Autonomous mobile device management system, autonomous mobile device management method, and program

Abstract

To optimally control each of plural autonomous moving apparatuses even if the autonomous moving apparatuses are of different types.SOLUTION: An autonomous moving apparatus includes operation information transmission means that transmits operation information to a management system, and instruction information receiving means that receives instruction information sent from the management system. The management system includes operation information receiving means that receives operation information sent from each of autonomous moving apparatuses, list creation means that creates a movement list of each of the autonomous moving apparatuses, list update means that updates the movement list of each of the autonomous moving apparatuses, and instruction information transmission means that transmits instruction information to each of the autonomous moving apparatuses on the basis of the movement list of each of the autonomous moving apparatuses created by the list creation means or updated by the list update means. The list update means updates the movement list of one autonomous moving apparatus on the basis of the pieces of operation information of the plural autonomous moving apparatuses.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile device management system, an autonomous mobile device management method, and a program. [Background Art]

[0002] An autonomous traveling body that travels autonomously while recognizing known obstacles based on a pre-stored map and a self-estimated position is known (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-047680 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, if a plurality of autonomous mobile devices of different types (for example, a plurality of robots with different specifications manufactured by different manufacturers) are introduced into a predetermined area (for example, the same building) in the future, problems such as deadlock, in which each device operates selfishly and interferes with each other's operations, are a concern. For example, when passing through a narrow passage or sharing an elevator, a situation may occur in which the devices continuously block the passage or keep yielding to each other, and neither device can achieve its objective indefinitely.

[0005] The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technology that can suitably control a plurality of autonomous mobile devices even when each of the autonomous mobile devices is of a different type. [Means for Solving the Problem]

[0006] One aspect of the present invention for solving the above-described problem is an apparatus that autonomously moves within a building based on instruction information. The specifications for controlling autonomous movement are different from each other.An autonomous mobile device management system comprising a plurality of autonomous mobile devices and a management device for managing the plurality of autonomous mobile devices, wherein each autonomous mobile device includes an operation information transmission means for transmitting operation information including the current location, movement speed, and destination to the management device, and an instruction information receiving means for receiving the instruction information transmitted from the management device, and the management device includes an operation information receiving means for receiving the operation information transmitted from each of the autonomous mobile devices, and a list creation means for creating a movement list for each of the autonomous mobile devices including one or more waypoints to be passed through when autonomously moving from the current location to the final target location, and the list creation The autonomous mobile device management system comprises a list update means for updating the movement list of each of the autonomous mobile devices created by the means, and an instruction information transmission means for transmitting instruction information to each of the autonomous mobile devices based on the movement list of each of the autonomous mobile devices created by the list creation means, or based on the movement list of each of the autonomous mobile devices updated by the list update means, wherein the list update means updates the movement list of one of the autonomous mobile devices created by the list creation means based on the operation information of a plurality of autonomous mobile devices received by the operation information receiving means.

[0007] One aspect of the present invention is a method for managing autonomous mobile devices using the above-described mobile device management system.

[0008] One aspect of the present invention is a program for an autonomous mobile device management system. [Effects of the Invention]

[0009] As described above, according to the present invention, multiple autonomous mobile devices can be suitably controlled even if they are of different types. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of the configuration of the autonomous mobile device management system in this embodiment. [Figure 2] This is a diagram explaining the management points. [Figure 3] This figure shows an example of the functional configuration of the management device. [Figure 4] This figure shows an example of the functional configuration of an autonomous mobile device. [Figure 5] This flowchart shows an example of the processing procedure for the control device. [Figure 6] This is a diagram illustrating the operation of the autonomous mobile device management system. [Figure 7] This is a diagram illustrating the operation of the autonomous mobile device management system. [Modes for carrying out the invention]

[0011] Figure 1 shows an example of the configuration of the autonomous mobile device management system 1 in this embodiment. The autonomous mobile device management system 1 comprises a management device 10 and a plurality of autonomous mobile devices 20 (autonomous mobile devices 20-1, 20-2, ..., 20-N). N is an integer of 2 or more. Each device (management device 10 and each autonomous mobile device 20) holds device identification information that allows each device to be uniquely identified within the autonomous mobile device management system 1.

[0012] The management device 10 is a device (e.g., a server) that manages (controls the operation of) multiple autonomous mobile devices 20. The management device 10 may be installed at the location where the autonomous mobile devices 20 are installed (e.g., inside a building), or it may be installed at a different location (e.g., a data center). The functions of the management device 10 may be configured to be distributed among multiple devices (servers).

[0013] The autonomous mobile device 20 is a device (e.g., a robot) that moves autonomously within a predetermined area of ​​its installation location (e.g., a corridor, a room, or an elevator). Each of the N autonomous mobile devices 20 may have the same (common) specifications (e.g., specifications regarding the control method for autonomous movement) or different specifications. In the following description, it will be assumed that the N devices include at least two autonomous mobile devices 20 with different specifications. Each of the N autonomous mobile devices 20 may have the same or different uses. There are no limitations on the uses, but for example, the uses may include transporting goods, guiding people, or monitoring.

[0014] The management device 10 and the autonomous mobile device 20 are connected in a way that enables communication via wireless communication. The management device 10 and the autonomous mobile device 20 may also be connected via other devices (for example, a relay device; not shown). In other words, the management device 10 only needs to be able to receive information transmitted from the autonomous mobile device 20, and the autonomous mobile device 20 only needs to be able to receive information transmitted from the management device 10.

[0015] Each autonomous mobile device 20 is, in principle, capable of autonomously estimating its own position and planning its path, and moving autonomously to the final target location, without external control (for example, from the management device 10), based on its individual autonomous movement functions. If only one autonomous mobile device 20 is introduced, that is, if the problem of mutual interference that can occur when multiple autonomous mobile devices 20 are introduced does not occur, then it is possible to move autonomously to the final target location without external control. However, if multiple autonomous mobile devices 20 are introduced (especially if multiple autonomous mobile devices 20 with different specifications are introduced), problems of mutual interference may occur, and there is a risk that at least some of the autonomous mobile devices 20 will not be able to move autonomously to the final target location.

[0016] The management device 10 manages the autonomous mobile devices 20 such that all managed autonomous mobile devices 20 can move to the final target point even when a plurality of autonomous mobile devices 20 having different specifications are introduced. Each autonomous mobile device 20 moves to the final target point in accordance with control by the management device 10, in addition to having an individual autonomous movement function.

[0017] The functions of the management device 10 will be described. (Determination of Autonomous Mobile Devices 20 to Operate, Determination of Final Target Point) The management device 10 determines an autonomous mobile device 20 to be operated (activated) and a final target point. For example, the management device 10 determines the autonomous mobile device 20 to be operated and the final target point based on an operation instruction (operation request). The operation instruction includes information indicating the type (application, work content) of the autonomous mobile device 20 and information indicating the final target point (desired movement point). Hereinafter, information indicating the type of the autonomous mobile device 20 and information indicating the final target point may be referred to as operation determination information. The operation instruction may be based on an operation by an operator, or may be received from another device (e.g., a personal computer, a smartphone, etc.).

[0018] For convenience, although the term "operation instruction" is simply used herein, it refers to operation instruction information indicating an operation instruction. The same applies to "operation schedule", "calendar", "schedule", "sensing result", "movement list", and the like described below.

[0019] The management device 10 may determine the autonomous mobile device 20 to be operated and the final target point based on an operation schedule instead of or in addition to the operation instruction. For example, the management device 10 may determine the autonomous mobile device 20 to be operated and the final target point based on a schedule acquired from a calendar (e.g., a linked web calendar). The operation schedule includes the operation determination information.

[0020] The management device 10 may determine the autonomous mobile device 20 to be operated and the final target location based on sensing results from various types of sensing, in lieu of or in addition to operation instructions and operation schedules. For example, one or more cameras may be installed at the installation site, and the management device 10 may determine the autonomous mobile device 20 to be operated and the final target location based on the recognition results of the images captured by the cameras (for example, the movement of a person recognized from the captured images). The management device 10 may obtain the recognition results of the captured images from other devices (devices that acquire images from cameras and perform image recognition; not shown), or the management device 10 itself may acquire images from cameras and perform image recognition. The recognition results of the captured images and operation decision information are stored in association in a location accessible to the management device 10 so that the management device 10 can determine the autonomous mobile device 20 to be operated and the final target location according to what is captured by which camera.

[0021] (Receiving operational information) The management device 10 receives operational information from each autonomous mobile device 20. Examples of operational information include movement status information, movement completion information, and movement failure information. Movement status information includes, for example, the device identification information of the autonomous mobile device 20, current location (self-position information), travel speed, and destination (intermediate point or final target location). Movement completion information includes, for example, the device identification information of the autonomous mobile device 20, and the location where the movement was completed (intermediate point or final target location). Movement failure information includes, for example, the device identification information of the autonomous mobile device 20, current location, travel speed, and destination.

[0022] (Creating a move list) The management device 10 creates a movement list (movement route) for the autonomous mobile device 20 that it has decided to operate. The movement list includes information indicating one or more waypoints that the autonomous mobile device 20 (the autonomous mobile device 20 that has been decided to operate) will pass through when autonomously moving from its current location to its final destination (the determined final destination). In other words, the process of creating a movement list is the process of generating a movement path from the current location to the final destination. The creation of the movement list will be explained in detail below.

[0023] The management device 10 can refer to a set of management points that includes as elements locations (management points) that can be designated as destinations (intermediate points, final target locations) for the autonomous mobile device 20. The management device 10 may maintain its own set of management points, or it may refer to a set of management points maintained by another device (e.g., another server; not shown). In this specification, the terms "list" and "set" are used to distinguish whether the order of the elements (locations) (e.g., the order of definition) is meaningful or not. The order of a "set" is not meaningful, while the order of a "list" is meaningful.

[0024] Figure 2 is a diagram illustrating the management points. The method for setting the set of management points is to give the number of autonomous mobile devices 20 N and the number of autonomous mobile devices 20 whose direction of travel should be avoided (for example, autonomous mobile devices 20 that are not suitable for changing direction of travel in light of the work content, etc.) M (M ≤ N), so that each autonomous mobile device 20 can move to any point within a predetermined area, and determine this using graph theory. For example, a loop structure can be provided with sufficient distance between each point so that a detour route can be generated, or there can be N+1 or more endpoints. Figure 2(A) is an example with a loop structure. Figure 2(B) is an example with N+1 or more endpoints. As shown in Figure 2(C), if a loop structure is provided, endpoints may also be provided.

[0025] The management device 10 may also present a set of management points to the operator giving instructions for operation. When presenting a set of management points, the management device 10 may present the entire set of management points (presenting all points) or it may extract and present a portion of the set of management points (presenting a portion of the extracted points). The portion of the points may be predetermined points (points designated in advance as major points), points within a specific floor, or points according to the purpose (for example, if the operator inputs that the purpose is a meeting, an available meeting room).

[0026] The management device 10 refers to the movement status information of multiple autonomous mobile devices 20 and creates a movement list that includes the movement points (intermediate points, final destination) of one autonomous mobile device 20 (the autonomous mobile device 20 to be operated) as elements, by performing constraint-based optimization such as shortest distance and shortest time. The movement list shows the points in order from the current location to the final destination, such as [intermediate point 1, intermediate point 2, intermediate point 3, ..., final destination]. The elements of the movement list (intermediate point 1, intermediate point 2, intermediate point 3, ..., final destination) are elements selected from the set of movement points.

[0027] (Update the movement list) The management device 10 updates the movement list of an autonomous mobile device 20 based on the movement completion information of that autonomous mobile device 20. For example, if the management device 10 receives movement completion information indicating that movement to waypoint 1 has been completed, it deletes "waypoint 1" from the movement list [waypoint 1, waypoint 2, waypoint 3, ..., final destination]. In other words, after the update, the movement list becomes [waypoint 2, waypoint 3, ..., final destination].

[0028] Furthermore, the management device 10 refers to the movement status information of multiple autonomous mobile devices 20 and determines whether or not to update the movement list of one of the autonomous mobile devices 20. The management device 10 may determine whether or not to update the movement list when it receives operational information from the autonomous mobile device 20, or it may determine whether or not to update the movement list at regular time intervals.

[0029] If the management device 10 determines that the movement list needs to be updated, it updates the movement list of the autonomous mobile device 20. For example, the management device 10 changes the location designated as waypoint 1 in the movement list [waypoint 1, waypoint 2, waypoint 3, ..., final destination] to another location. The management device 10 also adds information indicating a pause, " " (blank), to the beginning of the movement list [waypoint 1, waypoint 2, waypoint 3, ..., final destination]. In other words, after the update, the movement list becomes [" ", waypoint 1, waypoint 2, waypoint 3, ..., final destination]. The management device 10 also removes the information indicating a pause, " ", from the beginning of the movement list [" ", waypoint 1, waypoint 2, waypoint 3, ..., final destination]. In other words, after the update, the movement list becomes [waypoint 1, waypoint 2, waypoint 3, ..., final destination].

[0030] (Creating and updating a movement list based on priority) Each autonomous mobile device 20 may be assigned a priority order for movement. For example, each autonomous mobile device 20 may be assigned a priority order for movement according to its purpose and work content. For example, if there is an autonomous mobile device 20 for guiding visitors and another for indoor delivery, the autonomous mobile device 20 for guiding visitors may be assigned a higher priority. Even if the purpose and work content are the same, priorities may be set according to urgency, etc. For example, for the autonomous mobile device 20 for indoor delivery, priorities may be set according to urgency, type of delivery, whether it is an incoming or outgoing delivery, and whether there is a recipient or worker. The management device 10 may create or update a movement list for each autonomous mobile device 20 based on the priority order. For example, the management device 10 may allow the movement of the autonomous mobile device 20 for customer guidance to affect the movement of the autonomous mobile device 20 for indoor delivery, but may create or update movement lists for each autonomous mobile device 20 so that the movement of the autonomous mobile device 20 for indoor delivery does not affect the movement of the autonomous mobile device 20 for customer guidance.

[0031] The management device 10 can refer to a lookup table that outputs priorities based on the type and work content of the autonomous mobile device 20. The management device 10 may maintain its own lookup table, or it may refer to a lookup table maintained by another device (for example, another server; not shown).

[0032] (Sending instruction information) The management device 10 transmits instruction information based on the respective movement list to each autonomous mobile device 20. For example, after generating (or updating) the movement list for one autonomous mobile device 20, the management device 10 transmits instruction information to that autonomous mobile device 20. Examples of instruction information include movement instruction information (also called movement request) and cancellation instruction information. Movement instruction information includes, for example, the device identification information of the autonomous mobile device 20 to be instructed and the destination. Cancellation instruction information includes, for example, the device identification information of the autonomous mobile device 20 to be instructed and the destination to which the movement will be canceled.

[0033] (Report on operational results) The management device 10 reports (outputs) the operation results. For example, the management device 10 reports operation success information indicating that the operation has been completed (that the movement to the final target location has been completed), or operation failure information indicating that the operation has failed (that the movement to the final target location has failed). For example, if the management device 10 receives movement completion information from one autonomous mobile device 20, it outputs operation success information for that autonomous mobile device 20. Also, if the management device 10 receives movement failure information from one autonomous mobile device 20, or if it does not receive movement completion information from one autonomous mobile device 20 within a predetermined time, it outputs operation failure information for that autonomous mobile device 20.

[0034] The functions of the autonomous mobile device 20 will be explained. (Transmission of operational information) The autonomous mobile device 20 transmits operational information (movement status information, movement completion information, movement failure information) to the management device 10. For example, the autonomous mobile device 20 transmits movement status information to the management device 10 at regular intervals. The autonomous mobile device 20 transmits movement status information whether it is in an operating state (driving state, traveling to an intermediate point or final target point, or stopped state, temporarily suspending travel to an intermediate point or final target point) or in a non-operating state (standby state).

[0035] As described above, the movement status information includes the current location, driving speed, and destination, but this information is internal information that the autonomous mobile device 20 manages internally as a result of self-position estimation or as received information (destination included in the movement instruction information) from the management device 10.

[0036] Furthermore, when the autonomous mobile device 20 has completed its movement to the designated location (intermediate point or final target location), it transmits movement completion information to the management device 10. Also, if the autonomous mobile device 20 fails to complete its movement to the designated location within a predetermined time, it transmits movement failure information to the management device 10.

[0037] (Start of autonomous movement, or temporary suspension of autonomous movement) When the autonomous mobile device 20 receives movement instruction information from the management device 10, it begins autonomous movement to the destination (intermediate point or final target point) indicated by the movement instruction information. When the autonomous mobile device 20 receives cancellation instruction information from the management device 10, it temporarily suspends autonomous movement to the destination. When the autonomous mobile device 20, which has stopped autonomous movement, receives movement instruction information again from the management device 10, it resumes autonomous movement to the destination.

[0038] Figure 3 shows an example of the functional configuration of the management device 10. The functions of the management device 10 are realized by the CPU of the management device 10 executing a program. The management device 10 comprises a communication unit 101, a control unit 102, and a storage unit 103. The control unit 102 performs control in the management device 10. The control unit 102 comprises an information acquisition unit 121, a list creation and update unit 122, a list update necessity determination unit 123, an instruction information creation unit 124, and an operation result creation unit 125. The storage unit 103 stores various types of information. The storage unit 103 comprises an operation information storage unit 131 and a list storage unit 132.

[0039] The communication unit 101 communicates with the autonomous mobile device 20. For example, the communication unit 101 receives various information transmitted by the autonomous mobile device 20 and supplies it to the control unit 102 (information acquisition unit 121). The communication unit 101 also acquires various information created by the control unit 102 (instruction information creation unit 124, operation result creation unit 125) and transmits it to the autonomous mobile device 20.

[0040] The information acquisition unit 121 acquires various types of information. For example, the information acquisition unit 121 acquires operation instructions and operational information (movement status information, movement completion information, movement failure information). The list creation and update unit 122 creates or updates the movement list. The list update necessity determination unit 123 determines whether or not to update the created movement list. The instruction information creation unit 124 creates instruction information (movement instructions, cancellation instructions). The operation result creation unit 125 creates operation results (operation success information, operation failure information).

[0041] The operation information storage unit 131 stores the operation information (movement status information, etc.) of each autonomous mobile device 20 acquired by the information acquisition unit 121. The list storage unit 132 stores the movement list of each autonomous mobile device 20 generated (or updated) by the list creation and update unit 122.

[0042] Figure 4 shows an example of the functional configuration of the autonomous mobile device 20. The functions of the autonomous mobile device 20 are realized by the CPU of the autonomous mobile device 20 executing a program. The autonomous mobile device 20 comprises a communication unit 201, a range sensor 202, a mobile mechanism unit 203, a control unit 204, and a storage unit 205. The control unit 204 performs various controls in the autonomous mobile device 20. The control unit 204 comprises an information acquisition unit 241, an operation information creation unit 242, and an autonomous movement control unit 243. The storage unit 205 stores various information. The storage unit 205 comprises an instruction information storage unit 251 and a map storage unit 252.

[0043] The communication unit 201 communicates with the management device 10. For example, the communication unit 201 receives instruction information (movement instruction, cancellation instruction) transmitted by the management device 10 and supplies it to the control unit 204 (information acquisition unit 241). The communication unit 201 also acquires operation information (movement status information, movement completion information, movement failure information) created by the control unit 204 (operation information creation unit 242) and transmits it to the management device 10. The range sensor 202 is a sensor that measures the distance to an object by performing a two-dimensional scan, for example, using laser light. The movement mechanism unit 203 is a drive mechanism unit for the autonomous mobile device 20 to move. The movement mechanism unit 203 includes, for example, wheels, motors that drive the wheels, a direction changing mechanism for changing the direction of movement, etc.

[0044] The information acquisition unit 241 acquires various types of information. For example, the information acquisition unit 241 acquires instruction information. The operation information creation unit 242 creates operation information (movement status information, movement completion information, movement failure information). The autonomous movement control unit 243 uses the map stored in the map storage unit 252 to control the autonomous movement device 20 so that it can move autonomously.

[0045] The instruction information storage unit 251 stores instruction information from the management device 10 acquired by the information acquisition unit 221. The map storage unit 252 stores maps that are referenced when autonomous movement is performed.

[0046] Figure 5 is a flowchart showing an example of the processing procedure of the management device 10. The flowchart in Figure 5 shows an example of the processing procedure from determining one autonomous mobile device 20 (autonomous mobile device 20-1) as the autonomous mobile device 20 to be operated, to outputting information that the operation of said autonomous mobile device 20-1 has been successful.

[0047] Step S1: The management device 10 creates a movement list for the autonomous mobile device 20-1. For example, the management device 10 refers to the movement status information of the autonomous mobile device 20-1 and the operational information (movement status information) of other autonomous mobile devices 20 (autonomous mobile devices 20-2, ...) to create a movement list for the autonomous mobile device 20-1. The process then proceeds to step S2. Step S2: The management device 10 transmits instruction information to the autonomous mobile device 20-1 based on the movement list. Specifically, the management device 10 transmits movement instruction information to the autonomous mobile device 20-1 based on the movement list created in step S1 or the updated movement list updated in step S9. The process then proceeds to step S3. Step S3: The management device 10 determines whether it has acquired (received) movement status information from any of the autonomous mobile devices 20. If it has acquired the information, proceed to step S4. If it has not acquired the information, proceed to step S7.

[0048] Step S4: The management device 10 determines whether it is necessary to update the movement list of the autonomous mobile device 20-1 based on the operational information of the multiple autonomous mobile devices 20. For example, the management device 10 determines that it is necessary to update the movement list of the autonomous mobile device 20-1 if it is necessary to change the destination of the autonomous mobile device 20-1, if it is necessary to temporarily suspend the movement of the autonomous mobile device 20-1 to the destination, or if it is necessary to release the temporary suspension of the movement of the autonomous mobile device 20-1 to the destination. If it is necessary to update the movement list, the process proceeds to step S5. If it is not necessary to update the movement list, the process proceeds to step S7.

[0049] Step S5: The management device 10 updates the movement list of the autonomous mobile device 20-1. For example, if the management device 10 determines in step S4 that it is necessary to change the destination, it updates the location at the top of the list. Also, if the management device 10 determines in step S4 that it is necessary to temporarily suspend movement to the destination, it adds information indicating a temporary suspension to the top of the list. Also, if the management device 10 determines in step S4 that it is necessary to resume the temporary suspension of movement to the destination, it deletes the information indicating a temporary suspension that was added to the top of the list. The process then proceeds to step S6.

[0050] Step S6: The management device 10 transmits instruction information to the autonomous mobile device 20-1 based on the movement list. Specifically, the management device 10 transmits movement instruction information to the autonomous mobile device 20-1 based on the updated movement list updated in step S5. More specifically, if the management device 10 updates the first point of the list in step S5 (changes the destination), it transmits cancellation instruction information to the autonomous mobile device 20-1 to cancel the movement to the previously instructed destination and movement instruction information to the new destination. Also, if the management device 10 adds information indicating a pause at the beginning of the list in step S5 (pauses the movement to the destination), it transmits cancellation instruction information to the autonomous mobile device 20-1 to cancel the movement to the previously instructed destination. Also, if the management device 10 deletes the information indicating a pause at the beginning of the list in step S5 (releases the pause to the movement to the destination), it transmits movement instruction information to the autonomous mobile device 20-1 again to instruct the movement to the destination. Next, proceed to step S7.

[0051] Step S7: The management device 10 determines whether it has acquired (received) movement completion information from the autonomous mobile device 20-1. If it has acquired the information, it proceeds to step S7. If it has not acquired the information, it returns to step S3. Step S8: The management device 10 updates the movement list of the autonomous mobile device 20-1. That is, the management device 10 removes locations where movement has been completed from the movement list of the autonomous mobile device 20-1. Then proceed to step S9. Step S9: The control device 10 determines whether the autonomous mobile device 20-1 has arrived at the final target location. For example, the control device 10 may determine that the device has arrived at the final target location if the movement list is empty. If the device has arrived at the final target location, proceed to step S10. If the device has not arrived at the final target location, return to step S2. Step S10: The control device 10 outputs information indicating successful operation. This flowchart then concludes.

[0052] Figures 6 and 7 illustrate the operation of the autonomous mobile device management system 1. Figure 7 is a continuation of Figure 6. For the sake of explanation, let's assume that the set of moving points shown in Figure 2(D) is set up as an example scenario. The autonomous mobile device 20 for guidance (referred to as the guidance robot 20 in the explanation of Figures 6 and 7) will move from point S to the final target point G. The movement list of the guidance robot is ["B", "C", "G"]. The transmission of the instruction information [B] to move to point B to the guidance robot 20 has been completed, and the guidance robot 20 is assumed to be moving from point S to point B. In the above situation, we will explain the control of the delivery robot 20 by the management device 10 when moving the autonomous mobile device 20 for delivery (referred to as the delivery robot in Figures 6 and 7) from point I to the final target point D. The guidance robot 20 is assumed to have a higher priority than the delivery robot.

[0053] (ACT1~ACT4) The management device 10 refers to the movement status information of the delivery robot 20 and the guidance robot 20 and creates a movement list for the delivery robot 20 ["A", "B", "C", "D"] (ACT1). Points B and C are also present in the movement list of the guidance robot 20, but it is determined that there is no problem because the guidance robot 20 passes through point B and moves to point C while the delivery robot 20 is passing through point A. The management device 10 sends movement instruction information [A] to point A to the delivery robot 20 (ACT2). The management device 10 receives movement status information from the delivery robot 20 and the guidance robot 20 while the delivery robot 20 is moving to point A, but it determines that it is not necessary to update the movement list for the delivery robot 20 (ACT3). The management device 10 receives movement completion information ["A"] from the delivery robot that has finished moving to point A, and updates the movement list ["A", "B", "C", "D"] to movement list ["B", "C", "D"] (ACT4).

[0054] (ACT5~ACT10) Acts 5 through 10 assume a delay in the arrival of the guidance robot 20 at point B. The management device 10 transmits movement instruction information [B] to the delivery robot 20 to point B (Act 4). While the delivery robot 20 is moving towards point B, the management device 10 receives movement status information from both the delivery robot 20 and the guidance robot 20. From the movement status information of the guidance robot 20, the management device 10 recognizes that the guidance robot 20 is delayed in its arrival at point B, and from the lookup table, it recognizes that the guidance robot 20 has a higher priority than the delivery robot 20, and determines that it is necessary to update the movement list (change the route) of the delivery robot 20 (Act 6). The management device 10 updates the movement list ["B", "C", "D"] to the movement list ["E", "C", "D"] (Act 7). The management device 10 transmits cancellation instruction information [B] to cancel the movement instruction to point B, and movement instruction information [E] to point E to the delivery robot 20 (Act 8). Furthermore, since the delivery robot 20 uses the route planning function included in its own autonomous driving function, it does not make any movements that would cause it to return to point A, but moves from that point towards point E. The management device 10 receives movement status information from the delivery robot 20 and the guidance robot 20 while the delivery robot 20 is moving to point E, but determines that it is not necessary to update the movement list of the delivery robot 20 (ACT9). The management device 10 receives movement completion information ["E"] from the delivery robot that has finished moving to point E, and updates the movement list ["E", "C", "D"] to movement list ["C", "D"] (ACT10).

[0055] (ACT11~ACT19) Acts 11 to 19 assume a scenario where the guidance robot 20 is also delayed in arriving at point C. The management device 10 transmits movement instruction information [C] to the delivery robot 20 (Act 11). While the delivery robot 20 is moving towards point C, the management device 10 receives movement status information from both the delivery robot 20 and the guidance robot 20. From the movement status information of the guidance robot 20, the management device 10 recognizes that the guidance robot 20 is also delayed in arriving at point C, and from the lookup table, it recognizes that the guidance robot 20 has a higher priority than the delivery robot 20, and determines that it is necessary to update (pause) the movement list of the delivery robot 20 (Act 12). The management device 10 updates the movement list ["C", "D"] to movement list [" ", "C", "D"] (Act 13). In other words, the management device 10 adds information indicating a pause to the movement list. The management device 10 transmits cancellation instruction information [C] to the delivery robot 20, indicating that the instruction to move to point C is being canceled (Act 14). Furthermore, since the delivery robot 20 has only received the cancellation instruction information [C] (because there is no instruction for a new destination), it pauses. The management device 10 recognizes from the movement status information of the guidance robot 20 that the guidance robot 20 has finished passing point C and determines that it is necessary to update the movement list of the delivery robot 20 (release the pause) (ACT15). The management device 10 updates the movement list [" ", "C", "D"] to movement list ["C", "D"] (ACT16). The management device 10 transmits the movement instruction information [C] to point C to the delivery robot 20 (ACT17). The management device 10 receives movement status information from the delivery robot 20 and the guidance robot 20 while the delivery robot 20 is moving to point C, but determines that it is not necessary to update the movement list of the delivery robot 20 (ACT18). The management device 10 receives movement completion information ["C"] from the delivery robot that has finished moving to point C, and updates the movement list ["C", "D"] to movement list ["D"] (ACT19).

[0056] (ACT20~ACT23) The control device 10 transmits movement instruction information [D] to the delivery robot 20 to point D (ACT20). The control device 10 receives movement status information from the delivery robot 20 and the guidance robot 20 while the delivery robot 20 is moving to point D, but determines that it is not necessary to update the movement list of the delivery robot 20 (ACT21). The control device 10 receives movement completion information ["D"] from the delivery robot that has finished moving to point D and updates the movement list ["D"] to movement list [] (ACT22). Since the movement list is empty, the control device 10 outputs operation success information.

[0057] As described above, the autonomous mobile device management system 1 according to this embodiment can suitably control multiple autonomous mobile devices 20 even if they are of different types. In other words, because the autonomous mobile devices 20 are managed in a dual manner by the autonomous mobile function of the autonomous mobile device 20 itself and the movement list (instruction information) of the management device 10, multiple autonomous mobile devices 20 can be suitably controlled even if they are of different types. Furthermore, since a movement list for the corresponding autonomous mobile device 20 is created according to the timing of the operation instruction, the individual autonomous mobile devices 20 can be operated (moved) in parallel as appropriate. It should be noted that the above embodiments are merely examples, and the specific configuration is not limited to these embodiments. Designs and the like that do not depart from the spirit of the invention are also included.

[0058] Alternatively, the functions of the management device 10, autonomous mobile device 20, etc., may be realized by recording a program for realizing these functions on a computer-readable recording medium, loading the program recorded on this recording medium into a computer system, and executing it to perform the processing of the management device 10, autonomous mobile device 20, etc., as described above. Here, "loading the program recorded on the recording medium into a computer system and executing it" includes installing the program into the computer system. Here, "computer system" includes hardware such as the OS and peripheral devices. Furthermore, "computer system" may also include multiple computer devices connected via a network including communication lines. The recording medium also includes internal or external recording media accessible from a distribution server for distributing the program. [Explanation of Symbols]

[0059] 1 Autonomous mobile device management system, 10 Management device, 20 Autonomous mobile device, 101 Communication unit, 102 Control unit, 103 Storage unit, 121 Information acquisition unit, 122 List creation and update unit, 123 List update necessity determination unit, 124 Instruction information creation unit, 125 Operation result creation unit, 201 Communication unit, 202 Range sensor, 203 Mobile mechanism unit, 204 Control unit, 205 Storage unit, 241 Information acquisition unit, 242 Operation information creation unit, 251 Instruction information storage unit, 252 Map storage unit

Claims

1. An autonomous mobile device management system comprising a plurality of autonomous mobile devices, each having different specifications for controlling autonomous movement, which autonomously move within a building based on instruction information, and a management device for managing the plurality of autonomous mobile devices, The autonomous mobile device is Operation information transmission means for transmitting operation information including current location, speed of movement, and destination to the management device, Instruction information receiving means for receiving the instruction information transmitted from the management device, Equipped with, The aforementioned control device is An operation information receiving means for receiving the operation information transmitted from each of the aforementioned autonomous mobile devices, A list creation means for creating a movement list for each of the autonomous mobile devices, which includes one or more waypoints to be passed through when autonomously moving from the current location to the final target location, A list update means for updating the movement list of each of the autonomous mobile devices created by the list creation means, Instruction information transmission means for transmitting instruction information to each of the autonomous mobile devices based on the movement list of each of the autonomous mobile devices created by the list creation means, or based on the movement list of each of the autonomous mobile devices updated by the list update means. Equipped with, The aforementioned list update means is: An autonomous mobile device management system characterized by updating the movement list of one autonomous mobile device created by the list creation means based on the operation information of a plurality of autonomous mobile devices received by the operation information receiving means.

2. Each of the aforementioned autonomous mobile devices is assigned a priority order for movement. The aforementioned list update means is: The movement list is updated based on the priority of each of the aforementioned autonomous mobile devices. The autonomous mobile device management system according to feature 1.

3. An autonomous mobile device management method using an autonomous mobile device management system, which includes a plurality of autonomous mobile devices having different autonomous movement control specifications for each of them, which move autonomously within a building based on instruction information, and a management device for managing the plurality of autonomous mobile devices, The autonomous mobile device transmits operational information to the management device, including its current location, speed, and destination. The autonomous mobile device receives the instruction information transmitted from the management device in an instruction information receiving step, The management device performs an operation information receiving step in which it receives the operation information transmitted from each of the autonomous mobile devices, The management device creates a list creation step that includes one or more waypoints that the autonomous mobile device will pass through when autonomously moving from its current location to its final target location. The management device performs a list update step in which it updates the movement list of each of the autonomous mobile devices created in the list creation step, Instruction information transmission step: The management device transmits instruction information to each of the autonomous mobile devices based on the movement list of each of the autonomous mobile devices created in the list creation step, or based on the movement list of each of the autonomous mobile devices updated in the list update step. Equipped with, The aforementioned list update step is: The movement list of one autonomous mobile device created in the list creation step is updated based on the operation information of multiple autonomous mobile devices received in the operation information reception step. A method for managing autonomous mobile devices, characterized by the following features.

4. A program for an autonomous mobile device management system, wherein a first computer functions as a plurality of autonomous mobile devices, each with different autonomous movement control specifications, that move autonomously within a building based on instruction information, and a second computer functions as a management device that manages the plurality of autonomous mobile devices, The first computer is Operation information transmission means for transmitting operation information including current location, speed of movement, and destination to the management device. Instruction information receiving means for receiving the instruction information transmitted from the management device. To make it function as, The second computer is Operation information receiving means for receiving the operation information transmitted from each of the autonomous mobile devices, List creation means for creating a list of movement lists for each of the autonomous mobile devices, which includes one or more waypoints to be passed through when autonomously moving from the current location to the final target location. A list update means for updating the movement list of each of the autonomous mobile devices created by the list creation means, Instruction information transmission means that transmits instruction information to each of the autonomous mobile devices based on the movement list of each of the autonomous mobile devices created by the list creation means, or based on the movement list of each of the autonomous mobile devices updated by the list update means. To make it function as, The aforementioned list update means is: The movement list of one autonomous mobile device created by the list creation means is updated based on the operation information of multiple autonomous mobile devices received by the operation information receiving means. A program characterized by the following features.

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