintended actions, potentially causing harm to surrounding structures or people. Specifically, for example, if the information processing device 10 transmits control signals at regular intervals (predetermined intervals), and the mobile robot 30 is unable to properly receive the control signals at those intervals, the mobile robot 30 may continue to move based on control signals received before the intended signals, resulting in unintended behavior. In this case, there is a possibility of collision with surrounding structures or people, reducing the safety of the mobile robot system 1.

[0017] Therefore, in this embodiment, a mechanism is realized to suppress the decrease in safety in the mobile robot system 1.

[0018] Figure 2 shows an example of the functional configuration of the information processing device 10 shown in Figure 1. As shown in Figure 2, the information processing device 10 includes a processing unit 11, a storage unit 12, a transmission unit 13, and a receiving unit 14. The processing unit 11 includes an overall management unit 111 and a mobile robot control unit 112.

[0019] The overall management unit 111 is a functional unit that manages the entire mobile robot system 1 (multiple mobile robots 30). The overall management unit 111 includes a scenario setting unit 111a, a process management unit 111b, a movement restriction management unit 111c, and an operation management unit 111d.

[0020] Here, the storage unit 12 includes a scenario DB 121 that stores multiple scenarios provided by a higher-level system such as a WMS (Warehouse Management System) or a WES (Warehouse Execution System). In this embodiment, the scenarios define, for example, the departure and destination of a mobile robot 30 provided in the mobile robot system 1, and the services provided by the mobile robot 30 (i.e., the jobs performed by the mobile robot 30).

[0021] Furthermore, the storage unit 12 includes a mobile robot DB 122 that stores mobile robot information indicating each of the multiple mobile robots 30 that move within the target space. The mobile robot information includes, for example, a mobile robot ID for identifying the mobile robot 30 and information regarding the performance (specifications) of the mobile robot 30.

[0022] The scenario setting unit 111a sets a scenario, for example, one instructed by the administrator of the mobile robot system 1 (information processing device 10) via a GUI (Graphical User Interface), from among the multiple scenarios stored in the scenario DB 121, to the mobile robot 30 indicated by the mobile robot information stored in the mobile robot DB 122.

[0023] The process control unit 111b manages the process for executing the scenario set by the scenario setting unit 111a. For example, the process control unit 111b converts the scenario set for the mobile robot 30 into a list of commands for moving the mobile robot 30 according to the scenario. The list of commands converted from the scenario includes, for example, information on points that the mobile robot 30 passes through when moving according to the scenario (hereinafter referred to as waypoint information). The process control unit 111b notifies the operation control unit 111d of the list of commands.

[0024] The movement restriction management unit 111c manages information regarding restrictions on the movement of the mobile robot 30 within the target space (hereinafter referred to as movement restriction information). The movement restriction information includes, for example, areas in the target space where the mobile robot 30 cannot move (travel) or limits on the speed at which the mobile robot 30 can move.

[0025] The operation management unit 111d, for example, based on mobile robot information stored in the mobile robot DB 122, instructs the mobile robot control unit 112, for example, a list of commands notified by the process management unit 111b and movement restriction information managed by the movement restriction management unit 111c, and manages the operation (movement) of the mobile robot 30 controlled by the mobile robot control unit 112.

[0026] Furthermore, the overall management unit 111 (process management unit 111b and operation management unit 111d) has the function of managing the execution status of scenarios in multiple mobile robots 30 and performing traffic control as needed. In addition, the overall management unit 111 manages information about each of the multiple mobile robots 30 (for example, the position of the mobile robot 30, the path the mobile robot 30 is moving on, and various states of the mobile robot 30).

[0027] The mobile robot control unit 112 includes an overall control unit 112a, a map management unit 112b, a movement control unit 112c, a position estimation unit 112d, and a communication status detection unit 112e. The mobile robot control unit 112 is a functional unit provided to correspond to each of the mobile robots 30, for example. That is, although it is omitted in Figure 2, if the mobile robot system 1 has multiple mobile robots 30 (i.e., multiple mobile robots 30 move within the target space), the processing unit 11 of the information processing device 10 includes multiple mobile robot control units 112.

[0028] The overall control unit 112a is a functional unit that controls the entire mobile robot control unit 112 and the mobile robot 30 corresponding to the mobile robot control unit 112 (hereinafter referred to as the target mobile robot 30). The overall control unit 112a receives instructions (for example, a list of commands) from the above-mentioned operation management unit 111d via an interface (I / F).

[0029] Here, the storage unit 12 includes a map DB 123 that stores map information showing a map of the target space. The storage unit 12 also includes a waypoint DB 124 that stores how to get to the waypoints set in the target space (points that the mobile robot 30 passes through when moving) and the coordinate values ​​representing the waypoints on the map of the target space in association with each other.

[0030] The overall control unit 112a obtains the next single command to be executed from the list of commands instructed by the operation management unit 111d (for example, waypoint information indicating the next waypoint to move to). The overall control unit 112a refers to the waypoint DB 124 and obtains the coordinate values ​​of the waypoint indicated by the obtained waypoint information (i.e., converts the waypoint information into coordinate values). The overall control unit 112a outputs the obtained coordinate values ​​of the waypoint to the movement control unit 112c.

[0031] The map management unit 112b acquires map information from the map DB 123 described above, which shows the map of the target space in which the target mobile robot 30 moves, and manages said map information.

[0032] The movement control unit 112c generates a path (a path to the next waypoint) for the target mobile robot 30 to move, based on the coordinate values ​​of waypoints output from the overall control unit 112a, map information managed by the map management unit 112b, the current position of the target mobile robot 30 estimated by the position estimation unit 112d (described later), and information on obstacles present around the mobile robot 30 (described later). The movement control unit 112c generates control signals for the movement of the target mobile robot 30 according to the generated path. The control signals generated by the movement control unit 112c correspond to commands (control messages) related to the direction and speed of movement of the target mobile robot 30, for example.

[0033] The control signals generated by the movement control unit 112c are transmitted by the transmission unit 13 to the target mobile robot 30 via the wireless base station 20. The transmission unit 13 operates to transmit the control signals to the target mobile robot 30 at regular intervals.

[0034] Here, the target mobile robot 30, which is controlled based on the control signals transmitted from the transmission unit 13 as described above, operates to transmit data measured by sensors installed on the target mobile robot 30 (sensor data) to the information processing device 10 at regular intervals as a mobile robot status signal (mobile robot status message) relating to the state of the target mobile robot 30 and the state of the surrounding area of ​​the mobile robot 30. The mobile robot status signals transmitted from the target mobile robot 30 in this manner are received by the receiving unit 14 via the base station 20.

[0035] The position estimation unit 112d estimates the current position of the target mobile robot 30 based on the mobile robot status signal received by the receiving unit 14. The current position estimated by the position estimation unit 112d is represented by the coordinate values ​​on the map described above. The position estimation unit 112d outputs the estimated current position of the target mobile robot 30 to the movement control unit 112c. The current position of the target mobile robot 30 output from the position estimation unit 112d is used to generate the path that the target mobile robot 30 will move and the control signals related to the movement of the target mobile robot 30.

[0036] Furthermore, the path that the target mobile robot 30 will move, generated by the movement control unit 112c, and the current position of the target mobile robot 30, estimated by the position estimation unit 112d, are output from the mobile robot control unit 112 to the overall management unit 111, for example, in order to manage the target mobile robot 30 in the overall management unit 111.

[0037] The communication status detection unit 112e detects the communication status between the information processing device 10 (wireless base station 20) and the target mobile robot 30 based on whether or not the mobile robot status signal transmitted from the target mobile robot 30 is received by the receiving unit 14, as described above. If the communication status detection unit 112e receives the mobile robot status signal from the target mobile robot 30, it detects that the communication status is normal (i.e., normal state). On the other hand, if the communication status detection unit 112e does not receive the mobile robot status signal from the target mobile robot 30, it detects that the communication status is abnormal (i.e., abnormal state).

[0038] The communication status (normal or abnormal) detected by the communication status detection unit 112e is notified to the overall management unit 111 via the overall control unit 112a.

[0039] Furthermore, if the communication status detection unit 112e detects that the communication status is normal, the communication status detection unit 112e outputs the mobile robot status signal received by the receiving unit 14 to the position estimation unit 112d, etc. The mobile robot status signal output from the communication status detection unit 112e to the position estimation unit 112d is used to estimate the current position of the target mobile robot 30. The mobile robot status signal output from the communication status detection unit 112e to the movement control unit 112c is used to generate the path and control signals of the target mobile robot 30.

[0040] Here, for example, if the communication status between the information processing device 10 and the target mobile robot 30 is abnormal, and another mobile robot 30 moves to the same position as the target mobile robot 30 (or to its vicinity), the other mobile robot 30 will be unable to receive control signals, and there is a high possibility that the control of the other mobile robot 30 will become unstable.

[0041] Therefore, when the communication status detection unit 112e detects that the communication status is abnormal and notifies the overall management unit 111 of the abnormal communication status, the overall management unit 111 (process management unit 111b and operation management unit 111d) identifies the path on which the target mobile robot 30 is moving, based on the information about the target mobile robot 30 managed by the overall management unit 111. Based on the identified path, the overall management unit 111 identifies other mobile robots 30 that are moving along that path or are scheduled to move along that path. The overall management unit 111 instructs the mobile robot control unit 112 corresponding to the identified other mobile robots 30 to generate a control signal for the movement of the other mobile robots 30 (for example, a control signal to stop the other mobile robots 30).

[0042] Figure 3 shows an example of the system configuration of the information processing device 10 shown in Figure 2. The information processing device 10 includes a CPU 10a, non-volatile memory 10b, RAM 10c, and a communication device 10d, etc.

[0043] The CPU 10a is a processor for controlling the operation of various components within the information processing device 10. The CPU 10a may be a single processor or may consist of multiple processors. The CPU 10a executes various programs loaded from the non-volatile memory 10b into the RAM 10c. The programs executed by the CPU 10a include control programs for controlling multiple mobile robots 30, etc.

[0044] The non-volatile memory 10b is a storage medium used as an auxiliary storage device. The RAM 10c is a storage medium used as the main storage device. In Figure 3, only the non-volatile memory 10b and RAM 10c are shown, but the information processing device 10 may also include other storage devices such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive).

[0045] The communication device 10d is a device configured to perform wired or wireless communication. In this embodiment, the information processing device 10 is assumed to be connected by wire (cable) to a wireless base station 20 that performs wireless communication with each of the multiple mobile robots 30, for example, but it may also be connected to the wireless base station 20 to perform wireless communication via a network.

[0046] In this embodiment, the processing unit 11 shown in Figure 2 is implemented by at least one processor. The processor includes, for example, a control unit and an arithmetic unit, and is implemented using analog or digital circuits. The processor may be the CPU 10a described above, or it may be a general-purpose processor, a microprocessor, a digital signal processor (DSP), an ASIC, an FPGA, or a combination thereof.

[0047] Furthermore, part or all of the processing unit 11 can be implemented by having the CPU 10a (i.e., the computer of the information processing device 10) execute the control program described above, that is, by software. This control program may be stored and distributed on a computer-readable storage medium, or it may be downloaded to the information processing device 10 via a network. Part or all of the processing unit 11 may also be implemented by dedicated hardware, etc.

[0048] Furthermore, in this embodiment, the storage unit 12 shown in Figure 2 is implemented by, for example, a non-volatile memory 10b or other storage device. In addition, in this embodiment, the transmitting unit 13 and receiving unit 14 shown in Figure 2 are implemented by, for example, a communication device 10d.

[0049] In this embodiment, it is assumed that the information processing device 10 is implemented by a single device, but the information processing device 10 may be implemented by multiple devices. Specifically, the information processing device 10 may be implemented by a first device including an overall management unit 111 and a second device including multiple mobile robot control units 112. Furthermore, the information processing device 10 may be implemented by multiple second devices, each including a first device including an overall management unit 111 and multiple mobile robot control units 112.

[0050] Figure 4 shows an example of the functional configuration of the mobile robot 30 shown in Figure 1. As shown in Figure 4, the mobile robot 30 includes a processing unit 31.

[0051] The processing unit 31 controls the movement (operation) of the mobile robot 30 by processing control signals (commands regarding the direction and speed of movement, etc.) transmitted from the information processing device 10 (mobile robot control unit 112). The processing unit 31 includes a communication state detection unit 31a and a motor control unit 31b.

[0052] As described above, the control signals transmitted from the information processing device 10 at regular intervals are received by the communication interface (I / F). The communication state detection unit 31a detects the communication state between the information processing device 10 (wireless base station 20) and the mobile robot 30 based on whether or not the control signals transmitted from the information processing device 10 are received by the communication interface. If the control signals are received from the information processing device 10, the communication state detection unit 31a detects that the communication state is normal (i.e., normal state). On the other hand, if the control signals are not received from the information processing device 10, the communication state detection unit 31a detects that the communication state is abnormal (i.e., abnormal state).

[0053] If the communication status detection unit 31a detects that the communication status is normal, the communication status detection unit 31a outputs the received control signals (commands regarding the direction and speed of movement, etc.) to the motor control unit 31b. On the other hand, if the communication status detection unit 31a detects that the communication status is abnormal, the communication status detection unit 31a outputs a control signal to the motor control unit 31b to stop the movement of the mobile robot 30.

[0054] The motor control unit 31b controls the motor (actuator) mounted on the mobile robot 30 based on the control signal output from the communication state detection unit 31a.

[0055] Furthermore, the mobile robot 30 is equipped with various sensors. In the example shown in Figure 4, the first to third sensors 32a to 32c are shown.

[0056] The first sensor 32a includes, for example, a laser range finder (LRF). The first sensor 32a measures the distance from the mobile robot 30 to walls and obstacles in its vicinity based on the time it takes for the laser (light) emitted from the first sensor 32a to be reflected back.

[0057] The second sensor 32b includes, for example, a sensor (encoder) provided on the motor. The second sensor 32b can measure the motor's rotational speed, rotational angle, rotational velocity, etc. The sensor data (encoder value) indicating the rotational speed etc. measured by the second sensor 32b is transmitted to the motor control unit 31b, and the actual direction of movement and movement speed of the mobile robot 30 are calculated from the sensor data.

[0058] The sensor data indicating the distance measured by the first sensor 32a and the sensor data (encoder value) indicating the motor rotation speed measured by the second sensor 32b, as well as the actual movement speed of the mobile robot 30 calculated by the motor control unit 31b, are transmitted to the information processing device 10 via the communication interface at regular intervals as mobile robot status signals and are used to estimate the current position of the mobile robot 30.

[0059] The third sensor 32c is installed, for example, on a bumper on the housing of the mobile robot 30. The third sensor 32c can detect when an object comes into contact with the bumper. The detection result from the third sensor 32c (sensor data indicating that an object has come into contact with the bumper) is output to, for example, the motor control unit 31b. This allows the motor control unit 31b to implement a safety function that stops the mobile robot 30 when an object comes into contact with the bumper. The sensor data indicating that an object has come into contact with the bumper, detected by the third sensor 32c, may be transmitted to the information processing device 10 as a mobile robot status signal, along with the sensor data indicating the distance measured by the first sensor 32a, the sensor data indicating the motor rotation speed measured by the second sensor 32b, and the actual movement speed of the mobile robot 30.

[0060] In this explanation, we have assumed that the mobile robot 30 is equipped with first to third sensors 32a to 32b, but the mobile robot 30 may also be equipped with other sensors, such as a camera.

[0061] Although not shown in the diagram, the processing unit 31 shown in Figure 4 is implemented by at least one processor. The processor includes, for example, a control unit and an arithmetic unit, and is implemented using analog or digital circuits. The processor may be, for example, a CPU, a general-purpose processor, a microprocessor, a digital signal processor (DSP), an ASIC, an FPGA, or a combination thereof.

[0062] Furthermore, part or all of the processing unit 31 can be implemented by having the CPU (i.e., the computer of the mobile robot 30) equipped in the mobile robot 30 execute a predetermined program, i.e., by software. This program may be stored and distributed on a computer-readable storage medium, or it may be downloaded to the mobile robot 30 via a network. Part or all of the processing unit 31 may also be implemented by dedicated hardware, etc.

[0063] Although Figure 4 shows only the functional configuration of one mobile robot 30, the functional configurations of the other mobile robots 30 are similar.

[0064] In this embodiment, the mobile robot system 1 is configured to detect the communication status (wireless connection status) on both the information processing device 10 (MEC server) side and the mobile robot 30 side. The communication status detection unit 112e on the information processing device 10 side and the communication status detection unit 31a on the mobile robot 30 side will be described in detail below.

[0065] First, Figure 5 shows an example of the configuration of the communication status detection unit 112e on the information processing device 10 side. As shown in Figure 5, the communication status detection unit 112e includes a reception unit 131, a timer unit 132, a first generation unit 133, a second generation unit 134, a first output unit 135, and a second output unit 136.

[0066] When the mobile robot status signal (sensor data) transmitted from the mobile robot 30 is received by the receiving unit 14, the receiving unit 131 accepts the mobile robot status signal. As a result, the communication status detection unit 112e detects that the communication status between the information processing device 10 and the mobile robot 30 is normal. In this case, the receiving unit 131 outputs a reset signal to the timer unit 132 based on the normal communication status, outputs a trigger signal to the first generation unit 133 to instruct the generation of a communication status signal, and outputs the accepted mobile robot status signal to the first output unit 135.

[0067] The timer unit 132 has a timer that measures a predetermined time. The time measured by the timer is set to be at least longer than the interval at which the mobile robot status signal is transmitted from the mobile robot 30 (i.e., longer than the transmission cycle of the mobile robot status signal). When a reset signal is output from the reception unit 131, the timer unit 132 resets the time measurement by the timer based on the reset signal. On the other hand, when the predetermined time has been measured by the timer (i.e., the predetermined time has elapsed and a timeout has occurred), the communication status detection unit 112e detects that the communication status between the information processing device 10 and the mobile robot 30 is abnormal. In this case, the timer unit 132 outputs a trigger signal to the second generation unit 134 that instructs the generation of a communication status signal.

[0068] The first generation unit 133 generates a first communication status signal based on the trigger signal output from the reception unit 131. The first communication status signal indicates that the communication status between the information processing device 10 and the mobile robot 30 is normal (i.e., normal). The first generation unit 133 outputs the generated first communication status signal to the second output unit 136.

[0069] The second generation unit 134 generates a second communication status signal based on the trigger signal output from the timer unit 132. The second communication status signal indicates that the communication status between the information processing device 10 and the mobile robot 30 is abnormal (i.e., abnormal state). The second generation unit 134 outputs the generated second communication status signal to the second output unit 136.

[0070] The first output unit 135 outputs the mobile robot status signal output from the reception unit 131 to, for example, the position estimation unit 112d.

[0071] The second output unit 136 outputs the first communication status signal to the overall control unit 112a when the first generation unit 133 outputs the first communication status signal. Furthermore, the second output unit 136 outputs (notifies) the overall control unit 112a of the second communication status signal when the second generation unit 134 outputs the second communication status signal.

[0072] In this example, we assume that a first communication status signal is generated each time a trigger signal is output from the reception unit 131 to the first generation unit 133. However, this first communication status signal may also be generated, for example, when a predetermined number of trigger signals have been output. In other words, the first communication status signal may be generated by selectively selecting signals.

[0073] Next, Figure 6 shows an example of the configuration of the communication status detection unit 31a on the mobile robot 30 side. As shown in Figure 6, the communication status detection unit 31a includes a reception unit 331, a timer unit 332, a generation unit 333, and an output unit 334.

[0074] The reception unit 331 receives a control signal (a command regarding the direction and speed of movement, etc.) transmitted from the information processing device 10 when it is received by the mobile robot 30's communication interface. As a result, the communication status detection unit 31a detects that the communication status between the information processing device 10 and the mobile robot 30 is normal. In this case, the reception unit 331 outputs a reset signal to the timer unit 332 based on the normal communication status and outputs the received control signal to the output unit 334. In the following description, the control signal received by the reception unit 331 will be referred to as the first control signal.

[0075] The timer unit 332 has a timer that measures a predetermined time. The time measured by the timer is set to be at least longer than the interval at which the control signal is transmitted from the information processing device 10 (i.e., longer than the transmission cycle of the control signal). When a reset signal is output from the reception unit 131, the timer unit 332 resets the time measurement by the timer based on the reset signal. On the other hand, when the predetermined time has been measured by the timer (the predetermined time has elapsed and a timeout has occurred), the communication state detection unit 31a detects that the communication state between the information processing device 10 and the mobile robot 30 is abnormal. In this case, the timer unit 332 outputs a trigger signal to the generation unit 333 instructing the generation of a control signal.

[0076] The generation unit 333 generates a second control signal based on the trigger signal output from the timer unit 132. The second control signal is a signal to stop the movement of the mobile robot 30, and corresponds to, for example, a command to set the speed to 0. The generation unit 333 outputs the generated second control signal to the output unit 334.

[0077] When the output unit 334 receives a first control signal from the receiving unit 331, it outputs the first control signal to the motor control unit 31b. As a result, the mobile robot 30 is controlled to move based on the first control signal. Furthermore, when the output unit 334 receives a second control signal from the generation unit 333, it outputs the second control signal to the motor control unit 31b. As a result, the mobile robot 30 is controlled to stop based on the second control signal.

[0078] The operation of the mobile robot system 1 according to this embodiment will be described below. First, an example of the processing procedure of the information processing device 10 will be described with reference to the flowchart in Figure 7.

[0079] Here, we assume a case where multiple mobile robots 30, including the first mobile robot 30, are moving within the target space. Each of the multiple mobile robots 30 is controlled to move based on control signals transmitted at regular intervals from the mobile robot control unit 112 (one of the multiple mobile robot control units 112 included in the processing unit 11 of the information processing device 10) corresponding to the mobile robot 30. In the following description, the mobile robot control unit 112 corresponding to the first mobile robot 30, which is included in the multiple mobile robots 30, will be referred to as the first mobile robot control unit 112.

[0080] Here, as described above, the first mobile robot 30, which is controlled based on control signals transmitted at regular intervals from the first mobile robot control unit 112, transmits a mobile robot status signal (sensor data) relating to the state of the first mobile robot 30 to the information processing device 10 (first mobile robot control unit 112) at regular intervals. Note that the interval at which the control signals are transmitted from the first mobile robot control unit 112 and the interval at which the mobile robot status signals are transmitted from the first mobile robot 30 may be the same or different.

[0081] As described above, if the mobile robot status signal transmitted from the first mobile robot 30 at regular intervals is successfully received by the receiving unit 14, the first mobile robot control unit 112 generates control signals at regular intervals to move along a path generated based on, for example, the current position of the first mobile robot 30 estimated based on the mobile robot status signal. The control signals thus generated are transmitted to the first mobile robot 30 by the transmitting unit 13.

[0082] Note that in Figure 7, the processing when the mobile robot status signal transmitted from the first mobile robot 30 is successfully received is omitted, and the processing when the mobile robot status signal is not received is shown.

[0083] As described above, if the mobile robot status signal is not received by the receiving unit 14, the reception unit 131 does not output a reset signal to the timer unit 132. Therefore, the communication status detection unit 112e determines whether or not a predetermined time has been measured by the timer unit 132 (i.e., a timeout has occurred) (step S1).

[0084] In step S1, "timed out" means that there is an abnormality in the communication state between the information processing device 10 and the first mobile robot 30 to the extent that the mobile robot status signal transmitted from the first mobile robot 30 at regular intervals cannot be received properly (the wireless communication is disconnected or is delayed beyond a predetermined time).

[0085] If it is determined that a timeout has not occurred (NO in step S1), the process returns to step S1 and is repeated.

[0086] On the other hand, if it is determined that a timeout has occurred (YES in step S1), a trigger signal is output from the timer unit 132 to the second generation unit 134. In this case, the second generation unit 134 generates a communication status signal (second communication status signal) indicating that the communication status between the information processing device 10 and the first mobile robot 30 is abnormal, based on the trigger signal output from the timer unit 132 (step S2).

[0087] When the process in step S2 is executed, the second output unit 136 outputs the second communication status signal generated in step S2. The second communication status signal output from the second output unit 136 is notified to the overall management unit 111 via the overall control unit 112a. When the second communication status signal is generated by the second generation unit 134 (the second communication status signal is output from the second output unit 136), the timer measurement by the timer unit 132 is reset, and the measurement of that time is restarted.

[0088] The overall management unit 111 (process management unit 111b and operation management unit 111d) can determine that the communication status between the information processing device 10 and the first mobile robot 30 is abnormal based on the second communication status signal notified from the first mobile robot control unit 112. In this case, the overall management unit 111 identifies the path on which the first mobile robot 30 is moving based on the information about the first mobile robot 30 that is managed by the overall management unit 111 (step S3).

[0089] Next, the overall management unit 111 identifies the second mobile robot 30 based on the path identified in step S3 (step S4). The second mobile robot 30 identified in step S4 is, for example, one of several mobile robots 30 moving within the target space, other than the first mobile robot 30, and is the mobile robot 30 that moves along the path identified in step S3.

[0090] When the process in step S4 is executed, the overall management unit 111 instructs the mobile robot control unit 112 (hereinafter referred to as the second mobile robot control unit 112) corresponding to the second mobile robot 30 identified in step S4 to stop the second mobile robot 30 (step S5). The overall management unit 111 will keep information indicating the second mobile robot 30 that has been instructed to stop as a result of the execution of the process in step S5 (i.e., it will manage the mobile robot 30 while it is stopped).

[0091] Next, the second mobile robot control unit 112 (the overall control unit 112a and the mobile control unit 112c) generates a control signal based on the instructions from the overall management unit 111 in step S5 (step S6). In this case, the control signal generated by the second mobile robot control unit 112 corresponds to, for example, a command to set the speed of the second mobile robot 30 to 0 (i.e., to stop the second mobile robot 30).

[0092] The control signal generated in step S6 is transmitted to the second mobile robot 30 by the transmission unit 13 (step S7).

[0093] Furthermore, it is assumed that the second mobile robot 30 receives a control signal to move according to the path generated for the second mobile robot 30 and moves based on that control signal. However, if the process in step S7 described above is executed, the control signal transmitted in step S7 takes precedence, and the second mobile robot 30 stops based on the control signal transmitted in step S7.

[0094] Furthermore, as described above, if another mobile robot 30 moves near the first mobile robot 30, which is experiencing abnormal communication with the information processing device 10, the communication between the information processing device 10 and the other mobile robot 30 may become abnormal, potentially leading to unstable control of the other mobile robot 30.

[0095] However, in this embodiment, by executing the process shown in Figure 7 described above, if the mobile robot status signal transmitted from the first mobile robot 30 is not received, it becomes possible to stop the second mobile robot 30 in advance, for example, before the second mobile robot 30 moves into the vicinity of the first mobile robot 30 (i.e., before the control becomes unstable).

[0096] By the way, in this embodiment, in order to avoid the communication state between the information processing device 10 and the other mobile robot 30 becoming abnormal when the other mobile robot 30 moves near the first mobile robot 30, in step S4 shown in Figure 7 above, for example, it is conceivable to identify the other mobile robot 30 that is moving along the same path as the first mobile robot 30 as the second mobile robot 30. In this embodiment, "moving along the same path" means that the waypoint that serves as the starting point of the path and the waypoint that serves as the ending point of the path coincide, and that the path passes at least near the first mobile robot 30.

[0097] However, the second mobile robot 30 identified in step S4 is not limited to a mobile robot 30 that is moving along the same path as the first mobile robot 30. Specifically, the second mobile robot 30 may be, for example, a mobile robot 30 that is not moving along the same path as the first mobile robot 30, but is scheduled to move along that path. Alternatively, the second mobile robot 30 may be, for example, a mobile robot 30 that is not moving along the same path as the first mobile robot 30, or is not scheduled to move along that path, but is moving along another path that passes near (is passing by) the first mobile robot 30, or is scheduled to move along that other path.

[0098] In other words, in this embodiment, considering that the communication status around the first mobile robot 30 is abnormal, the mobile robot 30 that needs to be stopped to avoid the communication status becoming abnormal should be identified as the second mobile robot.

[0099] Now, with reference to Figure 8, the operation of the communication status detection unit 112e on the information processing device 10 side will be explained in detail.

[0100] In the example shown in Figure 8, it is assumed that the mobile robot 30 transmits a mobile robot status signal at each of the times t1 to t9 (i.e., at regular intervals).

[0101] First, let's assume that at time t1, a mobile robot status signal 1 is transmitted from the mobile robot 30 to the mobile robot control unit 112 (information processing device 10) corresponding to the mobile robot 30.

[0102] Assuming that the transmitted mobile robot status signal 1 is received by the receiving unit 14, the timer measurement by the timer unit 132 is reset based on the reset signal output from the reception unit 131 included in the communication status detection unit 112e. In this case, the timer unit 132 does not output a trigger signal.

[0103] Furthermore, when the mobile robot status signal 1 is received by the receiving unit 14, the mobile robot status signal 1 is output from the receiving unit 131 to the first output unit 135, and the mobile robot status signal 1 is output from the first output unit 135 to the position estimation unit 112d. In addition, when the mobile robot status signal 1 is received by the receiving unit 14, a trigger signal is output from the receiving unit 131 to the first generation unit 133, which generates a first communication status signal indicating that the communication status is normal, and the first communication status signal is output from the second output unit 136 to the overall control unit 112a.

[0104] While we have described time t1 here, Figure 8 shows that the communication status detection unit 112e operates similarly at times t2 and t3 as well.

[0105] Here, we assume a scenario where, for example, immediately after time t3, an abnormality occurs in the communication state between the information processing device 10 and the mobile robot 30 (the wireless communication is disconnected) due to the mobile robot 30 moving to a position where an obstacle (radio wave shielding object) is placed between the wireless base station 20 and the mobile robot 30.

[0106] In this case, at time t4, the mobile robot status signal 4 is transmitted from the mobile robot 30 to the mobile robot control unit 112 (information processing device 10) corresponding to the mobile robot 30, but the mobile robot status signal 4 is not received by the receiving unit 14.

[0107] In this manner, if the mobile robot status signal 4 is not received by the receiving unit 14, the reception unit 131 included in the communication status detection unit 112e does not output a reset signal, and therefore the time measurement by the timer unit 132 is not reset. As a result, when the timer measures a predetermined amount of time (i.e., a timeout occurs), the timer unit 132 outputs a trigger signal to the second generation unit 134.

[0108] In this case, the second generation unit 134 generates a second communication status signal indicating that the communication status is abnormal, and the second communication status signal is output from the second output unit 136 to the overall control unit 112a.

[0109] Furthermore, if a second communication status signal is output from the communication status detection unit 112e (second output unit 136), the time measurement by the timer unit 132 is reset.

[0110] In Figure 8, for example, it is assumed that the communication status is abnormal during the time period from immediately after time t3 to immediately before time t7. During this time period, the communication status detection unit 112e operates to output a second communication status signal to the overall control unit 112a each time a timeout occurs.

[0111] Here, we assume that, for example, an obstacle (radio wave shield) placed between the wireless base station 20 and the mobile robot 30 was removed, and the abnormality in the communication state was resolved just before time t7. In this case, the mobile robot status signal 7 transmitted from the mobile robot 30 at time t7 is received by the receiving unit 14. Accordingly, the communication state detection unit 112e operates in the same manner as at time t1 described above, outputting the mobile robot status signal 7 to the position estimation unit 112d and outputting the first communication state signal to the overall control unit 112a. The same applies at times t8 and t9.

[0112] In Figure 8, if an abnormality occurs in the communication state (wireless communication is disconnected) during the time period encompassing times t4 to t6, and the mobile robot status signal transmitted from the mobile robot 30 cannot reach the information processing device 10, a second communication status signal indicating an abnormal communication state is output to the overall control unit 112a due to a timer timeout, allowing the overall control unit 112a to immediately recognize the abnormality in the communication state.

[0113] In this embodiment, by using a timer, the processing time is less affected by factors such as the computational load of the CPU 10a, and abnormalities in the communication status can be detected in a short time.

[0114] Next, an example of the processing procedure for the mobile robot 30 will be described with reference to the flowchart in Figure 9.

[0115] In this embodiment, as described above, a control signal is transmitted to the mobile robot 30 at regular intervals from a mobile robot control unit 112 (one of a plurality of mobile robot control units 112 included in the processing unit 11 of the information processing device 10) corresponding to the mobile robot 30. When the control signal is received normally, the mobile robot 30 is controlled to move based on the control signal.

[0116] Note that in Figure 9, the processing when the control signal transmitted from the mobile robot control unit 112 is successfully received is omitted, and the processing when the control signal is not received is shown.

[0117] As described above, if no control signal is received by the mobile robot 30's communication interface, no reset signal is output from the reception unit 331 to the timer unit 332. Therefore, the communication status detection unit 112e determines whether or not a predetermined time has been measured by the timer in the timer unit 332 (i.e., a timeout has occurred) (step S11).

[0118] In step S11, "timed out" means that there is an abnormality in the communication state between the information processing device 10 and the mobile robot 30 to the extent that the control signals transmitted from the mobile robot control unit 112 (information processing device 10) at regular intervals cannot be received properly (the wireless communication is disconnected or delayed beyond a predetermined time).

[0119] If it is determined that a timeout has not occurred (NO in step S11), the process returns to step S11 and is repeated.

[0120] On the other hand, if it is determined that a timeout has occurred (YES in step S11), a trigger signal is output from the timer unit 332 to the generation unit 333. In this case, the generation unit 333 generates a control signal (second control signal) to stop the mobile robot 30 based on the trigger signal output from the timer unit 332 (step S12).

[0121] When the process in step S12 is executed, the output unit 334 outputs the second control signal generated in step S12 to the motor control unit 31b. When the second control signal is generated by the generation unit 333 (the second control signal is output by the output unit 334), the timer measurement by the timer unit 332 is reset, and the measurement of that time is restarted.

[0122] The motor control unit 31b controls the motor mounted on the mobile robot 30 based on the second control signal output from the communication state detection unit 31a (output unit 334), and stops the mobile robot 30 (step S13).

[0123] Now, with reference to Figure 10, the operation of the communication status detection unit 31a on the mobile robot 30 side will be explained in detail.

[0124] In the example shown in Figure 10, it is assumed that the mobile robot control unit 112 corresponding to the mobile robot 30 transmits control signals at each of the times t11 to t19 (i.e., at regular intervals).

[0125] First, let's assume that at time t11, control signal 1 is transmitted from the mobile robot control unit 112 to the mobile robot 30 corresponding to the mobile robot control unit 112.

[0126] Assuming that the control signal 1 transmitted in this manner is received by the communication interface of the mobile robot 30, the timer measurement by the timer unit 332 is reset based on the reset signal output from the reception unit 331 included in the communication state detection unit 31a. In this case, the timer unit 332 does not output a trigger signal.

[0127] Furthermore, when the control signal 1 is received by the communication interface of the mobile robot 30, the control signal 1 is output from the receiving unit 331 to the output unit 334, and the control signal 1 is output from the output unit 334 to the motor control unit 31b.

[0128] Although the time t11 has been described here, Figure 10 shows that the communication status detection unit 31a operates similarly at times t12 and t13.

[0129] Here, we assume a scenario where, for example, immediately after time t13, an abnormality occurs in the communication state between the information processing device 10 and the mobile robot 30 (the wireless communication is disconnected) due to the mobile robot 30 moving to a position where an obstacle (radio wave shielding part) is placed between the wireless base station 20 and the mobile robot 30.

[0130] In this case, although the control signal 4 is transmitted from the mobile robot control unit 112 to the mobile robot 30 at time t14, the control signal 4 is not received by the communication interface of the mobile robot 30.

[0131] In this way, if the control signal 4 is not received by the communication interface, the receiving unit 331 does not output a reset signal, and therefore the time measurement by the timer unit 332 is not reset. As a result, when the timer measures a predetermined amount of time (i.e., a timeout occurs), the timer unit 332 outputs a trigger signal to the generation unit 333.

[0132] In this case, the generation unit 333 generates a control signal 0 to stop the mobile robot 30, and the output unit 334 outputs the control signal 0 to the motor control unit 31b.

[0133] Furthermore, if a control signal 0 is output from the communication status detection unit 31a (output unit 334), the measurement by the timer in the timer unit 332 is reset.

[0134] In Figure 10, for example, it is assumed that the communication status is abnormal during the time period from immediately after time t13 to immediately before time t17. During this time period, the communication status detection unit 31a operates to output a control signal 0 to the motor control unit 31b each time a timeout occurs.

[0135] Here, we assume that, for example, an obstacle (radio wave shield) placed between the wireless base station 20 and the mobile robot 30 was removed, and the abnormality in the communication state was resolved just before time t17. In this case, the control signal 7 transmitted from the mobile robot control unit 112 at time t17 is received by the communication interface of the mobile robot 30. Accordingly, the communication state detection unit 31a operates to output the control signal 7 to the motor control unit 31b, similar to the case at time t11 described above. The same applies to times t18 and t19.

[0136] In Figure 10, if an abnormality occurs in the communication state (wireless communication is disconnected) during the time period encompassing times t14 to t16, and the control signal transmitted from the mobile robot control unit 112 cannot reach the mobile robot 30, a control signal to stop the mobile robot 30 is output to the motor control unit 31b due to a timer timeout, thereby safely stopping the mobile robot 30.

[0137] Furthermore, in this embodiment, by using a timer, the system is less susceptible to the effects of processing time due to factors such as the CPU's computational load, and abnormalities in the wireless state can be detected in a short amount of time.

[0138] In this embodiment, for example, if the communication status detection unit 112e on the information processing device 10 side detects that the communication status is abnormal, it is highly likely that the communication status detection unit 31a on the mobile robot 30 side will also detect that the communication status is abnormal. However, depending on the communication status (radio wave environment) between the information processing device 10 and the mobile robot 30, even if one communication status detection unit detects that the communication status is abnormal, the other communication status detection unit may detect that the communication status is normal. However, in this embodiment, the communication status detection unit 112e on the information processing device 10 side and the communication status detection unit 31a on the mobile robot 30 side only need to operate independently of each other, and it is acceptable for the communication status detected by the communication status detection unit 112e (i.e., the detection result by the communication status detection unit 112e) and the communication status detected by the communication status detection unit 31a (i.e., the detection result by the communication status detection unit 31a) to be different.

[0139] As described above, the information processing device 10 according to this embodiment, for example, when it does not receive a mobile robot status signal transmitted at regular intervals from the first mobile robot 30 (first mobile body), identifies the path on which the first mobile robot 30 will move, identifies a second mobile robot 30 (second mobile body) different from the first mobile robot 30 based on the identified path, and generates a control signal (second control signal) related to the movement of the identified second mobile robot 30.

[0140] As described above, the second control signal generated is, for example, a signal to stop the second mobile robot, and the second mobile robot 30 identified when no mobile robot status signal is received from the first mobile robot 30 is, for example, a mobile robot 30 that is moving along the path that the first mobile robot 30 is moving on, or that is scheduled to move along that path.

[0141] Furthermore, the processing unit 31 included in the mobile robot 30 according to this embodiment controls the mobile robot 30 based on a control signal (first control signal) transmitted from the information processing device 10 (mobile robot control unit 112) when the mobile robot 30 receives the control signal (first control signal) via the mobile robot 30's communication interface, and controls the mobile robot 30 based on a control signal (third control signal) that stops the mobile robot 30 when the control signal is not received via the mobile robot 30's communication interface.

[0142] In this embodiment, the above-described configuration makes it possible to improve safety in the mobile robot system 1 (that is, in an environment in which the mobile robot 30 moves within a target space).

[0143] Here, with reference to Figure 11, the safety of the mobile robot system 1 according to this embodiment will be briefly explained. In Figure 11, we assume that the mobile robot 30a is moving along a path R1 from waypoint WP1 to waypoint WP2 between the starting point S and the destination G.

[0144] In this embodiment, if the mobile robot status signal transmitted at regular intervals from the mobile robot 30a moving along path R1 is not received by the information processing device 10 (receiving unit 14), the mobile robot 30b (a following vehicle on the same path as mobile robot 30a) moving along the same path R1 as the mobile robot 30a can be stopped.

[0145] According to this, by having mobile robot 30b move along the same path as mobile robot 30a, which has an abnormal communication state (i.e., is unable to receive control signals), it is possible to avoid, for example, the communication state of mobile robot 30b becoming abnormal (i.e., control becoming unstable) in the vicinity of mobile robot 30a.

[0146] Furthermore, if the control signal transmitted from the information processing device 10 at regular intervals is not received by the mobile robot 30a, in this embodiment, the mobile robot 30a can be stopped (i.e., automatically stopped by disconnecting the wireless communication).

[0147] According to this, it is possible to avoid situations where the mobile robot 30a, which is experiencing abnormal communication conditions, continues to move and collide with surrounding structures or people.

[0148] Here, as a first comparative example of this embodiment, a configuration in which the communication status is detected based on GPS (Global Positioning System) signals can be considered. However, as assumed in this embodiment, when the mobile robot 30 moves in an indoor space (target space) such as a warehouse or factory, it is difficult to receive the GPS signal and therefore the communication status cannot be accurately detected.

[0149] Furthermore, as a second comparative example of this embodiment, a configuration in which the communication status is detected based on a reference signal generated on the mobile robot 30 side can be considered. However, with such a configuration, while it is possible to recognize whether or not there is a delay in wireless communication, it will not operate normally when there is an abnormality in the communication status. In addition, realizing such a configuration requires additional modules and computing resources. Moreover, in the second comparative example of this embodiment, for example, it is conceivable to calculate the difference or sum of the reception times between the remote control signal and the reference signal by software processing. However, in this case, the processing time from the occurrence of the abnormality to the start of countermeasures cannot be ignored, and the delay in recognizing the abnormality may cause a delay in the safe stop process of the mobile robot 30 (i.e., it may not be possible to suppress the deterioration of safety).

[0150] In contrast, in this embodiment, the mobile robot 30 can be reliably stopped by detecting an abnormal communication status on the mobile robot 30 side when the control signal transmitted from the information processing device 10 is not received.

[0151] Furthermore, if, for example, only the first mobile robot 30 (i.e., the mobile robot with the abnormal communication status) is stopped, and the second mobile robot 30 is not stopped, the second mobile robot 30 will not be able to avoid the first mobile robot 30 and will stop in its vicinity. The same applies to other mobile robots 30 that are moving along the same path as the first mobile robot 30. In this way, if multiple mobile robots 30 stop in the same location (i.e., a stack occurs), even if the abnormal communication status described above is resolved, the multiple mobile robots 30 may not be able to smoothly start (resume) movement, making automatic recovery difficult (and potentially reducing the overall throughput of the mobile robot system 1).

[0152] In contrast, in this embodiment, for example, if the mobile robot status signal transmitted from the first mobile robot 30 is not received, the information processing device 10 can detect that the communication status is abnormal, thereby stopping the second mobile robot 30 in advance. This avoids the aforementioned stacking and minimizes the reduction in overall throughput of the mobile robot system 1.

[0153] In this embodiment, the first mobile robot 30 is configured to transmit a mobile robot status signal at predetermined intervals (first intervals), and the processing unit 11 of the information processing device 10 generates a control signal to stop the second mobile robot 30 if no status signal is received at said intervals. In this embodiment, the failure to receive a mobile robot status signal at predetermined intervals (i.e., an abnormal communication status) is detected using a timer provided in the information processing device 10 (communication status detection unit 112e).

[0154] Similarly, in this embodiment, the information processing device 10 is configured to transmit control signals at predetermined intervals (second intervals), and the processing unit 31 of the mobile robot 30 stops the mobile robot 30 based on a control signal that stops the mobile robot 30 if no control signal is received at said intervals. In this embodiment, the failure to receive a control signal at predetermined intervals (i.e., an abnormal communication state) is detected using a timer provided in the mobile robot 30 (communication state detection unit 31a).

[0155] In this embodiment, this configuration makes it possible to detect the communication status in a shorter time compared to cases where the communication status is detected by, for example, software processing.

[0156] In this embodiment, for example, the second mobile robot 30 is stopped when the communication status of the first mobile robot 30 is abnormal. However, if the second mobile robot 30 is simply stopped, it may obstruct the movement of other mobile robots 30, potentially reducing the operational efficiency of the mobile robot system 1. For this reason, in this embodiment, the second mobile robot 30 may be moved to a predetermined position on or near the path in which it is moving (for example, a position that does not obstruct the movement of other mobile robots 30, such as near a wall) and then stopped. With such a configuration, it is possible to avoid situations such as the second mobile robot 30 colliding with other mobile robots 30, and potentially further improve the safety of the mobile robot system 1.

[0157] By the way, for example, if the first and second mobile robots 30 stop due to the detection of an abnormal communication status, and then the abnormal communication status is resolved, it is necessary to resume the movement of the first and second mobile robots 30.

[0158] The following describes an example of the processing procedure of the information processing device 10 when the movement of the first and second mobile robots 30 is resumed, with reference to Figure 12.

[0159] Here, we assume that an abnormality is detected in the communication status between the information processing device 10 and the first mobile robot 30, and that at least the first and second mobile robots 30 have stopped.

[0160] First, assuming that the abnormality in the communication state between the information processing device 10 and the first mobile robot 30 has been resolved, the first mobile robot 30 can receive the control signal transmitted from the information processing device 10 (mobile robot control unit 112) and resume movement based on that control signal. However, even if the first mobile robot 30 receives the control signal transmitted from the information processing device 10, the second mobile robot 30 cannot resume movement.

[0161] Here, if the abnormality in the communication state between the information processing device 10 and the first mobile robot 30 is resolved as described above, the information processing device 10 (receiving unit 14) can receive the mobile robot status signal transmitted from the first mobile robot 30 (step S21).

[0162] When the process in step S21 is executed, the communication status detection unit 112e (first generation unit 133) generates a communication status signal (first communication status signal) indicating that the communication status is normal (step S22). The first communication status signal generated in step S22 (hereinafter referred to as the first communication status signal of the first mobile robot 30) is notified to the overall management unit 111 via the overall control unit 112a.

[0163] When the process in step S22 is executed, the overall management unit 111 (process management unit 111b and operation management unit 111d) receives the first communication status signal of the first mobile robot 30 notified by the first mobile robot control unit 112.

[0164] Here, the overall control unit 111 is assumed to be aware of the communication status of all mobile robots 30 moving within the target space (i.e., the communication status between the information processing device 10 and each of the multiple mobile robots 30) based on the communication status signals (first or second communication status signals) output from all mobile robot control units 112. Furthermore, the overall control unit 111 is assumed to be aware that the second mobile robot 30 has been stopped due to an abnormal communication status of the first mobile robot 30 as described above (i.e., the mobile robot 30 is stopped).

[0165] In this case, the overall management unit 111 determines whether the communication status of all mobile robots 30 moving within the target space is normal (step S23).

[0166] If it is determined that the communication status of all mobile robots 30 is normal (YES in step S23), the overall management unit 111 determines whether or not there are any mobile robots 30 that are stopped (step S24).

[0167] If it is determined that there is a mobile robot 30 that is stopped (YES in step S24), the overall control unit 111 instructs the mobile robot control unit 112 corresponding to the stopped mobile robot 30 (in this case, the second mobile robot 30) to resume movement (step S25).

[0168] When the process in step S25 is executed, the mobile robot control unit 112 corresponding to the stopped mobile robot 30 generates a control signal to move the mobile robot 30 according to the path (i.e., a control signal to resume movement). The control signal thus generated is transmitted to the stopped mobile robot 30 by the transmission unit 13. As a result, the movement of the stopped mobile robot 30 is resumed.

[0169] Furthermore, if it is determined that the communication status of all mobile robots 30 is not normal (NO in step S23) or if it is determined that there are no stopped mobile robots 30 (NO in step S24), the process shown in Figure 12 is terminated.

[0170] According to the process shown in Figure 12 above, when the abnormality in the communication state of the first mobile robot 30 is resolved and the movement of the first mobile robot 30 is resumed, the movement of the second mobile robot 30 (the stopped mobile robot 30), which was stopped due to the abnormality in the communication state, can also be resumed.

[0171] In Figure 12, for safety reasons, the explanation was given that the movement of a stopped mobile robot 30 is resumed only when the communication status of all mobile robots 30 moving within the target space is normal. However, for example, if the communication status of the first mobile robot 30 is normal (the abnormality in its communication status has been resolved), the system may be configured to resume the movement of the second mobile robot 30, which is moving along the same path as the first mobile robot 30 or is scheduled to move along the same path, even if the communication status of the other mobile robots 30 is not normal.

[0172] By the way, in this embodiment, for example, it has been explained that a control signal to stop the second mobile robot 30 is sent to the second mobile robot 30 when the communication status of the first mobile robot 30 is abnormal. However, stopping the second mobile robot 30 when its communication status is not abnormal will reduce the overall operational efficiency of the mobile robot system 1. For this reason, in this embodiment, the path taken by the second mobile robot 30 may be changed when the communication status of the first mobile robot 30 is abnormal.

[0173] Therefore, referring to the flowchart in Figure 13, the processing procedure of the information processing device 10 when changing the path of the second mobile robot 30 will be explained. Note that the processing shown in Figure 13 corresponds to the processing that is executed in place of the processing of step S5 shown in Figure 7 above.

[0174] Here, the overall control unit 111 determines whether the path identified in step S3 shown in Figure 7 (the path the first mobile robot 30 is traveling along) is the same as the path of the second mobile robot 30 identified in step S4 (step S31).

[0175] In this case, for example, if a route is defined as the distance from one waypoint to another, as described above, and the first mobile robot 30 and the second mobile robot 30 are moving along the same route, it is determined in step S31 that the routes are identical. On the other hand, if the second mobile robot 30 is scheduled to move along the same route as the first mobile robot 30 to reach its destination, but has not yet moved along that route, it is determined in step S31 that the routes are not identical.

[0176] If it is determined that the routes are not the same (NO in step S31), the overall management unit 111 refers to the map information stored in the map DB 123 and searches for an alternative route that will allow the first mobile robot 30 to bypass the route it is currently taking and reach its destination (step S32).

[0177] Next, the overall management unit 111 determines whether or not there is another route based on the result of the processing in step S32 (i.e., the search result) (step S33).

[0178] If it is determined that there is another route (i.e., a route that bypasses the first mobile robot 30) (YES in step S33), the overall control unit 111 instructs the mobile robot control unit 112 (second mobile robot control unit 112) corresponding to the second mobile robot 30 to change the route that the second mobile robot 30 is scheduled to take (step S34).

[0179] When the process in step S34 is executed, the processes in steps S6 and S7 shown in Figure 7 are executed. In this case, the second mobile robot control unit 112 changes the path that the second mobile robot 30 is scheduled to travel on from the path that the first mobile robot 30 is currently traveling on to the alternative path described above, based on the instructions from the overall management unit 111 in step S24. That is, the second mobile robot control unit 112 (movement control unit 112c) generates a path different from the path that the first mobile robot 30 is currently traveling on, and generates a control signal to move the second mobile robot 30 according to the generated alternative path. The control signal thus generated is transmitted to the second mobile robot 30 by the transmission unit 13.

[0180] On the other hand, if it is determined that the routes are the same (NO in step S31), the overall management unit 111 instructs the second mobile robot control unit 112 to stop the second mobile robot 30 (step S35).

[0181] When the process in step S35 is executed, the processes in steps S6 and S7 shown in Figure 7 are executed. In this case, the second mobile robot control unit 112 (mobile control unit 112c) generates a control signal to stop the second mobile robot 30 based on the instruction from the overall management unit 111 in step S35. The control signal thus generated is transmitted to the second mobile robot 30 by the transmission unit 13.

[0182] Here, referring to Figure 14, we will briefly explain the safety of the mobile robot system 1 when the process shown in Figure 13 is executed. In Figure 14, for example, we assume that the mobile robot 30a is moving along a path R1 from waypoint WP1 to waypoint WP2 between the starting point S and the destination G.

[0183] If the mobile robot status signal transmitted at regular intervals from the mobile robot 30a moving along path R1 is not received by the information processing device 10 (receiving unit 14), it is detected that the communication status of the mobile robot 30a is abnormal.

[0184] In this case, if we assume that the mobile robot 30b, which is scheduled to travel along route R1, is currently traveling along route R0 from the starting point S to the waypoint WP1, then the mobile robot 30b can reach its destination G by traveling along another route R2 that bypasses route R1.

[0185] In such cases, by changing the planned route of the mobile robot 30b from route R1 to route R2, the mobile robot 30b can reach destination G by moving along route R2, while avoiding the communication status becoming abnormal, similar to that of the mobile robot 30a, by moving along route R1. As a result, even if the communication status of the mobile robot 30a is abnormal, there is no need to stop the mobile robot 30b, thus suppressing a decrease in the overall operational efficiency of the mobile robot system 1.

[0186] In this example, we assume that there are no branching points on the path R1 from waypoint WP1 (branching point) to waypoint WP2 (branching point), as described above. Therefore, for example, as shown in Figure 11 above, if mobile robot 30b is moving along path R1, we will assume that there is no alternative path to bypass mobile robot 30a and will stop mobile robot 30b.

[0187] However, even if the mobile robot 30b is moving along route R1, if, for example, there are no vehicles following the mobile robot 30b, the mobile robot 30b may be returned to waypoint WP1 and made to move along route R2.

[0188] In other words, whether to stop the mobile robot 30b or change the path of the mobile robot 30b can be determined according to the operating status of the multiple mobile robots 30 moving within the target space.

[0189] In this embodiment, it is assumed that the mobile robot system 1 is an integrated mobile robot system. In such a mobile robot system 1, the information processing device 10 (MEC server) has functions such as process management, operation management, position estimation, route generation, and movement control. Control signals (commands regarding the direction and speed of movement, etc.) related to the movement of the mobile robot 30 are transmitted from the information processing device 10 to the mobile robot 30 via wireless communication using Wi-Fi, LTE, or local 5G. In this case, the mobile robot 30 can move according to the control of the information processing device 10 by operating actuators such as motors according to the control signals. On the other hand, the mobile robot 30 transmits sensor data used to estimate the current position of the mobile robot 30 (such as sensor data indicating the distance measured by an LRF installed on the mobile robot 30) to the information processing device 10 as a mobile robot status signal. In the mobile robot system 1 according to this embodiment, the communication state detection unit 112e included in the information processing device 10 detects the communication state using sensor data, and the communication state detection unit 31a included in the mobile robot 30 detects the communication state using control signals, thereby improving safety in environments where, for example, multiple mobile robots 30 move within a target space. In this embodiment, the communication state is described as being detected using sensor data transmitted from the mobile robot 30 to the information processing device 10, but instead of the sensor data, a heartbeat signal transmitted from the mobile robot 30 to the information processing device 10 at regular intervals to notify that the mobile robot 30 is active may be used. Furthermore, in this embodiment, the communication state is described as being detected using a control signal related to movement transmitted from the information processing device 10 to the mobile robot 30, but instead of the control signal, other signals transmitted at regular intervals may be used.

[0190] Furthermore, although this embodiment assumes that the mobile robot system 1 is a centralized mobile robot system, the mobile robot system 1 may also be an autonomous distributed mobile robot system. In a centralized mobile robot system, the mobile robot 30 moves according to control signals transmitted from the information processing device 10, whereas an autonomous distributed mobile robot system differs from the centralized mobile robot system in that the mobile robot 30 moves autonomously. When this embodiment is applied to an autonomous distributed mobile robot system, for example, the communication state detection unit 112e included in the information processing device 10 may detect the communication state using a heartbeat signal transmitted from the mobile robot 30 at regular intervals, and the communication state detection unit 31a included in the mobile robot 30 may detect the communication state using a predetermined signal transmitted from the information processing device 10 at regular intervals.

[0191] In this embodiment, the communication status detection unit is described as being included in both the information processing device 10 and the mobile robot 30. However, even if the communication status detection unit is included in only one of the information processing device 10 or the mobile robot 30, it is still possible to improve the safety of the mobile robot system 1. In other words, this embodiment may also describe a mobile robot system 1 configured such that the communication status detection unit is included in only one of the information processing device 10 or the mobile robot 30.

[0192] Furthermore, although the information processing device 10 in this embodiment has been described as including a transmitting unit 13 and a receiving unit 14, the information processing device 10 in this embodiment may also have a configuration in which the transmitting unit 13 and the receiving unit 14 are located externally.

[0193] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0194] With regard to the embodiments described above, the following additional information is disclosed. [1] If no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified, The system comprises a first processing unit that generates a second control signal relating to the movement of the identified second moving body, Information processing device. [2] The first processing unit identifies a second mobile body that is moving along the identified first path or a second mobile body that is scheduled to move along the identified first path. The second control signal includes a signal to stop the second mobile body. [1] The information processing device described above. [3] The first processing unit identifies a second moving object that is scheduled to move along the identified first path, The information processing apparatus according to [1] or [2], wherein the second control signal includes a signal that changes the first path on which the second mobile body is scheduled to travel to a second path different from the first path. [4] The first processing unit is, Determine whether there is a second route that can bypass the first route and reach the destination of the second mobile object. If it is determined that there is no second path, a signal to stop the second mobile body is generated as the second control signal. If it is determined that a second path exists, a signal is generated as a second control signal to change the first path that the second mobile object is scheduled to travel along to the second path. [3] The information processing device described above. [5] The first processing unit identifies a second mobile body that is moving along the identified first path or a second mobile body that is scheduled to move along the identified first path. The second control signal includes a signal that moves the second mobile body to a predetermined position and stops it. An information processing device as described in any one of items [1] to [4]. [6] The first mobile unit is configured to transmit the status signal at a predetermined first interval, The first processing unit generates the second control signal if the status signal is not received within the predetermined first interval. An information processing device as described in any one of items [1] to [5]. [7] The information processing apparatus according to any one of [1] to [6], wherein the first processing unit generates a third control signal to restart the movement of the second mobile body when the status signal is received from the first mobile body after the second control signal has been transmitted to the second mobile body. [8] A receiving unit that receives the status signal, A transmitting unit that transmits the first and second control signals and An information processing device according to any one of the items [1] to [7], further comprising: [9] An information processing device described in any one of items [1] to [8], The first and second mobile bodies and A system that is equipped with [the following].

[10] The system according to [9], which includes a second processing unit that controls the first mobile body based on a third control signal that stops the first mobile body when the first control signal is not received.

[11] The first control signal is transmitted at a predetermined second interval. The second processing unit controls the first mobile body based on the third control signal if the first control signal is not received within the predetermined second interval.

[10] The system described in

[10] .

[12] In a mobile body that moves within a target space together with other mobile bodies based on a first control signal generated in an information processing device, The system includes a processing unit that controls the mobile body based on a second control signal that stops the mobile body if the first control signal is not received. A mobile object.

[13] In the method executed by the information processing device, If no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified, Generate a second control signal relating to the movement of the identified second mobile body. method.

[14] A program executed by a computer of an information processing device, To the aforementioned computer, When no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified, To generate a second control signal relating to the movement of the identified second mobile body. A program to execute. [Explanation of symbols]

[0195] 1...Mobile robot system, 10...Information processing device, 10a...CPU, 10b...Non-volatile memory, 10c...RAM, 10d...Communication device, 11...Processing unit, 12...Storage unit, 20...Wireless base station, 30...Mobile robot (mobile body), 31...Processing unit, 31a...Communication status detection unit, 31b...Motor control unit, 32a~32c...Sensors, 111...Overall management unit, 111a...Scenario setting unit, 111b...Process management unit, 111c...Movement restriction management unit, 111d...Operation management unit, 11 2...Mobile robot control unit, 112a...Overall control unit, 112b...Map management unit, 112c...Movement control unit, 112d...Position estimation unit, 112e...Communication status detection unit, 121...Scenario DB, 122...Mobile robot DB, 123...Waypoint DB, 124...Map DB, 131...Receiver unit, 132...Timer unit, 133...First generation unit, 134...Second generation unit, 135...First output unit, 136...Second output unit, 331...Receiver unit, 332...Timer unit, 333...Generation unit, 334...Output unit.

Claims

1. If no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified. The system comprises a first processing unit that generates a second control signal relating to the movement of the identified second moving body, The second control signal includes a signal to stop the second mobile body. The first processing unit generates a third control signal to restart the movement of the second mobile body when, after the second control signal has been transmitted to the second mobile body, the status signal is received from the first mobile body, the second mobile body, and other mobile bodies moving in the space in which the first and second mobile bodies are moving. Information processing device.

2. The first processing unit identifies a second mobile body that is moving along the identified first path or a second mobile body that is scheduled to move along the identified first path. The information processing apparatus according to claim 1.

3. The first processing unit identifies a second moving object that is scheduled to move along the identified first path, The information processing apparatus according to claim 1, wherein the second control signal includes a signal that changes the first path on which the second mobile body is scheduled to travel to a second path different from the first path.

4. The first processing unit is, Determine whether there is a second route that can bypass the first route and reach the destination of the second mobile object. If it is determined that there is no second path, a signal to stop the second mobile body is generated as the second control signal. If it is determined that the second path exists, a signal is generated as the second control signal to change the first path that the second mobile object is scheduled to travel along to the second path. The information processing apparatus according to claim 3.

5. The first processing unit identifies a second mobile body that is moving along the identified first path or a second mobile body that is scheduled to move along the identified first path. The second control signal includes a signal that moves the second moving body to a predetermined position and stops it. The information processing apparatus according to claim 1.

6. The first mobile unit is configured to transmit the status signal at a predetermined first interval. The first processing unit generates the second control signal if the status signal is not received within the predetermined first interval. The information processing apparatus according to claim 1.

7. A receiving unit that receives the status signal, A transmitting unit that transmits the first and second control signals and The information processing apparatus according to claim 1, further comprising the above.

8. An information processing device according to any one of claims 1 to 7, The first and second moving bodies and A system that is equipped with [the following].

9. The system according to claim 8, which includes a second processing unit that controls the first mobile body based on a fourth control signal that stops the first mobile body when the first control signal is not received.

10. The first control signal is transmitted at a predetermined second interval. The second processing unit controls the first mobile body based on the fourth control signal if the first control signal is not received within the predetermined second interval. The system according to claim 9.

11. In a mobile body that moves within a target space together with other mobile bodies based on a first control signal generated in an information processing device, The system includes a processing unit that controls the mobile body based on a second control signal that stops the mobile body if the first control signal is not received. In the information processing device, if, after the moving body has stopped, a status signal regarding the state of the moving body is received from the moving body, and a status signal regarding the state of another moving body is received from another moving body, the processing unit controls the moving body based on the third control signal in response to the transmission of a third control signal to restart the movement of the moving body. A mobile object.

12. In the method executed by the information processing device, If no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified. To generate a second control signal relating to the movement of the identified second mobile body. It is equipped with, The second control signal includes a signal to stop the second mobile body. If, after the second control signal has been transmitted to the second mobile body, the status signal is received from the first mobile body, the second mobile body, and other mobile bodies moving within the space in which the first and second mobile bodies are moving, a third control signal is generated to restart the movement of the second mobile body. method.

13. A program executed by a computer of an information processing device, To the aforementioned computer, When no status signal is received regarding the state of the first mobile body moving based on a first control signal relating to the movement of the first mobile body, the first path on which the first mobile body is moving is identified. Based on the identified first path, a second mobile body different from the first mobile body is identified, To generate a second control signal relating to the movement of the identified second mobile body. Make it run, The second control signal includes a signal to stop the second mobile body. If, after the second control signal has been transmitted to the second mobile body, the status signal is received from the first mobile body, the second mobile body, and other mobile bodies moving within the space in which the first and second mobile bodies are moving, a third control signal is generated to restart the movement of the second mobile body. program.

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