Management systems, management methods, and programs

Abstract

To improve convenience of a system for operating a mobile body.SOLUTION: A management system comprises: an operation control section for controlling operation by a mobile body so as to execute first script processing corresponding to tag data generated on the basis of a sensing result of surrounding environments by the mobile body and position information on the mobile body; and a connection control section for connecting the mobile body with a remote operation terminal for remotely operating the mobile body when a predetermined first condition based on an execution state of the first script processing is satisfied.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a management system, a management method, and a program.

Background Art

[0002] In recent years, systems have been developed in which a moving object senses the surrounding environment and executes processing based on the sensing result. For example, Patent Document 1 discloses a system that outputs information based on an image captured by a moving object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, it has been considered to implement script processing on a moving object that automatically performs predetermined processing based on a sensing result. However, problems may occur such that the script processing by the moving object does not complete normally, or the same script processing is executed by the moving object many times. Also, there is a need to connect a moving object and a remote operation terminal that remotely operates the moving object according to the sensing result obtained by the script processing.

[0005] Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a novel and improved technology that can improve the convenience of a system for operating a moving object.

Means for Solving the Problems

[0006] To solve the above problems, according to one aspect of the present invention, an operation control unit controls the movement of a mobile body to execute a first script processing corresponding to tag data generated based on the sensing results of the surrounding environment by the mobile body and the position information of the mobile body, and a connection control unit connects the mobile body to a remote operation terminal that remotely operates the mobile body when a predetermined first condition based on the execution status of the first script processing is met, The robot includes a storage unit that stores a robot script table indicating the association between tag data, location information, the first script processing, and the first condition for each identifiable script ID, and the motion control unit identifies the first script processing corresponding to the generated tag data and the location information of the mobile body from the robot script table, and controls the movement of the mobile body to execute the identified first script processing. A management system will be provided.

[0007] The first condition may also include a condition regarding the number of times the mobile body has executed the first script process.

[0008] The first condition may include the first script processing not being completed.

[0009] The first condition may include a condition regarding the sensing result obtained in the first script processing.

[0010] The first condition may also include the generation of new, predetermined tag data.

[0011] The first script processing is repeatedly executed by the mobile body, and the motion control unit may control the operation to terminate the repeated execution of the first script processing when a predetermined second condition, determined based on the sensing results obtained in the first script processing, is met.

[0012] If a second script process is generated that reproduces the processing content controlled by the remote control terminal connected to the mobile body, the connection control unit may, instead of connecting the mobile body to the remote control terminal, have the mobile body execute the second script process.

[0013] The second script processing may be generated based on the operator's operations on the remote control terminal when the remote control terminal and the mobile body are connected based on the determination result of the first condition.

[0014] The connection control unit may control the execution of the second script processing if a predetermined third condition is further met.

[0015] The third condition may include conditions relating to at least one of the generated tag data, the location information of the moving object, and the sensing results obtained in the first script processing.

[0016] The third condition may include the fact that the number of times the remote control terminal and the mobile body have been connected based on the first condition is greater than or equal to a predetermined number of times.

[0017] The management system may further include a generation unit that generates the tag data by machine learning.

[0018] The aforementioned mobile vehicle may operate autonomously.

[0019] The connection control unit may connect the remote control terminal to the mobile body if the first script processing corresponding to the tag data and the mobile body's position information does not exist in the robot script table. Furthermore, in order to solve the above problems, according to another aspect of the present invention, tag data generated based on the sensing results of the surrounding environment by the moving body and the position information of the moving body and The steps include obtaining the tag data, location information, a first script process, and a first script process, and referring to a robot script table that shows the correspondence between each identifiable script ID and a predetermined first condition based on the execution status of the first script process, and identifying the first script process corresponding to the generated tag data and the location information of the mobile body from the robot script table, and the identified A step of controlling the movement of the moving body to execute a first script process, The aforementioned If the first condition is met, a computer-based management method is provided, which includes the step of connecting the mobile body to a remote control terminal for remotely controlling the mobile body.

[0020] Also, according to another aspect of the present invention for solving the above problems, a computer is caused to execute a first script process corresponding to tag data generated based on sensing results of the surrounding environment by a moving body and position information of the moving body, an operation control unit for controlling the operation of the moving body, a remote operation terminal for remotely operating the moving body, and a connection control unit for connecting the moving body, when a predetermined first condition based on the execution status of the first script process is satisfied. A storage unit that stores a robot script table that shows the correspondence between tag data, location information, the first script processing, and the first condition for each identifiable script ID, function as The motion control unit is configured to identify the first script processing corresponding to the generated tag data and the position information of the moving body from the robot script table, and to control the movement of the moving body so as to execute the identified first script processing. A program is provided.

Effect of the Invention

[0021] As described above, according to the present invention, it is possible to further improve the convenience of a management system for remotely operating a moving body.

Brief Description of the Drawings

[0022] [Figure 1] It is a schematic diagram of a management system according to an embodiment of the present invention. [Figure 2] It is a block diagram showing the functional configuration of a management system according to an embodiment of the present invention. [Figure 3] It is a table diagram showing an example of a robot script data table. [Figure 4] It is a table diagram showing an example of a robot data table stored in the management database 230. [Figure 5] It is a table diagram showing an example of a script process status data table stored in the management database 230. [Figure 6] It is a table diagram showing an example of a remote script process data table stored in the management database 230. [Figure 7] It is a flowchart showing an example of the flow of the connection process between the robot 100 and the remote operation terminal 240 by the management system according to this embodiment. [Figure 8]This flowchart shows an example of the process flow for a remote control script to be executed by the control center 200 on the robot 100. [Figure 9] This figure shows the hardware configuration of the robot 100 and the information processing device 900 that performs information processing in the management center 200 according to an embodiment of the present invention. [Modes for carrying out the invention]

[0023] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. In this specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0024] Furthermore, in this specification and drawings, robots may be distinguished by using different letters of the alphabet, such as robot 100A, robot 100B, ... However, if there is no need to distinguish each robot, they will simply be referred to as robot 100.

[0025] Similarly, remote control terminals 240A, 240B, etc., may be distinguished by using different letters of the alphabet. However, if there is no need to distinguish between each remote control terminal, they will simply be referred to as remote control terminal 240.

[0026] Furthermore, in this specification and in the drawings, operators may be distinguished by a combination of a hyphen and a different number, such as Operator OP-1, Operator OP-2, ... However, when there is no need to distinguish each operator, they will simply be referred to as Operator OP.

[0027] <<1. Overview of the Management System>> First, with reference to Figure 1, an overview of the management system according to one embodiment of the present invention will be described. Figure 1 is a schematic diagram of the management system according to one embodiment of the present invention. As shown in Figure 1, the management system according to one embodiment of the present invention has a plurality of robots 100 and a management center 200. The robots 100 and the management center 200 are connected to a network 10 and are connected to each other so as to be able to communicate via the network 10.

[0028] The robot 100 patrols, for example, a designated building. By sensing the environment around the robot 100, the robot 100 can transmit information about the structure and conditions within the building it patrols to the management center 200. The robot 100 can connect to the network 10 at any location using wireless communication.

[0029] Robot 100 is an example of a mobile body according to the present invention. In this embodiment, an example in which the mobile body is robot 100 will be mainly described, but the mobile body according to the present invention may be an autonomous vehicle, ship, aircraft, or drone, etc.

[0030] Here, a robot is defined as a mechanical device that is a so-called "artificial human," a "device that performs actions or tasks similar to those of a human," or a "device that performs actions or tasks through computer control based on instructions." For example, a robot may be defined as a "machine used in industry that has an automatic control manipulation function or a movement function and can perform various tasks by program" (JIS B 0134-1998), a "robot that serves humans" (JIS B 0187:2005), or an "intelligent mechanical system that has three elemental technologies: a sensor, an intelligent / control system, and a drive system" (Ministry of Economy, Trade and Industry Robot Policy Study Group).

[0031] Furthermore, the robot 100 can also execute actions indicated by commands received from the control center 200. For example, the robot 100 can receive a command from within the control center 200 to move to a specified location and then move to that location.

[0032] The management center 200 includes a business management unit 220 and a plurality of remote operation terminals 240. The management center 200 is connected to the network 10 via a gateway device. The business management unit 220 and the remote operation terminals 240 included in the management center 200 may be connected to each other using wired LAN communication within the management center 200.

[0033] The business management unit 220 controls and manages various tasks performed by the robot 100. Furthermore, when the business management unit 220 receives a connection request from the robot 100, it distributes the request to a remote control terminal 240 operated by an appropriate operator OP.

[0034] The remote control terminal 240 is a device used by the operator OP to monitor or remotely control the robot 100. For example, the remote control terminal 240 may include a terminal such as a personal computer (PC), a tablet device, or a smartphone, and peripheral devices connected to these terminals.

[0035] The remote control terminal 240 displays information about the status of the robot 100, displays notifications from the robot 100, issues commands to the robot 100 based on operator OP input, and monitors the status of the operator OP. For example, the remote control terminal 240 presents the operator OP with information about the robot 100 and sensing results of the environment surrounding the robot 100. The operator OP may issue commands to the robot 100 to perform actions based on the information presented by the robot 100. Multiple remote control terminals 240 may be provided depending on the number of operator OPs. Furthermore, although this specification describes an example in which the remote control terminal 240 is operated by an operator OP, the remote control terminal 240 may also be operated by a person other than an operator OP, such as the administrator of the management center 200.

[0036] Network 10 is a communication network that connects the robot 100 and the management center 200, enabling data transmission and reception between the robot 100 and the management center 200. Network 10 may be the Internet, a satellite communication network, a mobile communication network, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0037] <<2. Example of Management System Functional Configuration>> Next, with reference to Figure 2, the functional configuration of the management system according to one embodiment of the present invention will be described. Figure 2 is a block diagram showing the functional configuration of the management system according to one embodiment of the present invention.

[0038] <Robot 100> First, let's describe the functional configuration of the robot 100. As shown in Figure 2, the robot 100 includes a communication unit 110, a storage unit 120, a robot control unit 130, a sensor unit 140, an AI unit 150, and a movement unit 180.

[0039] (Communications Department 110) The communication unit 110 is a wireless communication interface that can connect to the network 10. For example, the communication unit 110 may be a wireless communication interface that can connect directly to the network 10. Alternatively, the communication unit 110 may be a wireless communication interface that can connect to the network 10 via a mobile phone network or another network such as a wireless LAN, or it may be a wireless communication interface that can connect to the network 10 via a relay device or base station. The communication unit 110 communicates with other robots 100 and the control center 200 via the network 10.

[0040] (Storage unit 120) The memory unit 120 is a storage device that stores various information in accordance with the control of the robot control unit 130. For example, the memory unit 120 may store basic information about the places that the robot 100 patrols, as well as map information, etc.

[0041] (Robot control unit 130) The robot control unit 130 is an example of a motion control unit that processes various data acquired by the robot 100 and controls the overall operation of the robot 100.

[0042] For example, the robot control unit 130 is an example of a motion control unit that controls each function of the robot 100 to execute the script processing indicated by the script. The robot control unit 130 controls the execution of script processing corresponding to the position information of the robot 100 and the tag data generated by the AI ​​unit 150, which will be described later. Details of the script processing whose execution is controlled by the robot control unit 130 will be described later.

[0043] The robot control unit 130 consists of, for example, software that controls the overall movement of the robot 100, and hardware on which the software is installed. Examples of hardware include a CPU (Central Processing Unit), RAM (Read Only Memory), and ROM (Read Only Memory). Alternatively, a DSP (Digital Signal Processor), microprocessor, or IC (Integrated Circuit) can be used instead of the CPU.

[0044] (Sensor unit 140) The sensor unit 140 includes an imaging device capable of acquiring environmental images around the robot 100, or various sensors capable of sensing parameters of the environment around the robot 100.

[0045] For example, the sensor unit 140 may include an imaging device such as an RGB camera, stereo camera, 360-degree camera, thermographic camera, or infrared camera. The sensor unit 140 may also include various sensors capable of sensing temperature, humidity, illuminance, atmospheric pressure, vibration, position, or distance to an object. Furthermore, the sensor unit 140 may include sensors capable of sensing the generation of smoke, odor, chemical substances, or static electricity. The sensor unit 140 may also include a touch sensor or the like that receives input such as instructions to the robot 100.

[0046] (AI Department 150) The AI ​​unit 150 digitizes or converts into text the sensing results, such as ambient environmental images, collected by the sensor unit 140. Based on the digitized or converted information, the AI ​​unit 150 makes various decisions for the robot 100. For example, the AI ​​unit 150 may digitize or convert into text the ambient images and sensing information by performing image recognition, pattern recognition, or information analysis using a machine learning algorithm, and then make various decisions for the robot 100 based on the digitized or converted information.

[0047] The AI ​​unit 150 is an example of a generation unit that generates tag data by machine learning based on digitized or textual information. The tag data generated by the AI ​​unit 150 may be natural language or a string of characters such as numbers or letters. The AI ​​unit 150 may generate tag data, for example, when a predetermined situation occurs. More specifically, the AI ​​unit 150 may generate a tag that says "objects present" when it determines, based on the sensing results from the sensor unit 140, that there are objects left around the robot 100.

[0048] The robot control unit 130 controls each function of the robot 100 to execute script processing indicated by the script, based on the tag data created by the AI ​​unit 150 and the position information of the robot 100 identified based on the sensing results acquired by the sensor unit 140. Here, the script processing executed based on the tag data and position information is called robot script processing. Robot script processing is an example of the first script processing.

[0049] The robot control unit 130 controls the robot 100 to execute script processing based on tag data, thereby executing processing appropriate to the situation around the robot 100. This allows the robot 100 to resolve situations that require action or to determine whether or not such situations have been resolved. Therefore, this configuration improves the operability of the management system using the robot 100.

[0050] Furthermore, the robot 100 can sense the conditions of various locations by moving autonomously. However, even if the conditions around the robot 100 are the same, the preferred response may differ depending on the location. Therefore, by controlling the robot 100 so that it executes script processing based on its position information, the robot control unit 130 can perform processing appropriate to the robot 100's position, thereby improving the operability of the management system using the robot 100.

[0051] Here, information regarding robot script processing may be stored in the memory unit 120. Alternatively, information regarding robot script processing may be obtained from the management center 200 by the communication unit 110.

[0052] Information regarding robot script processing may include, for example, robot scripts and a robot script data table that shows information about the robot script processing performed by each robot script.

[0053] Here, an example of a robot script data table will be explained using Figure 3. Figure 3 is a table diagram showing an example of a robot script data table.

[0054] As shown in Figure 3, the robot script data table may include the script ID for each robot script process, the target area, the target tag data, the robot script process details, the robot process completion conditions, and the remote control call conditions.

[0055] The script ID is a number or string that uniquely identifies each robot script process.

[0056] The target area indicates the location information of the area where robot 100 will execute robot script processing.

[0057] The target tag data refers to the tag data generated by the AI ​​unit 150 that the robot 100 will use to execute robot script processing.

[0058] The robot script processing content is the content of the processing that robot 100 will perform as a result of the robot script processing. The robot script processing content should be set according to the situation indicated by the tag data. The robot script processing content may be executed repeatedly.

[0059] The robot script processing content may also involve controlling the communication unit 110 to send a connection request to the management center 200. If the robot script processing content is sending a connection request, the determination of the robot processing termination condition and the remote control call condition, as described later, do not need to be performed.

[0060] The robot processing termination condition is the condition under which the repeated execution of the robot script processing terminates. After the robot 100 executes the robot script processing, the robot control unit 130 determines in the robot script data table whether the robot processing termination condition corresponding to the robot script processing is met. If the robot processing condition is not met, the robot control unit 130 controls the robot to execute the robot script processing again. If the robot processing condition is met, the robot control unit 130 terminates the repeated execution of the robot script processing. The robot processing termination condition is an example of the second condition.

[0061] The robot processing termination conditions may include conditions set for each robot script process, as well as conditions that are determined in common for all robot script processes. For example, the robot processing conditions may include the resolution of the situation in which tag data is generated by the AI ​​unit 150. The repeated execution of the robot script process may terminate when the situation in which tag data is generated is resolved, or when the conditions set for each script process are met.

[0062] So far, we have explained an example of a robot script data table. Remote control call conditions will be explained in detail later.

[0063] When new tag data is generated by the AI ​​unit 150, the robot control unit 130 refers to the robot script data table and searches for a robot script process that matches the tag data and the position information of the robot 100. If a robot script process that matches the tag data and the position information of the robot 100 is found, the robot control unit 130 controls the operation of the robot 100 to execute the robot script process.

[0064] Next, we will describe an example of the operation of the robot 100 controlled by the robot control unit 130 based on the robot script data table shown in Figure 3. Here, we will describe an example where the position information of the robot 100 is "(0,0,30)" and the AI ​​unit 150 generates tag data that says "abandoned object exists".

[0065] The location information "(0,0,30)" is included in the target area "(0,0,20)-(100,100,40)" for the robot script processing of script ID "Scr101". Additionally, the tag data "Abandoned item exists" is the target tag data for the robot script with script ID "Scr101".

[0066] Therefore, the robot control unit 130 executes the robot script processing with script ID "Scr101". In other words, the robot control unit 130 controls the sensor unit 140 to take a picture of the recognized abandoned object.

[0067] Furthermore, the robot control unit 130 repeatedly executes the robot script process until the robot processing termination condition for the robot script process with script ID "Scr101" is met. More specifically, the robot control unit 130 analyzes the image of the abandoned object acquired when the robot script process was executed and determines whether the abandoned object is a cart, thereby determining whether the robot processing termination condition has been met. The determination of the robot processing termination condition may also be performed by the AI ​​unit 150.

[0068] If the robot control unit 130 determines that the abandoned object is a cart, it terminates the series of processes corresponding to the robot script processing. On the other hand, if the robot control unit 130 determines that the abandoned object is not a cart, it executes the robot script processing again. Note that the robot script processing may be executed repeatedly by waiting for a predetermined time to elapse before executing it again.

[0069] Furthermore, as mentioned above, the robot processing termination conditions may also include the resolution of the situation in which tag data is generated. If the robot control unit 130 determines that the situation in which an abandoned object exists has been resolved, that is, that the abandoned object has been removed, it may terminate the series of repetitive processes corresponding to the robot script processing without repeatedly executing the robot script processing.

[0070] The above describes a specific example of controlling the execution of robot script processing by the robot control unit 130. However, depending on the content of the robot script processing controlled by the robot control unit 130, it is conceivable that the robot script processing may not be completed due to factors such as the execution stopping midway or the robot script processing becoming looped.

[0071] Furthermore, it is conceivable that the robot script processing may be executed repeatedly because the robot processing termination conditions are not met. Also, even if the robot processing termination conditions are met and the repeated robot script processing is terminated, the situation in which tag data is generated by the AI ​​unit 150 may not be resolved. In this case, it is conceivable that the same tag data will be generated again by the AI ​​unit 150, and the robot script processing may be executed repeatedly.

[0072] Furthermore, depending on the sensing results obtained in the robot script processing executed based on the control by the robot control unit 130, it may be preferable to control the operation of the robot 100 by remote operation.

[0073] Furthermore, it is conceivable that when the AI ​​unit 150 generates tag data different from the tag data related to the executed robot script processing, it is preferable that the operation of the robot 100 be controlled remotely.

[0074] Therefore, in this embodiment, the robot control unit 130 controls the communication unit 110 to send a connection request to the management center 200 for remote control of the robot 100, based on the execution status of the robot script processing. This makes it possible to control the operation of the robot 100 by remote control if the robot 100 cannot resolve a situation undesirable to the administrator, or if it is preferable to control the operation of the robot 100 by remote control.

[0075] More specifically, the robot control unit 130 may control the communication unit 110 to send a connection request to the management center 200 when the remote control call conditions based on the execution status of the robot script processing are met. The remote control call conditions are an example of the first condition. Note that if the remote control call conditions are met and a connection request to the management center 200 is sent, the repeated execution of the robot script processing may be terminated even if the robot processing termination conditions are not met.

[0076] The remote control call conditions may include conditions regarding the number of times the robot 100 has executed each robot script process (number of robot processes). For example, the remote control call conditions may include that the number of robot processes is greater than or equal to a predetermined number.

[0077] The number of times each robot script process has been executed for each robot 100 may be stored in the memory unit 120. The number of times each robot script process has been executed may be reset after a predetermined period (for example, one day), or it may be reset when the situation in which the AI ​​unit 150 generates tag data corresponding to that robot script process is resolved. The number of times each robot script process has been executed may be reset according to different criteria depending on the design of each robot script process.

[0078] Furthermore, the remote control call conditions may include the failure of the robot script processing to complete. The robot script processing may be determined to be incomplete, for example, if it does not complete within a predetermined time.

[0079] Furthermore, the remote control call conditions may include conditions regarding the sensing results obtained during robot script processing. The conditions regarding the sensing results obtained during robot script processing may be set for each robot script process and stored in the robot script data table.

[0080] For example, Figure 3 shows an example where the remote control call condition corresponding to the script processing of script ID "Scr101" includes the condition "the B value of the RGB values ​​in the image of the abandoned object is greater than or equal to a threshold." Here, the image of the abandoned object is the sensing result obtained in the robot script processing of script ID "Scr101." For example, if the B value of the RGB values ​​is greater than or equal to a threshold, there is a high probability that the abandoned object is a specific object, and it is preferable to process that object by remotely controlling the robot 100, then such a condition should be included in the remote control call condition.

[0081] Furthermore, the remote control call conditions may include the generation of new predetermined tag data. The conditions for the predetermined tag data may be set for each robot script process and stored in the robot script data table.

[0082] For example, Figure 3 shows an example where the remote control call condition corresponding to the script processing of script ID "Scr101" includes the condition "Generate tag data 'Fire extinguisher detected'". For example, if it is discovered during robot script processing that an unattended object is a fire extinguisher, it is conceivable that such a condition would be included in the remote control call condition if it is preferable to take action against the fire extinguisher by remotely controlling robot 100.

[0083] (Moving part 180) Returning to Figure 2, the explanation continues. The mobile unit 180 is a moving mechanism capable of moving the robot 100 to any position based on control by the robot control unit 130. The mobile unit 180 may be a moving mechanism of various types, such as a wheeled, legged, crawlered, or air cushion type. The mobile unit 180 may also be a moving mechanism capable of moving through the air using rotor blades, or a moving mechanism capable of moving on or underwater using a screw. Furthermore, the mobile unit 180 may have multiple moving mechanisms; for example, it may have wheels and rotor blades, enabling it to move both on land and in the air.

[0084] <Management Center 200> Next, the functional configuration of the management center 200 will be described. As shown in Figure 2, the management center 200 includes a communication device 210, a business management unit 220, a management database 230, and a remote operation terminal 240.

[0085] (Communication device 210) The communication device 210 is a gateway device that relays communication between the robot 100 and each component included in the management center 200 (business management unit 220, remote operation terminal 240, and management database 230). Furthermore, each component included in the management center 200 may be connected to each other by, for example, a wired or wireless LAN. The communication device 210 transmits, for example, operation commands to the robot 100.

[0086] (Business Management Department 220) As described above, the business management unit 220 controls and manages various tasks of the robot 100. As shown in Figure 2, the business management unit 220 also functions as the connection control unit 221.

[0087] (Connection control unit 221) The connection control unit 221 controls the connection between the robot 100 and the remote control terminal 240. For example, when the connection control unit 221 receives a connection request for remote control from the robot 100, it distributes the connection request to the remote control terminal 240 operated by the appropriate operator OP.

[0088] The connection control between the robot 100 and the remote control terminal 240 by the connection control unit 221 may be implemented, for example, by WebRTC (Web Real-Time Communication) or MQTT (Message Queuing Telemetry Transport).

[0089] Furthermore, the connection control unit 221 may control the execution of operations of the robot 100 connected to the management center 200. For example, the connection control unit 221 controls the execution of operations by the robot 100 based on operations to the remote control terminal 240, which will be described later.

[0090] (Management Database 230) The management database 230 is a database that stores robot data tables that manage various information about the robot 100. For example, the management database 230 may store robot data tables as shown in Figure 4. Figure 4 is a table diagram showing an example of a robot data table stored in the management database 230.

[0091] As shown in Figure 4, the robot data table may include the robot ID and location for each robot 100. The various information about robots 100 managed in the robot data table is updated as needed based on the information transmitted from each robot 100 to the management center 200.

[0092] The robot ID is a number or string that uniquely identifies each robot 100. The position is a three-dimensional coordinate that indicates the current position of each robot 100.

[0093] The management database 230 may store the robot script data table mentioned above.

[0094] Furthermore, the management database 230 may store a script processing status data table that stores information about robot script processing performed by the robot 100. Figure 5 is a table diagram showing an example of a script processing status data table stored in the management database 230.

[0095] As shown in Figure 5, the script processing status data table may include robot sensor acquired values, robot processing counts, and operator processing counts for each combination of robot script processing and robot 100. The various information managed in the script processing status data table is updated as needed based on information transmitted from each robot 100 to the control center 200.

[0096] The robot sensor acquired values ​​are sensing results obtained by the sensor unit 140 through robot script processing indicated by the script ID, performed by robot 100, indicated by the robot ID. Figure 4 shows, for example, the result of photographing an unattended object when the robot script processing with script ID "Scr101" shown in Figure 3 is executed by robot 100 with robot ID "R101". <s1> image01< / s1> It has been shown that this is the case.

[0097] Furthermore, if the robot 100 executes the robot script processing multiple times, only the most recent acquired value may be stored as the robot sensor acquired value, or all or some of the acquired values ​​from multiple times may be stored.

[0098] The robot processing count is the number of times robot 100, indicated by the robot ID, has executed the robot script process indicated by the script ID. The robot processing count may also be obtained from robot 100 by the communication device 210.

[0099] The operator processing count is the number of times the robot 100 and the remote control terminal 240 are connected based on the determination of remote control call conditions for combinations of robot 100 indicated by the robot ID and robot script processing indicated by the script ID.

[0100] (Remote control terminal 240) Returning to Figure 2, let's continue the explanation. The remote control terminal 240 is a terminal operated by the operator OP. The operator OP can use the remote control terminal 240 to monitor the status of the robot 100 and issue commands to the robot 100 to perform actions. As shown in Figure 2, the remote control terminal 240 includes a communication unit 241, a display unit 242, and an operation unit 243.

[0101] The communication unit 241 is a communication interface for connecting to the LAN within the management center 200, and can send and receive data with the robot 100, or receive reports from the business management unit 220.

[0102] The display unit 242 is a display device such as a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, or a touch panel display, and can display an environmental image of the robot 100 or a management screen containing information about the robot 100.

[0103] The control unit 243 is, for example, an input device such as a keyboard, mouse, touch panel, trackpad, directional keys, control lever, or microphone, and can receive operations such as inputting commands for the robot 100 from the operator OP.

[0104] For example, the operator OP remotely controls the connected robot 100 using the control unit 243 when the remote control call conditions, determined based on the execution status of the robot script processing, are met.

[0105] Operator OP remotely controls robot 100 whenever the remote control call conditions are met. Therefore, depending on the situation, Operator OP may perform operations multiple times to handle the same robot script processing. Here, it is assumed that the processing content executed by Operator OP's operations will be the same or similar depending on the situation.

[0106] For example, suppose that operator OP performs the robot script processing for script ID "Scr102" shown in Figure 3 multiple times. In this case, one possible scenario is that operator OP would have robot 100 call a security guard each time, because even though robot 100 plays the voice prompt, people remain in the restricted area. Here, operator OP may find it cumbersome to repeatedly perform the same operation (calling a security guard in the above example) to have robot 100 execute the same process.

[0107] Therefore, instead of performing connection control in response to a connection request transmitted from the robot 100, the connection control unit 221 may have the robot 100 execute a remote control script process that reproduces the processing content controlled by the remote control terminal 240. The remote control script process is an example of a second script process.

[0108] More specifically, the connection control unit 221 may generate remote control script processing based on the operations performed by the operator OP on the operation unit 243 when the robot 100 and the remote control terminal 240 are connected based on the remote control call conditions.

[0109] If a remote control script has been generated, the connection control unit 221 may, instead of connecting the robot 100 to the remote control terminal 240, have the robot 100 execute the remote control script.

[0110] Multiple remote script processes may be generated to be executed depending on the situation. For example, a remote script process may be generated to correspond to a robot script process or tag data that triggered the execution of the robot script process, or it may be generated to correspond to robot sensor acquisition values ​​or position information of the connected robot 100 based on the determination result of the remote operation call condition.

[0111] The contents of the remote script processing may be stored in the management database 230. Figure 6 is a table diagram showing an example of a remote script processing data table stored in the management database 230. Figure 6 shows an example in which remote script processing is generated to correspond to each robot script processing, and the contents of the remote script processing are stored for each script ID.

[0112] Figure 6 shows an example where a remote script process corresponding to the robot script process with script ID "Scr101" has not been created, and the remote script process corresponding to the robot script process with script ID "Scr102" is "Call a security guard".

[0113] When the connection control unit 221 receives a connection request from the robot 100 based on the determination result of the remote control call condition, it may determine whether the execution conditions for remote script processing are met. If the execution conditions for remote script processing are met, the connection control unit 221 may have the robot 100 execute the remote control script processing instead of connecting the robot 100 to the remote control terminal 240. The execution conditions for remote script processing are an example of the third condition.

[0114] The execution conditions for remote script processing may, for example, be that, if remote script processing is generated to correspond to tag data, then remote script processing corresponding to the tag data that triggered the transmission of the connection request has been generated. Similarly, the execution conditions for remote script processing may be conditions related to robot sensor acquired values ​​or position information.

[0115] Here, when the operator OP handles robot script processing caused by the same tag data, it is conceivable that different actions may be taken depending on the robot sensor acquired values ​​or position information. Therefore, when the connection control unit 221 generates the remote control script processing, it may further generate execution conditions for the remote control script processing, such as the robot sensor acquired values, the robot 100's position information, tag data, or robot ID, that correspond to the robot script processing.

[0116] The connection control unit 221 may generate remote control script processing each time a response related to robot script processing is performed, that is, each time the robot 100 and the remote control terminal 240 are connected based on the determination result of the remote control call condition.

[0117] Furthermore, the connection control unit 221 may optimize already generated remote script processing in response to the handling of robot script processing that has been performed multiple times.

[0118] The execution conditions for remote script processing may include the operator processing count being greater than or equal to a predetermined number. The operator processing count is stored in the script processing status data table of the management database 230. As a result, optimized remote script processing is executed in accordance with the responses to robot script processing that has been performed multiple times, so that processing more appropriate to the situation around the robot 100 is executed.

[0119] Up to this point, the execution conditions for remote control script processing have been explained. When the execution conditions for remote control script processing are met, the connection control unit 221, instead of connecting the robot 100 to the remote control terminal 240, has the robot 100 execute the remote control script processing. This eliminates the hassle for the operator OP, as they do not have to perform the same processing multiple times when responding to robot script processing. Furthermore, it streamlines the response to robot script processing and reduces the burden on the operator OP.

[0120] The robot 100 that executes the remote control script processing may be different from the robot 100 that performed the processing that forms the basis for generating the remote control script processing. Furthermore, the connection control unit 221 may perform optimization processing of the remote script processing based on each of the corresponding robot script processing operations performed by different robots 100.

[0121] Furthermore, existing automatic script generation technologies can be used to generate the remote control script processing, and the generation method is not particularly limited.

[0122] <<4. Example of Operation>> Next, with reference to Figures 7 and 8, an example of the operation process of the management system according to this embodiment will be described. First, using Figure 7, an example of the connection process flow between the robot 100 and the remote control terminal 240 by the management system according to this embodiment will be described. Figure 7 is a flowchart showing an example of the connection process flow between the robot 100 and the remote control terminal 240 by the management system according to this embodiment.

[0123] First, the sensor unit 140 of the robot 100 acquires sensing results of the surrounding environment (S101). Next, the AI ​​unit 150 generates tag data based on the sensing results (S102).

[0124] The robot control unit 130 refers to the robot script data table and searches for a robot script process that matches the generated tag data and the position information of the robot 100 (S103).

[0125] If no robot script processing exists that matches the generated tag data and the location information of robot 100 (S104 / NO), the process proceeds to S111.

[0126] On the other hand, if there is a robot script process that matches the generated tag data and the position information of the robot 100 (S104 / YES), the robot control unit 130 controls the movement of the robot 100 to execute the robot script process (S105).

[0127] If the robot script processing does not complete (S106 / NO), the process proceeds to S110. Note that the completion of the robot script processing is one example of a remote control call condition. On the other hand, if the robot script processing is completed (S106 / YES), the storage unit 120 is controlled to increase the number of stored robot processing times by one (S107).

[0128] Next, the robot control unit 130 determines whether the number of robot processing cycles is greater than or equal to a predetermined number (S108). Note that the number of robot processing cycles being greater than or equal to a predetermined number is one example of a remote control call condition.

[0129] If the robot processing termination conditions are not met (S109 / NO), the process proceeds to S111. On the other hand, if the robot processing termination conditions are met (S109 / YES), the robot control unit 130 determines whether the execution status of the robot script processing meets the remote control call conditions (S110). The remote control call conditions determined here exclude the completion of the robot script processing and the number of robot processing cycles being greater than or equal to a predetermined number. Here, the remote control call conditions may include, for example, conditions regarding the sensing results acquired in the robot script processing, or whether predetermined tag data has been newly generated.

[0130] If the remote control call conditions are not met (S110 / NO), the process terminates. On the other hand, if the remote control call conditions are met (S110 / YES), the process proceeds to S111.

[0131] Then, the robot control unit 130 controls the communication unit 110 to send a connection request to the management center 200 for remote control of the robot 100 (S111).

[0132] The connection control unit 221 of the management center 200, upon receiving the connection request, determines an appropriate operator OP for the connection request (S112). The connection control unit 221 then transmits the connection request to the remote control terminal 240 operated by the operator OP (S113).

[0133] By operating the control unit 243 of the remote control terminal 240, which has been established based on the connection request, the operator OP performs remote control of the robot 100 (S114).

[0134] Up to this point, Figure 7 has been used to explain the flow of the connection process between the robot 100 and the remote control terminal 240. Next, Figure 8 will be used to explain an example of a process flow in which the robot 100 is instructed to execute a remote control script in response to a connection request sent from the robot 100. Figure 8 is a flowchart showing an example of a process flow in which the management center 200 instructs the robot 100 to execute a remote control script. This flow can be executed following the process of S111 in the flow shown in Figure 7, and in place of the processes S112 to S114.

[0135] Once the process in S111 is complete, the connection control unit 221 determines whether the number of operator processing operations is equal to or greater than a predetermined number (S201). If the number of operator processing operations is not equal to or greater than the predetermined number (S201 / NO), the process proceeds to S204.

[0136] If the number of operator processing operations exceeds a predetermined number (S201 / YES), the connection control unit 221 determines whether or not there is a remote operation script that matches the execution conditions for remote script processing (S202).

[0137] If a remote control script exists that matches the execution conditions for remote script processing (S202 / YES), the connection control unit 221 controls the robot 100 that sent the connection request to execute the remote control script processing (S203).

[0138] On the other hand, if there is no remote operation script that matches the execution conditions for remote script processing (S202 / NO), an appropriate operator OP is determined for the connection request (S204). Then, the connection control unit 221 sends the connection request to the remote operation terminal 240 operated by the operator OP (S205).

[0139] The connection control unit 221 controls the management database 230 to increase the number of operator processing operations stored in the script processing status data table of the management database 230 by one (S206).

[0140] Based on the connection request, the operator OP performs remote control of the robot 100 by operating the control unit 243 of the remote control terminal 240, which has been established to connect (S207).

[0141] The connection control unit 221 collects operation logs from the operator OP and sensing results obtained by the sensor unit 140 of the robot 100 (S208).

[0142] The connection control unit 221 generates a remote control script processing according to the collected results (S209). The generated remote control script processing may be generated by optimizing an already generated remote control script processing.

[0143] <<5. Hardware Configuration Example>> The information processing described above is realized through the collaboration of software and the hardware of the robot 100 and the control center 200, which are described below.

[0144] Figure 9 shows the hardware configuration of an information processing device 900 that performs information processing in a robot 100 and a management center 200 according to an embodiment of the present invention. The information processing device 900 includes a CPU 901, a ROM 902, a RAM 903, a host bus 904, a bridge 905, an external bus 906, an interface 907, an input device 908, an output device 909, a storage device 910, and a communication device 911.

[0145] The CPU 901 functions as both an arithmetic processing unit and a control unit, controlling the overall operation of the information processing unit 900 according to various programs. The CPU 901 may also be a microprocessor. The ROM 902 stores programs and arithmetic parameters used by the CPU 901. The RAM 903 temporarily stores programs used in the execution of the CPU 901 and parameters that change as needed during its execution. These are interconnected by a host bus 904, which consists of a CPU bus and other components.

[0146] The host bus 904 is connected to an external bus 906, such as a PCI (Peripheral Component Interconnect / Interface) bus, via a bridge 905. It is not always necessary to configure the host bus 904, bridge 905, and external bus 906 separately; these functions may be implemented on a single bus.

[0147] The input device 908 consists of input means for the user to input information, such as a mouse, keyboard, touch panel, buttons, microphone, switches, and levers, and an input control circuit that generates input signals based on the user's input and outputs them to the CPU 901. The user operating the information processing device 900 can input various types of data to the information processing device 900 or instruct it to perform processing operations by operating this input device 908.

[0148] The output device 909 includes, for example, a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED device, a display device such as a lamp, and an audio output device such as a speaker.

[0149] The storage device 910 is a device for storing data. The storage device 910 may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, and a deletion device for deleting data recorded on the storage medium. The storage device 910 is composed of, for example, an HDD (Hard Disk Drive). This storage device 910 drives the hard disk and stores programs executed by the CPU 901 and various data.

[0150] The communication device 911 is a communication interface composed of, for example, a communication device for connecting to a network. The communication device 911 may support either wireless or wired communication.

[0151] <<6. Supplement>> Although preferred embodiments of the present invention have been described in detail above with reference to the attached drawings, the present invention is not limited to these examples. It is clear to any person with ordinary skill in the art to which the present invention belongs that various modifications or alterations can be conceived within the scope of the technical idea described in the claims, and these are also understood to fall within the technical scope of the present invention.

[0152] For example, in the above embodiment, an example was described in which tag data is generated by the AI ​​unit 150 of the robot 100, but the tag data may also be generated by the business management unit 220 of the management center 200. In this case, the business management unit 220 generates tag data based on the sensing results acquired by the communication device 210 from the robot 100. The communication device 210 may transmit the tag data to the robot 100. The business management unit 220 may also refer to the robot script data table and search for a robot script process that matches the tag data and the position information of the robot 100. In this case, the communication device 210 may transmit the robot script identified by the search to the robot 100.

[0153] Furthermore, one or more computer programs can be created for the CPU, ROM, RAM, and other hardware built into the robot 100 and the control center 200 to enable the robot 100 and the control center 200 to perform their functions. A computer-readable storage medium on which these one or more computer programs are stored is also provided. [Explanation of Symbols]

[0154] 10 Networks 100 robots 110 Communications Department 120 Storage section 130 Robot Control Unit 140 Sensor section 150 AI Department 180 Mobile Unit 200 Management Center 210 Communication equipment 220 Business Management Department 221 Connection Control Unit 230 Management Database 240 Remote Control Terminals

Claims

1. An motion control unit controls the movement of a mobile body to execute a first script processing corresponding to tag data generated based on the sensing results of the surrounding environment by the mobile body and the position information of the mobile body, If a predetermined first condition based on the execution status of the first script processing is met, a remote control terminal for remotely controlling the mobile body and a connection control unit that connects the mobile body are configured. The system includes a storage unit that stores a robot script table that shows the correspondence between tag data, location information, the first script processing, and the first condition for each identifiable script ID, The motion control unit identifies the first script processing corresponding to the generated tag data and the position information of the moving body from the robot script table, and controls the movement of the moving body to execute the identified first script processing. Management system.

2. The first condition includes a condition regarding the number of times the mobile body has executed the first script process, The management system according to claim 1.

3. The first condition includes the first script processing not being completed, The management system according to claim 1.

4. The first condition includes a condition regarding the sensing result obtained in the first script processing, The management system according to claim 1.

5. The first condition includes the generation of new, predetermined tag data. The management system according to claim 1.

6. The first script processing is repeatedly executed by the mobile body, The operation control unit controls the operation to terminate the repeated execution of the first script process if a predetermined second condition, determined based on the sensing results obtained in the first script process, is met. The management system according to claim 2.

7. The management system according to claim 1, wherein, if the connection control unit has generated a second script process that reproduces the processing content controlled for execution at the remote control terminal connected to the mobile body, it causes the mobile body to execute the second script process instead of connecting the mobile body to the remote control terminal.

8. The second script processing is generated based on the operator's operation of the remote control terminal when the remote control terminal and the mobile body are connected based on the determination result of the first condition, The management system according to claim 7.

9. The connection control unit causes the mobile body to execute the second script processing if a predetermined third condition is further met. The management system according to claim 8.

10. The third condition includes a condition relating to at least one of the generated tag data, the location information of the moving object, and the sensing results obtained in the first script processing. The management system according to claim 9.

11. The third condition includes that the number of times the remote control terminal and the mobile body have been connected based on the first condition is greater than or equal to a predetermined number of times. The management system according to claim 9.

12. The management system according to any one of claims 1 to 11, further comprising a generation unit that generates the tag data by machine learning.

13. The aforementioned mobile body performs autonomous driving, as described in any one of claims 1 to 11.

14. The management system according to any one of claims 1 to 11, wherein the connection control unit connects the remote control terminal and the mobile body when the first script processing corresponding to the tag data and the mobile body's position information does not exist in the robot script table.

15. The steps include acquiring tag data generated based on the sensing results of the surrounding environment by the moving object and the location information of the moving object, The steps include referring to a robot script table that shows the correspondence between tag data, location information, a first script process, and a predetermined first condition based on the execution status of the first script process for each identifiable script ID, and identifying the first script process corresponding to the generated tag data and the location information of the moving object from the robot script table, A step of controlling the movement of the moving body to execute the identified first script process, If the first condition is met, the steps include connecting the mobile body to a remote control terminal for remotely controlling the mobile body, A management method performed by a computer, including

16. Computers, An motion control unit controls the movement of a mobile body to execute a first script processing corresponding to tag data generated based on the sensing results of the surrounding environment by the mobile body and the position information of the mobile body, If a predetermined first condition based on the execution status of the first script processing is met, a remote control terminal for remotely controlling the mobile body and a connection control unit that connects the mobile body are configured. A storage unit that stores a robot script table that shows the correspondence between tag data, location information, the first script processing, and the first condition for each identifiable script ID, To make it function as, The motion control unit is configured to identify the first script processing corresponding to the generated tag data and the position information of the moving body from the robot script table, and to control the movement of the moving body so as to execute the identified first script processing. program.

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