Robot system, determination system, determination method, and program

Abstract

The purpose of the present disclosure is to determine, through simple processing, a situation in which a robot cannot pass. A robot system (1) comprises a robot (2), a positioning unit (511), a determination unit (513), and a communication unit (52). The positioning unit (511) generates, on the basis of information generated by a positioning system (P1) installed in a facility, position information of one or more objects that are present in a predetermined area and would interfere with the passage of the robot (2). The determination unit (513) performs first determination processing. In the first determination processing, the occupancy of one or more objects in the predetermined area is obtained on the basis of the position information of the one or more objects, and if the occupancy of the one or more objects is a threshold value or higher, it is determined that the robot (2) cannot pass through the predetermined area.

Description

Robot system, judgment system, judgment method and program

[0001] The present disclosure generally relates to a robot system, a determination system, a determination method, and a program, and more particularly to a robot system, a determination system, a determination method, and a program that make determinations regarding determination of a movement route of a robot.

[0002] The autonomous mobile device (robot) described in Patent Document 1 includes a traveling means, multiple obstacle detection means, and movement control means. The multiple obstacle detection means determine whether an obstacle is on the left or right side of the forward direction of the main body and measure the distance to the obstacle. The movement control means controls the traveling means to move the main body based on the detection output of the multiple obstacle detection means. The autonomous mobile device performs stop control when the detection distance to an obstacle detected by the obstacle detection means falls below the approach limit distance.

[0003] JP 2009-169802 A

[0004] The present disclosure aims to provide a robot system, a determination system, a determination method, and a program that can determine, through simple processing, situations in which a robot cannot pass through.

[0005] A robot system according to one aspect of the present disclosure makes a determination regarding the movement route of an autonomously moving robot in a facility. The robot system includes the robot, a positioning unit, a determination unit, and a communication unit. The positioning unit generates position information of one or more objects that are present in a predetermined area and obstruct the robot's passage, based on information generated by a positioning system installed in the facility. The determination unit determines whether the robot can pass through the predetermined area. The communication unit transmits a communication signal including the determination result of the determination unit to the robot. The determination unit performs a first determination process. In the first determination process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot cannot pass through the predetermined area.

[0006] A judgment system according to one aspect of the present disclosure makes a judgment regarding the determination of a movement route for an autonomously moving robot in a facility. The judgment system includes an acquisition unit, a judgment unit, and a communication unit. The acquisition unit acquires position information of one or more objects that are present in a predetermined area and obstruct the passage of the robot. The position information is position information based on information generated by a positioning system installed in the facility. The judgment unit judges whether the robot can pass through the predetermined area. The communication unit transmits a communication signal including the judgment result of the judgment unit to the robot. The judgment unit performs a first judgment process. In the first judgment process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is judged that the robot cannot pass through the predetermined area.

[0007] A determination method according to one aspect of the present disclosure is executed by a determination system to make a determination regarding the determination of a movement route for an autonomously moving robot in a facility. The determination method includes an acquisition step, a determination step, and a communication step. In the acquisition step, position information of one or more objects that are present in a predetermined area and obstruct the passage of the robot is acquired. The position information is position information based on information generated by a positioning system installed in the facility. In the determination step, it is determined whether the robot can pass through the predetermined area. In the communication step, a communication signal including the determination result of the determination step is sent to the robot. The determination step includes a first determination process. In the first determination process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot cannot pass through the predetermined area.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors of a computer system to execute the determination method.

[0009] Fig. 1 is a block diagram of a robot system according to an embodiment. Fig. 2 is a flowchart showing an example of operation of the robot system. Fig. 3 is a plan view showing an example of use of the robot system. Fig. 4 is a plan view showing another example of use of the robot system.

[0010] (Embodiments) A robot system 1, a determination system 5, a determination method, and a program according to embodiments will be described below with reference to the drawings. However, the following embodiment is merely one of various embodiments of the present disclosure. The following embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, each figure described in the following embodiments is a schematic diagram, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios.

[0011] (Overview) In this embodiment, the robot 2 (see FIG. 1) autonomously moves and performs work in a facility 6 (see FIGS. 3 and 4). More specifically, the robot 2 autonomously moves along a movement route notified by the determination system 5 (see FIG. 1). The work may be, for example, cleaning, equipment inspection, or security. The facility 6 may be, for example, a house, a store, an office building, a factory, a warehouse, a commercial complex, a library, an art gallery, a museum, an amusement facility, a theme park, a park, an airport, a train station, a baseball stadium, a hotel, or a hospital. Alternatively, the facility 6 may be, for example, a moving object such as a ship or a railroad vehicle. The facility 6 may also be an indoor facility or an outdoor facility.

[0012] The number of robots 2 may be one or two or more. In this embodiment, the description will be focused on one robot 2.

[0013] The robot system 1 shown in FIG. 1 makes a determination regarding the movement route of an autonomously moving robot 2 in a facility 6. The robot system 1 includes the robot 2, a positioning unit 511 (also referred to as a first positioning unit 511), a determination unit 513, and a communication unit 52. The positioning unit 511 generates position information of one or more objects (e.g., people H1 and H2 and material G1 in FIG. 3) that are present in a predetermined area A1 (see FIG. 3) and obstruct the passage of the robot 2, based on information generated by a positioning system P1 installed in the facility 6 (see FIG. 3). The positioning system P1 includes, for example, multiple cameras 4. The determination unit 513 determines whether the robot 2 can pass through the predetermined area A1. The communication unit 52 transmits a communication signal including the determination result of the determination unit 513 to the robot 2. The determination unit 513 performs a first determination process. In the first judgment process, the occupancy rate of one or more objects in a specified area A1 is calculated based on the position information of one or more objects, and if the occupancy rate of one or more objects is above a threshold value, it is determined that the robot 2 cannot pass through the specified area A1.

[0014] According to this embodiment, the determination unit 513 can determine a situation where the robot 2 cannot pass through by the simple process of comparing the occupancy rate with a threshold value. In particular, this embodiment enables quicker determination compared to a case where the robot 2 creates a local map of the surrounding area using detection results from sensors, cameras, and the like provided on the robot 2, and determines a situation where the robot 2 cannot pass through based on the local map.

[0015] The judgment system 5 of this embodiment is also included in the robot system 1. The judgment system 5 makes judgments regarding the determination of a movement route for the autonomously moving robot 2 in the facility 6. The judgment system 5 includes an acquisition unit 514, a judgment unit 513, and a communication unit 52. The acquisition unit 514 acquires position information of one or more objects that are present in a predetermined area A1 and that obstruct the passage of the robot 2. The position information is based on information generated by a positioning system P1 installed in the facility 6. The judgment unit 513 judges whether the robot 2 can pass through the predetermined area A1. The communication unit 52 transmits a communication signal including the judgment result of the judgment unit 513 to the robot 2. The judgment unit 513 performs a first judgment process. In the first judgment process, the occupancy rate of the one or more objects in the predetermined area A1 is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot 2 cannot pass through the predetermined area A1.

[0016] A function similar to that of the judgment system 5 can be embodied in a judgment method. The judgment method of this embodiment is executed by the judgment system 5 and makes a judgment regarding the determination of the movement route of the autonomously moving robot 2 in the facility 6. The judgment method has an acquisition step, a judgment step, and a communication step. In the acquisition step, position information of one or more objects that are present in a predetermined area A1 and that obstruct the passage of the robot 2 is acquired. The position information is position information based on information generated by a positioning system P1 installed in the facility 6. In the judgment step, it is determined whether the robot 2 can pass through the predetermined area A1. In the communication step, a communication signal including the judgment result of the judgment step is transmitted to the robot 2. The judgment step includes a first judgment process. In the first judgment process, the occupancy rate of the one or more objects in the predetermined area A1 is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot 2 cannot pass through the predetermined area A1.

[0017] The determination method can be embodied in a program. The program of this embodiment is a program for causing one or more processors of a computer system to execute the determination method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0018] (Details) (1) Robot System The robot system 1 includes a robot 2 and a judgment system 5 .

[0019] (2) Robot As shown in FIG. 1, the robot 2 includes a processing unit 21, a communication unit 22, a memory unit 23, a detection unit 24, a beacon 25, a running device 26, and a power supply unit 27.

[0020] The robot 2 also includes a computer system having one or more processors and a memory. At least some of the functions of the robot 2 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0021] The processing unit 21 includes one or more processors of the computer system. The processing unit 21 executes programs to realize predetermined functions. The processing unit 21 controls the communication unit 22, the memory unit 23, the detection unit 24, the beacon 25, the running device 26, and the power supply unit 27.

[0022] The communication unit 22 includes a communication interface device. The robot 2 is capable of communicating with the judgment system 5 via the communication unit 22. In this disclosure, "capable of communication" means that signals can be exchanged directly or indirectly via a network or a repeater, using an appropriate communication method such as wired communication or wireless communication. In particular, the robot 2 of this embodiment communicates wirelessly with the judgment system 5.

[0023] The storage unit 23 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The storage unit 23 stores information. For example, the storage unit 23 stores identification information of the robot 2 itself and map information (global map) of the facility 6 through which the robot 2 travels. The storage unit 23 also stores information indicating the movement route of the robot 2 obtained from the determination system 5.

[0024] The detection unit 24 includes one or more sensors, a camera, etc. as components for detecting the surrounding situation. The one or more sensors are, for example, at least one of a laser rangefinder (such as a Lidar (Light Detection and Ranging) sensor), an infrared sensor, a pressure sensor, etc. The camera is, for example, a visible light camera or an infrared camera.

[0025] The beacon 25 transmits a beacon signal. The beacon 25 transmits the beacon signal, for example, at regular intervals. The beacon signal includes identification information of the robot 2 that is the source of the beacon signal.

[0026] The traveling device 26 includes, for example, a motor and drive wheels as components for traveling the robot 2. The motor rotates the drive wheels, causing the robot 2 to travel on the ground.

[0027] The power supply unit 27 supplies the power required for the operation of the robot 2. The power supply unit 27 includes, for example, a battery.

[0028] The robot 2 further includes a main body 20 (see FIG. 3 ). The main body 20 houses or holds the components of the robot 2 other than the main body 20.

[0029] The robot 2 basically moves according to a movement route determined by the judgment system 5. The movement route determined by the judgment system 5 is a movement route set on a global map of the facility 6. The global map includes information on the positions and shapes of structures that cannot be moved. For example, the global map includes structural information of the facility 6. The structural information of the facility 6 includes, for example, information on the positions and shapes of the building blocks of the facility 6 (for example, walls 61, 61, 62, 62 in FIGS. 3 and 4 ).

[0030] Furthermore, the processing unit 21 of the robot 2 creates a local map of the facility 6 based on the detection results of the detection unit 24. The robot 2 moves further based on the local map. The local map includes information on the relative positions of objects (people, goods, etc.) present around the robot 2 relative to the robot 2. Therefore, by referring to the local map, the robot 2 can move while avoiding objects present on the movement route determined by the determination system 5.

[0031] (3) Scanners A plurality of scanners 3 are installed in the facility 6 (see FIG. 3). The plurality of scanners 3 are installed, for example, on the walls or ceiling of the facility 6. The plurality of scanners 3 are not limited to being installed near the predetermined area A1, but may be installed in various locations.

[0032] Each scanner 3 receives a beacon signal transmitted from the beacon 25 of the robot 2. Furthermore, each scanner 3 measures the received signal strength indicator (RSSI) of the received beacon signal.

[0033] Each scanner 3 transmits to the judgment system 5 a signal including information on the received signal strength of the received beacon signal, identification information contained in the beacon signal (i.e., identification information of the robot 2 that is the source of the beacon signal), and identification information of the scanner itself (scanner 3).

[0034] In this embodiment, the multiple scanners 3 are not components of the robot system 1. However, the multiple scanners 3 may be components of the robot system 1.

[0035] (4) Cameras A plurality of cameras 4 are installed in the facility 6 (see FIG. 3 ). The cameras 4 are installed, for example, on the walls or ceiling of the facility 6. The cameras 4 capture images of the surroundings and generate image information. The cameras 4 transmit the image information to the determination system 5.

[0036] The camera 4 may be a visible light camera, or may be a camera other than a visible light camera, for example, an infrared camera.

[0037] The judgment system 5 judges whether the robot 2 may pass through at least some areas of the facility 6. More specifically, the facility 6 includes one or more predefined predetermined areas A1, and when the robot 2 approaches any of the predetermined areas A1, the judgment system 5 judges whether the robot 2 may pass through the predetermined area A1. In this way, the judgment system 5 (the judgment unit 513 thereof) determines the predetermined area A1 for which to judge whether the robot 2 may pass, based on the position information of the robot 2.

[0038] The cameras 4 are installed at positions where they can capture at least the one or more predetermined areas A1. Of course, the cameras 4 may also be installed at positions in the facility 6 other than the positions where they can capture the one or more predetermined areas A1.

[0039] In this embodiment, the multiple cameras 4 are not components of the robot system 1. However, the multiple cameras 4 may be components of the robot system 1.

[0040] (5) Determination System As shown in FIG. 1, the determination system 5 includes a processing unit 51, a communication unit 52, and a storage unit 53.

[0041] The determination system 5 also includes a computer system having one or more processors and a memory. At least some of the functions of the determination system 5 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium (such as a memory card) that can be read by the computer system.

[0042] The processing unit 51 includes one or more processors of the computer system. The processing unit 51 executes a program to realize a predetermined function. The processing unit 51 controls the communication unit 52 and the storage unit 53.

[0043] The processing unit 51 also has a first positioning unit 511, a second positioning unit 512, a determination unit 513, and an acquisition unit 514. Note that these merely indicate functions realized by the processing unit 51, and do not necessarily indicate actual configurations.

[0044] The communication unit 52 includes a communication interface device. The determination system 5 is capable of communicating with the robot 2, the plurality of scanners 3, and the plurality of cameras 4 via the communication unit 52.

[0045] The storage unit 53 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The storage unit 53 stores information. For example, the storage unit 53 stores position information of each of the multiple scanners 3 and multiple cameras 4, identification information of the robot 2, the multiple scanners 3, and the multiple cameras 4, and map information (global map) of the facility 6 in which the robot 2 travels. The storage unit 53 also stores information defining one or more predetermined areas A1. The one or more predetermined areas A1 are set, for example, by a user.

[0046] The first positioning unit 511 generates position information of one or more objects (e.g., people H1 and H2 and material G1 in FIG. 3 ) that are present in the predetermined area A1 and obstruct the passage of the robot 2, based on image information generated by the multiple cameras 4. In other words, the first positioning unit 511 calculates the position information of the object based on the position information of each of the multiple cameras 4 and the position of the object in the image information.

[0047] The position information generated by the first positioning unit 511 is real-time position information.

[0048] The one or more objects are objects whose information is not included in the map information (global map) of the facility 6 stored in the memory unit 53.

[0049] Furthermore, as an example, the one or more objects are movable objects (movable objects). Not only objects that move by themselves, but also objects that can be transported by a person or a machine fall under the category of "movable objects."

[0050] As described above, each of the multiple scanners 3 transmits a signal including information on the received signal strength of the beacon signal, identification information of the transmitting robot 2, and identification information of the scanner 3 itself (scanner 3) to the determination system 5. The determination system 5 receives the signal. The second positioning unit 512 calculates the distance between the transmitting robot 2 and each of the three or more scanners 3 based on the received signal strength measured by three or more scanners 3 out of the multiple scanners 3. Furthermore, the second positioning unit 512 calculates the position information of the robot 2 by three-point positioning using the distances. In other words, the second positioning unit 512 generates the position information of the robot 2 based on the position information of each of the three or more scanners 3 and the distances.

[0051] The position information generated by the second positioning unit 512 is real-time position information.

[0052] The determination unit 513 determines whether or not the robot 2 is permitted to pass through the predetermined area A1 by performing a first determination process, a second determination process, and a third determination process. Details will be described later.

[0053] The acquisition unit 514 acquires the position information of one or more objects (for example, people H1, H2 and goods G1 in FIG. 3) from the first positioning unit 511.

[0054] (6) Facility Figures 3 and 4 show an example of the structure of a facility 6 in which the robot 2 travels. The facility 6 includes walls 61, 61, 62, and 62. The walls 61 face each other. The walls 62 are located on the boundary between the room R1 and the room R2. In a plan view, the walls 62 protrude from the walls 61, 61, respectively. A plan view refers to a view from a direction perpendicular to the traveling surface of the robot 2 (from above).

[0055] An opening 600 exists between the walls 62, 62. The opening 600 is an entrance to the rooms R1 and R2. The robot 2 can move between the rooms R1 and R2 through the opening 600. An automatic door or the like may be installed in the opening 600.

[0056] 3 and 4, a predetermined area A1 is defined in front of the opening 600 in the room R1. The boundaries of the predetermined area A1 are located near the walls 61, 61, 62, and 62. An example of a process for determining whether or not the robot 2 can pass through the predetermined area A1 will be described below.

[0057] (7) Determination of Passability The robot 2 autonomously moves through the facility 6 according to a preset movement route (hereinafter referred to as the first movement route). If the first movement route overlaps with at least a part of the predetermined area A1, the robot 2 passes through the predetermined area A1.

[0058] The second positioning unit 512 generates position information of the robot 2. When the determination unit 513 determines based on this position information that the robot 2 has reached the vicinity of the opening 600 (entrance / exit) (step ST1 in FIG. 2 : Yes), it starts to determine whether the robot 2 is permitted to pass through the predetermined area A1. More specifically, when the determination unit 513 determines that the robot 2 has reached the vicinity of the predetermined area A1 set near the opening 600, it starts to determine whether the robot 2 is permitted to pass through the predetermined area A1.

[0059] The determination unit 513 calculates the occupancy rate of one or more objects in the predetermined area A1. Here, the occupancy rate is the number of one or more objects in the predetermined area A1. Therefore, the occupancy rate can be calculated more easily and quickly than when the occupancy rate is calculated as follows: occupancy rate = (area occupied by one or more objects in the predetermined area A1) / (area of ​​the predetermined area).

[0060] For example, the determination unit 513 performs image processing to extract contour lines from the image information generated by the multiple cameras 4. The determination unit 513 determines the number of one or more objects in the predetermined area A1 based on the contour lines. As an algorithm for extracting contour lines, well-known algorithms such as the Sobel method or the Gaussian Laplacian method may be used.

[0061] 3 and 4, three objects (people H1 and H2 and material G1) exist in a predetermined area A1. Therefore, the occupancy rate is 3.

[0062] If the occupancy rate is 0, the determination result in step ST2 in Fig. 2 is "Yes", and the communication unit 52 of the determination system 5 transmits an instruction signal to the robot 2 to pass through the predetermined area A1 (step ST3). Upon receiving the instruction signal, the robot 2 passes through the predetermined area A1. More specifically, the robot 2 passes through the predetermined area A1 according to a first movement route set in advance.

[0063] If the occupancy rate is not 0, the determination result of step ST2 in FIG. 2 is "No", and the process proceeds to step ST4. In step ST4, the determination unit 513 determines whether the occupancy rate is equal to or greater than a threshold value. The threshold value is preferably a value of 2 or greater. In this embodiment, the threshold value is 4. Information on the size of the predetermined area A1 is included in the map information of the facility 6 stored in the memory unit 53.

[0064] The threshold value may be a constant, or may be determined to be a larger value as the size of the predetermined area A1 increases. Also, the threshold value may be determined to be a larger value as the size of the robot 2 decreases.

[0065] In the example shown in Figures 3 and 4, the occupancy rate is 3, which is less than the threshold value. Therefore, the determination result in step ST4 is "No", and the process proceeds to step ST5. In step ST5, the determination unit 513 determines a bounding box B1 (see Figures 3 and 4) based on the position information of two or more objects in the predetermined area A1. Thereafter, in step ST6, the determination unit 513 performs a second determination process.

[0066] The bounding box B1 is a rectangular space in a plan view that surrounds two or more objects. The two or more objects are three objects in Figures 3 and 4. The bounding box B1 is a virtual space, and there are no markers or the like in the real space that indicate the position of the bounding box B1.

[0067] Here, an X axis and a Y axis that are perpendicular to each other are defined on the running surface of the robot 2, and the X coordinates and Y coordinates of the N objects are respectively defined as (X1, Y1), (X2, Y2), ..., (X Ｎ , Y ＮThe four vertices of the bounding box B1 are (Xmax, Ymax), (Xmax, Ymin), (Xmin, Ymax), and (Xmin, Ymin). Xmax is X1, X2, ..., X Ｎ The largest number, Ymax, is Y1, Y2, ..., Y Ｎ Xmin is the largest number among X1, X2, ..., X Ｎ The smallest number, Ymin, is Y1, Y2, ..., Y Ｎ It is the smallest number among them.

[0068] However, a rectangular space in a plan view that surrounds a rectangle whose four vertices are (Xmax, Ymax), (Xmax, Ymin), (Xmin, Ymax), and (Xmin, Ymin) may also be defined as bounding box B1. For example, where α is a positive constant, the four vertices of bounding box B1 may be (Xmax+α, Ymax+α), (Xmax+α, Ymin-α), (Xmin-α, Ymax+α), and (Xmin-α, Ymin-α).

[0069] The determination unit 513 also determines the width of the road outside the bounding box B1. More specifically, the width of the road outside the bounding box B1 is the distance between the bounding box B1 and the walls 61, 61, 62, and 62. Fig. 3 illustrates the distance W1 between the bounding box B1 and the wall 61, and the distance W2 between the bounding box B1 and the wall 62. Fig. 4 illustrates the distance W3 between the bounding box B1 and the wall 61.

[0070] Furthermore, the determination unit 513 acquires information indicating the width of the robot 2. Here, the actual width of the robot 2 may be used, or as shown in Figures 3 and 4, a predetermined space C1 may be defined around the robot 2, and the width V1 of this space C1 may be used as the width of the robot 2. In Figures 3 and 4, the shape of the space C1 follows the shape of the robot 2. However, the shape of the space C1 does not have to follow the shape of the robot 2, and may be, for example, rectangular or square.

[0071] The judgment unit 513 judges whether the robot 2 can pass outside the bounding box B1 of the specified area A1 based on the road width (distances W1, W2) outside the bounding box B1 and the width V1 of the robot 2.

[0072] In the example shown in FIG. 3 , the road width (distances W1 and W2) outside the bounding box B1 is equal to or greater than the width V1 of the robot 2 (step ST6: Yes). Therefore, as indicated by the two-dot chain line and shading in FIG. 3 , a movement route (hereinafter referred to as the second movement route) for the robot 2 to travel through the predetermined area A1 can be set outside the bounding box B1. In this case, the determination unit 513 determines that the robot 2 can travel through the predetermined area A1 (second determination process). That is, the determination unit 513 determines that the robot 2 can travel through the predetermined area A1 via the second movement route that passes outside the bounding box B1. The communication unit 52 of the determination system 5 transmits an instruction signal to the robot 2 instructing it to travel outside the bounding box B1 (step ST7). The instruction signal includes information about the second movement route. Upon receiving the instruction signal, the robot 2 travels through the predetermined area A1 according to the second movement route. For example, as shown by the two-dot chain line and hatching in FIG. 3, a second movement route is set outside the bounding box B1.

[0073] 4, the road width (distance W3) outside the bounding box B1 is smaller than the width V1 of the robot 2 (step ST6: No). Therefore, a movement route for the robot 2 to pass through the predetermined area A1 cannot be set outside the bounding box B1. In this case, the determination unit 513 then performs step ST8. Step ST8 corresponds to a third determination process. The third determination process is a process for determining whether the robot 2 can pass through the predetermined area A1 using a movement route that passes through the bounding box B1.

[0074] According to the movement route determined in the third determination process (hereinafter referred to as the third movement route), the robot 2 is also allowed to pass between objects.

[0075] In the third determination process, the determination is made based on the global map in the bounding box B1. ＊Furthermore, in the third determination process, a determination is made based on the position information of one or more objects (e.g., people H1 and H2 and material G1 in FIG. 4) that are present in a predetermined area A1 (see FIG. 4) and that obstruct the passage of the robot 2.

[0076] A ＊ The algorithm is a type of algorithm that searches for the shortest route from the starting point to the destination. The global map includes information on the position and shape of the building blocks of the facility 6 (for example, walls 61, 61, 62, 62 in FIG. 4). In the third determination process, the position information of the one or more objects is integrated into the global map. That is, in the third determination process, the positions of the one or more objects on the global map are calculated. Then, in the third determination process, it is determined whether or not there is a third movement route that passes through a predetermined area A1 while avoiding obstacles such as the one or more objects and building blocks on the global map. ＊ The decision is made by an algorithm.

[0077] If a third movement route is determined by the third determination process (step ST8: Yes), the communication unit 52 of the determination system 5 transmits an instruction signal to the robot 2 to pass through the bounding box B1 (step ST9). The instruction signal includes information about the third movement route. Upon receiving the instruction signal, the robot 2 passes through the predetermined area A1 according to the third movement route. For example, as shown by the two-dot chain line and hatched area in FIG. 4, a third movement route passing through the bounding box B1 is set.

[0078] If a movement route passing through the bounding box B1 is not found in the third determination process (step ST8: No), or if the occupancy rate is less than a threshold value (threshold value = 4 in FIG. 2 ) (step ST4: No), the determination unit 513 determines that the robot 2 cannot pass through the predetermined area A1. Then, the determination unit 513 searches for a new movement route that does not pass through the predetermined area A1 (step ST10). More specifically, the determination unit 513 searches for a new movement route based on the global map. The new movement route is a movement route that passes through the destination and intermediate points that were set on the first movement route.

[0079] When the determination unit 513 finds a new movement route, the communication unit 52 of the determination system 5 transmits a notification signal to the robot 2 (step ST11). The notification signal is a signal for notifying the robot 2 of the new movement route.

[0080] If the determination unit 513 cannot find a new movement route in step ST10, the robot 2, for example, waits. After step ST10 is completed and a predetermined time has elapsed, the determination system 5 re-executes the processes from step ST2 onwards based on the latest position information of one or more objects in the predetermined area A1.

[0081] (8) Advantages The first and second determination processes are simpler than the third determination process, and require less time to make a determination than the third determination process.

[0082] Therefore, if the first determination process determines that the predetermined area A1 is impassable (if the determination result in step ST4 is "Yes"), the determination can be made more quickly than when the third determination process is performed instead of the first determination process. Also, if the second determination process determines that the predetermined area A1 is passable (if the determination result in step ST6 is "Yes"), the travel route can be determined more quickly than when the third determination process is performed instead of the second determination process.

[0083] The third determination process is performed only when neither the first nor the second determination process determines whether passage is possible. When neither the first nor the second determination process determines whether passage is possible, the determination system 5 does not necessarily determine that passage is impossible, but can use the third determination process to determine whether the travel route that passes through the bounding box B1 is appropriate.

[0084] In this way, by combining the first to third judgment processes, the judgment system 5 can speed up judgment while increasing the possibility of discovering a travel route compared to when the third judgment process is not performed.

[0085] Furthermore, if there is an obstacle (such as a person, material, or the structure of facility 6) that cannot be detected from the current position of robot 2, the robot 2 can determine whether it is permitted to pass through using the first to third judgment processes without moving to a position where it can detect the obstacle.

[0086] (Modifications of the embodiment) Modifications of the embodiment are listed below. The following modifications may be implemented in appropriate combination. Hereinafter, the configuration of the above-described embodiment will be referred to as a basic example.

[0087] The second positioning unit 512 may determine the position of the robot 2 that is the source of the beacon signal based on the phase of the beacon signal instead of the received signal strength of the beacon signal.

[0088] In the basic example, the occupancy rate is the number of one or more objects in the predetermined area A1. Alternatively, for example, the occupancy rate may be expressed as follows: occupancy rate = (area occupied by one or more objects in the predetermined area A1) / (area of ​​the predetermined area).

[0089] The second positioning unit 512 is not limited to a configuration in which the position information of the robot 2 is generated based on a beacon signal. For example, the second positioning unit 512 may generate the position information of the robot 2 based on image information generated by the camera 4.

[0090] In the basic example, the first positioning unit 511 generates position information of one or more objects based on image information generated by a positioning system P1 including multiple cameras 4. However, the means by which the first positioning unit 511 generates position information of one or more objects is not limited to this. For example, assume that the object is a person and the positioning system P1 includes multiple scanners 3. In this case, the multiple scanners 3 receive beacon signals transmitted from beacons carried by the person, and the first positioning unit 511 may generate position information of the person based on information (such as received signal strength) generated by the multiple scanners 3 based on the beacon signals.

[0091] The first positioning unit 511 may be a component external to the determination system 5. In this case, the acquisition unit 514 of the determination system 5 may acquire position information of one or more objects (e.g., people H1 and H2 and material G1 in FIGS. 3 and 4 ) from the first positioning unit 511 via the communication unit 52.

[0092] In the basic example, people H1 and H2 and material G1 are given as examples of objects present in the predetermined area A1. In addition to these, the object may be, for example, another robot.

[0093] The boundaries of the predetermined area A1 in the basic example are located near the walls 61, 61, 62, 62 of the facility 6. However, the boundaries may be located away from the walls of the facility 6.

[0094] The flowchart shown in FIG. 2 is merely an example of a determination method according to the present disclosure, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0095] The robot system 1 or the execution entity of the determination method of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. At least a portion of the functions of the execution entity of the robot system 1 or the determination method of the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0096] In the embodiment, multiple functions that are integrated into one device may be distributed among multiple devices. Furthermore, at least some of the functions of the robot system 1, for example, at least some of the functions of the processing unit 51 of the determination system 5, may be realized by a server, a cloud (cloud computing), or the like.

[0097] (Summary) The above-described embodiments and the like disclose the following aspects.

[0098] A robot system (1) according to a first aspect makes a decision regarding the determination of a movement route for an autonomously moving robot (2) in a facility (6). The robot system (1) includes a robot (2), a positioning unit (511), a determination unit (513), and a communication unit (52). The positioning unit (511) generates position information for one or more objects that are present in a predetermined area (A1) and obstruct the passage of the robot (2) based on information generated by a positioning system (P1) installed in the facility (6). The determination unit (513) determines whether the robot (2) can pass through the predetermined area (A1). The communication unit (52) transmits a communication signal including the determination result of the determination unit (513) to the robot (2). The determination unit (513) performs a first determination process. In the first judgment process, the occupancy rate of one or more objects in a specified area (A1) is calculated based on the position information of one or more objects, and if the occupancy rate of one or more objects is equal to or greater than a threshold value, it is determined that the robot (2) cannot pass through the specified area (A1).

[0099] According to the above configuration, the determining unit (513) can determine whether the robot (2) is unable to pass through by the simple process of comparing the occupancy rate with a threshold value.

[0100] In the robot system (1) according to the second aspect, in the first aspect, the occupancy rate of one or more objects in the predetermined area (A1) is the number of one or more objects in the predetermined area (A1), and the threshold value is a value of 2 or more.

[0101] According to the above configuration, the occupancy rate can be easily calculated.

[0102] In addition, in the robot system (1) according to the third aspect, in the first or second aspect, when the judgment unit (513) judges that the robot (2) cannot pass through the specified area (A1), it searches for a movement route that does not pass through the specified area (A1).

[0103] According to the above configuration, the robot (2) can move while avoiding the predetermined crowded area (A1).

[0104] In addition, in a robot system (1) according to a fourth aspect, in any one of the first to third aspects, the positioning unit (511) is a first positioning unit (511). The robot system (1) further includes a second positioning unit (512) that generates position information of the robot (2). A determination unit (513) determines a predetermined area (A1) for determining whether the robot (2) can pass through, based on the position information of the robot (2).

[0105] According to the above configuration, the determination unit (513) can appropriately determine the predetermined area (A1) by referring to the position information of the robot (2).

[0106] In addition, in a robot system (1) according to a fifth aspect, in any one of the first to fourth aspects, the one or more objects are two or more objects. A determination unit (513) determines a bounding box (B1) that is rectangular in a plan view and surrounds the two or more objects based on position information of the two or more objects in a predetermined area (A1). If the occupancy rate is less than a threshold in the first determination process, the determination unit (513) performs a second determination process. In the second determination process, if the width of the road outside the bounding box (B1) is equal to or greater than the width of the robot (2), the determination unit (513) determines that the robot (2) can pass through the predetermined area (A1).

[0107] According to the above configuration, the determining unit (513) can determine whether the road is passable by a simple process of comparing the road width outside the bounding box (B1) with the width of the robot (2).

[0108] In the robot system (1) according to the sixth aspect, in the fifth aspect, if the width of the road outside the bounding box (B1) is smaller than the width of the robot (2) in the second determination process, the determination unit (513) performs a third determination process, which determines whether the robot (2) can pass through a predetermined area (A1) on a movement route that passes through the bounding box (B1).

[0109] According to the above configuration, the possibility that the robot (2) can pass through the specified area (A1) is increased compared to when it is uniformly determined that the road is impassable when the road width outside the bounding box (B1) is smaller than the width of the robot (2).

[0110] In addition, in the robot system (1) according to the seventh aspect, in the sixth aspect, the third determination process makes a determination based on a global map in the bounding box (B1).

[0111] According to the above configuration, the robot (2) does not need to generate a local map in the third determination process, thereby reducing the load on the robot (2).

[0112] In addition, in the robot system (1) according to the eighth aspect, in the sixth or seventh aspect, in the third determination process, A ＊ The decision is made by an algorithm.

[0113] According to the above configuration, the accuracy of the third determination process is improved.

[0114] The configurations other than the first aspect are not essential for the robot system (1) and can be omitted as appropriate.

[0115] Furthermore, a judgment system according to a ninth aspect makes a judgment regarding the determination of a movement route of an autonomously moving robot (2) in a facility (6). The judgment system includes an acquisition unit (514), a judgment unit (513), and a communication unit (52). The acquisition unit (514) acquires position information of one or more objects that are present in a predetermined area (A1) and obstruct the passage of the robot (2). The position information is position information based on information generated by a positioning system (P1) installed in the facility (6). The judgment unit (513) judges whether the robot (2) can pass through the predetermined area (A1). The communication unit (52) transmits a communication signal including the judgment result of the judgment unit (513) to the robot (2). The judgment unit (513) performs a first judgment process. In the first judgment process, the occupancy rate of one or more objects in a specified area (A1) is calculated based on the position information of one or more objects, and if the occupancy rate of one or more objects is equal to or greater than a threshold value, it is determined that the robot (2) cannot pass through the specified area (A1).

[0116] According to the above configuration, the determining unit (513) can determine whether the robot (2) is unable to pass through by the simple process of comparing the occupancy rate with a threshold value.

[0117] A tenth aspect of the present invention provides a determination method executed by a determination system for determining a movement route for an autonomously moving robot (2) in a facility (6). The determination method includes an acquisition step, a determination step, and a communication step. In the acquisition step, position information of one or more objects that are present in a predetermined area (A1) and obstruct the passage of the robot (2) is acquired. The position information is position information based on information generated by a positioning system (P1) installed in the facility (6). In the determination step, a determination is made as to whether the robot (2) can pass through the predetermined area (A1). In the communication step, a communication signal including the determination result of the determination step is transmitted to the robot (2). The determination step includes a first determination process. In the first determination process, an occupancy rate of one or more objects in the predetermined area (A1) is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot (2) cannot pass through the predetermined area (A1).

[0118] According to the above configuration, in the determination step, it is possible to determine whether the robot (2) is unable to pass through by a simple process of comparing the occupancy rate with a threshold value.

[0119] A program according to an eleventh aspect is a program for causing one or more processors of a computer system to execute the determination method according to the tenth aspect.

[0120] According to the above configuration, in the determination step, it is possible to determine whether the robot (2) is unable to pass through by a simple process of comparing the occupancy rate with a threshold value.

[0121] Not limited to the above aspects, various configurations (including modified examples) of the robot system (1) according to the embodiment can be embodied as a determination method, a (computer) program, or a non-transitory recording medium on which a program is recorded.

[0122] REFERENCE SIGNS LIST 1 Robot system 2 Robot 6 Facility 52 Communication unit 511 Positioning unit (first positioning unit) 512 Second positioning unit 513 Determination unit 514 Acquisition unit A1 Predetermined area B1 Bounding box P1 Positioning system

Claims

1. A robot system that makes decisions regarding the determination of a movement route for an autonomously moving robot in a facility, The robot; a positioning unit that generates position information of one or more objects that are present in a predetermined area and that obstruct the passage of the robot, based on information generated by a positioning system installed in the facility; a determination unit that determines whether the robot is permitted to pass through the predetermined area; a communication unit that transmits a communication signal including a determination result of the determination unit to the robot, The determination unit performs a first determination process, In the first determination process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot cannot pass through the predetermined area. Robot system.

2. the occupancy rate of the one or more objects in the predetermined area is the number of the one or more objects in the predetermined area; The threshold value is a value of 2 or more. The robot system of claim 1 .

3. when the determination unit determines that the robot cannot pass through the predetermined area, the determination unit searches for a movement route that does not pass through the predetermined area. The robot system according to claim 1 or 2.

4. The positioning unit is a first positioning unit, a second positioning unit that generates position information of the robot; the determination unit determines the predetermined area for determining whether the robot can pass through, based on the position information of the robot. The robot system according to claim 1 or 2.

5. the one or more objects are two or more objects, the determination unit determines a bounding box that is a rectangle in a plan view and surrounds the two or more objects based on the position information of the two or more objects in the predetermined area; the determination unit performs a second determination process if the occupancy rate is less than a threshold value in the first determination process; In the second determination process, if the width of a road outside the bounding box is equal to or greater than the width of the robot, it is determined that the robot can pass through the predetermined area. The robot system according to claim 1 or 2.

6. the determination unit performs a third determination process if the road width outside the bounding box is smaller than the width of the robot in the second determination process; In the third determination process, it is determined whether the robot can pass through the predetermined area on a movement route that passes through the bounding box. The robot system according to claim 5 .

7. In the third determination process, a determination is made based on a global map of the bounding box. The robot system according to claim 6 .

8. In the third determination process, A ＊ Determined by algorithm, The robot system according to claim 6 .

9. A judgment system for making judgments regarding the determination of a movement route of an autonomously moving robot in a facility, an acquisition unit that acquires position information based on information generated by a positioning system installed in the facility, the position information being of one or more objects that are present in a predetermined area and obstruct the passage of the robot; a determination unit that determines whether the robot is permitted to pass through the predetermined area; a communication unit that transmits a communication signal including a determination result of the determination unit to the robot, The determination unit performs a first determination process, In the first determination process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot cannot pass through the predetermined area. Judgment system.

10. A determination method executed by a determination system for making a determination regarding determination of a movement route of an autonomously moving robot in a facility, comprising: an acquiring step of acquiring position information based on information generated by a positioning system installed in the facility, the position information being of one or more objects that are present in a predetermined area and obstruct the passage of the robot; a determination step of determining whether or not the robot is permitted to pass through the predetermined area; a communication step of transmitting a communication signal including a determination result of the determination step to the robot, the determining step includes a first determining process, In the first determination process, an occupancy rate of the one or more objects in the predetermined area is calculated based on the position information of the one or more objects, and if the occupancy rate of the one or more objects is equal to or greater than a threshold, it is determined that the robot cannot pass through the predetermined area. Judgment method.

11. 11. The method of claim 10, wherein the method is executed by one or more processors of a computer system. program.