Robot guidance system, robot, control method, and program

Abstract

The present disclosure addresses the problem of enabling a robot to efficiently move in a facility. A robot guidance system (1) according to the present disclosure comprises an acquisition unit (11), a processing unit (12), and a communication unit (13). The acquisition unit (11) acquires detection information detected by a sensor (3). The processing unit (12): calculates, on the basis of the detection information, a congestion degree indicating the degree of congestion of obstacles in a passage-restricted area in the facility; and determines, on the basis of the congestion degree, whether or not a robot (2) can pass through the passage-restricted area. When the processing unit (12) receives, from the robot (2), a passage permission request signal for requesting permission to pass through the passage-restricted area (5), the processing unit determines, on the basis of the congestion degree in the passage-restricted area (5), whether or not the robot (2) can pass through the passage-restricted area.

Description

Robot guidance system, robot, control method, and program

[0001] The present disclosure relates to a robot guidance system, a robot, a control method, and a program.

[0002] The introduction of service robots into buildings and other facilities has led to a demand for coexistence between humans and robots. Facilities are home to a mixture of people and obstacles, and the situation changes constantly. Patent Document 1 (JP-A-2005-102626) discloses a robot control system for a robot capable of autonomously moving within a facility.

[0003] The robot control system includes an information storage unit, a congestion situation prediction unit, and an operation mode setting unit. The information storage unit stores congestion history information, which is information indicating the degree of congestion for each predetermined time period in the past, in a service provision area, which is an area where an autonomously mobile robot provides personal service. The congestion situation prediction unit generates congestion forecast information, which is information that predicts the degree of congestion for each predetermined time period in the service provision area, based on the congestion history information. The operation mode setting unit selects one of a plurality of operation modes that have different effects on the degree of congestion in the service provision area, based on the forecast information, and sets the robot to the selected operation mode.

[0004] The robot control system described in Patent Document 1 predicts current or future congestion conditions based on the past congestion history of the service area. Therefore, if the predicted congestion information differs from the actual congestion condition, it becomes difficult for the robot to move efficiently.

[0005] Japanese Patent Application Laid-Open No. 2019-940

[0006] An object of the present disclosure is to enable robots to move efficiently within a facility.

[0007] A robot guidance system according to one aspect of the present disclosure includes an acquisition unit, a processing unit, and a communication unit. The acquisition unit acquires detection information detected by a sensor. The detection information is information for detecting obstacles that may hinder the passage of the robot within a facility in which the robot travels autonomously. The processing unit calculates a congestion level indicating the degree of congestion of the obstacles in a restricted-access area within the facility based on the detection information, and determines whether the robot can pass based on the congestion level. The communication unit communicates with the robot. When the processing unit receives a pass permission request signal from the robot requesting permission to pass through the restricted-access area, the processing unit determines whether the robot can pass based on the congestion level of the restricted-access area. The processing unit transmits a pass permission response signal to the robot indicating whether the robot can pass.

[0008] A robot according to one aspect of the present disclosure is a robot that moves autonomously within a facility. The robot communicates with a robot guidance system including an acquisition unit, a processing unit, and a communication unit. The acquisition unit acquires detection information detected by a sensor. The detection information is information for detecting obstacles that hinder the robot's passage. The processing unit calculates a congestion level indicating the degree of congestion of the obstacles in a restricted-access area within the facility based on the detection information, and determines whether the robot can pass based on the congestion level. The communication unit communicates with the robot. The robot transmits a pass permission request signal to the robot guidance system requesting permission to pass through the restricted-access area. The robot receives a pass permission response signal from the robot guidance system that replies whether the robot can pass, the pass permission response signal having been determined based on the congestion level of the restricted-access area, and performs a predetermined operation based on the pass permission response signal.

[0009] A control method according to one aspect of the present disclosure is a control method for a robot guidance system. The robot guidance system includes an acquisition unit, a processing unit, and a communication unit. The acquisition unit acquires detection information detected by a sensor. The detection information is information for detecting obstacles that may hinder the passage of the robot within a facility in which the robot travels autonomously. The processing unit calculates a congestion level indicating the degree of congestion of the obstacles in a restricted-access area within the facility based on the detection information, and determines whether the robot can pass based on the congestion level. The communication unit communicates with the robot. The control method includes a receiving step, a determining step, and a transmitting step. The receiving step receives a pass permission request signal from the robot requesting permission to pass through the restricted-access area. The determining step determines whether the robot can pass based on the congestion level of the restricted-access area. The transmitting step transmits a pass permission response signal to the robot in response to whether the robot can pass.

[0010] 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 above control method.

[0011] FIG. 1 is a block diagram of a robot guidance system according to a first embodiment. FIG. 2 is a sequence diagram showing an example of the operation of the robot guidance system according to the same. FIG. 3 is an explanatory diagram of a process for setting a restricted passage area according to the same. FIG. 4 is a flowchart showing an example of a process for determining whether or not passage is permitted according to the same. FIG. 5 is an explanatory diagram of a congestion state of a restricted passage area according to the same. FIG. 6 is a flowchart showing an example of a process for automatically setting a restricted passage area according to a second embodiment. FIG. 7 is an explanatory diagram of an automatic process for setting a restricted passage area according to the same. FIG. 8 is a flowchart showing an example of a process for determining whether or not passage is permitted in a robot guidance system according to a third embodiment. FIG. 9 is an explanatory diagram of the determination process according to the same. FIG. 10 is a flowchart showing an example of an automatic update process for a restricted passage area according to the same. FIG. 11 is a graph showing an example of a congestion degree of a restricted passage area according to the same.

[0012] A robot guidance system 1, a robot 2, a control method, and a program according to an embodiment will be described below with reference to the drawings. However, the embodiment described below is merely one of various embodiments of the present disclosure. The embodiment described below 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 diagram described in the embodiment described below is a schematic diagram, and the ratios of the sizes and thicknesses of the components in the diagram do not necessarily reflect the actual dimensional ratios.

[0013] (Embodiment 1) (Overview) A robot 2 (see FIG. 1) of embodiment 1 autonomously moves within a facility 6 (see FIG. 3) and performs work. The work includes, for example, cleaning, delivery, equipment inspection, or security. In the present disclosure, a "facility" refers to an indoor facility. Therefore, the facility 6 is, for example, an office building, a residence, a store, a factory, a warehouse, a commercial complex, a library, an art gallery, a museum, an amusement facility, a theme park, an airport, a train station, a hotel, a hospital, and the like.

[0014] The number of robots 2 may be one or two or more. In this embodiment, the description will be focused on one robot 2.

[0015] The robot 2 communicates with the robot guidance system 1. The robot 2 transmits a passage permission request signal to the robot guidance system 1. The passage permission request signal is a signal requesting permission to pass through a restricted passage area 5 (see FIG. 3 ) within the facility 6. The robot 2 receives a passage permission response signal from the robot guidance system 1, and performs a predetermined operation in accordance with the received passage permission response signal.

[0016] The passage permission response signal is a response to the passage permission request signal and includes the result of a determination made by the robot guidance system 1 as to whether the robot 2 is permitted to pass through the passage restricted area 5 based on the degree of congestion in the passage restricted area 5.

[0017] The robot guidance system 1 (see FIG. 1 ) includes an acquisition unit 11, a processing unit 12, and a communication unit 13. The acquisition unit 11 acquires detection information detected by the multiple cameras 3. The multiple cameras 3 are referred to as "sensors" in the present disclosure. The multiple cameras 3 capture images for detecting obstacles 8 that may hinder the passage of the robot 2. The image information (detection information) captured by the multiple cameras 3 is information for detecting obstacles 8 that may hinder the passage of the robot. In the present disclosure, an "obstacle" is something that hinders the passage of the robot 2. The obstacle 8 is typically one or more people present in the passage 7, but may also include other objects (e.g., robots, furniture, etc.). The processing unit 12 calculates a congestion degree C that indicates the degree of congestion of obstacles 8 in the restricted-access area 5 within the facility 6 based on the detection information. Ｒ Calculate the congestion degree C Ｒ The robot 2 is judged to be able to pass or not based on the congestion degree C. Ｒ The communication unit 13 communicates with the robot 2. When the processing unit 12 receives a passage permission request signal from the robot 2 requesting permission to pass through the passage-restricted area 5, the processing unit 12 calculates the congestion degree C in the passage-restricted area 5. Ｒ The processing unit 12 determines whether the robot 2 is allowed to pass based on the above. The processing unit 12 transmits a pass-through response signal to the robot 2 in response to the robot 2 as to whether the robot 2 is allowed to pass.

[0018] According to the first embodiment, the congestion degree C of the obstacles 8 calculated based on the detection information detected by the plurality of cameras 3 is Ｒ Since the robot 2 determines whether it is possible to pass through the restricted area 5 based on the above, the robot 2 can avoid congestion that actually occurs. This allows the robot 2 to move efficiently within the facility 6.

[0019] The same functions as those of the robot guidance system 1 can be realized in a control method. The control method of the first embodiment includes a receiving step, a determining step, and a transmitting step. In the receiving step, a passage permission request signal requesting passage permission for the passage restricted area 5 is received from the robot 2. In the determining step, a congestion degree C in the passage restricted area 5 is calculated. ＲIn the transmitting step, a pass / no pass signal is transmitted to the robot 2.

[0020] The control method can be realized by a program. The program of the first embodiment is a program for causing one or more processors of a computer system to execute the control method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0021] (Details) (1) Overall Configuration Hereinafter, a robot guidance system 1 according to the first embodiment and related configurations will be described with reference to FIGS.

[0022] As shown in FIG. 1, a robot guidance system 1 is used together with, for example, one or more robots 2, a plurality of cameras 3, and an information terminal 4.

[0023] (2) Robot As shown in FIG. 1, the robot 2 includes a processing unit 21, a communication unit 22, a storage unit 23, a detection unit 24, a service unit 25, and a traveling unit 26.

[0024] 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 performed 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.

[0025] The processing unit 21 includes one or more processors of a computer system. The processing unit 21 executes programs to realize predetermined functions. For example, the processing unit 21 controls the transmission and reception of signals by the communication unit 22, the operation of the service unit 25, and the operation of the traveling unit 26.

[0026] The communication unit 22 includes a communication interface device. The robot 2 is capable of communicating with the robot guidance system 1 via the communication interface device. In this disclosure, "capable of communication" means that signals can be sent and received directly or indirectly via a network or a repeater, using an appropriate communication method such as wired communication or wireless communication. The robot 2 of the first embodiment communicates wirelessly with the robot guidance system 1.

[0027] The memory unit 23 is a storage device configured with a ROM, a RAM, or the like. The memory unit 23 stores information. For example, the memory unit 23 stores map information (global map) of the facility 6 through which the robot 2 travels. The memory unit 23 also stores information indicating the movement route of the robot 2.

[0028] The detection unit 24 includes, as a component for detecting the surrounding conditions, at least one of a camera, a laser rangefinder (such as a Lidar (Light Detection and Ranging)), and an infrared sensor. The processing unit 21 controls the traveling unit 26 based on the detection result of the detection unit 24. For example, the processing unit 21 controls the traveling unit 26 so as to avoid the obstacle 8 detected by the detection unit 24.

[0029] The detection unit 24 also includes at least one of a camera, an acceleration sensor, a gyro sensor, etc. as a component for determining the position of the robot 2. The processing unit 21 detects the position of the robot 2 based on the detection result of the detection unit 24. More specifically, the processing unit 21 refers to map information of the facility 6 stored in the memory unit 23 and detects where the robot 22 is located in the facility 6.

[0030] The service unit 25 executes a predetermined service, such as a cleaning operation. The cleaning operation is at least one of sweeping, wiping, and vacuuming.

[0031] The traveling unit 26 includes, for example, wheels and a motor that drives the wheels as components for traveling the robot 2. The traveling unit 26 causes the robot 2 to travel under the control of the processing unit 21.

[0032] The robot 2 autonomously travels to the destination using the detection results of its own current position and map information of the facility 6. The map information (global map) of the facility 6 includes position information of passages 7 that the robot 2 can pass through and position information of areas that the robot 2 cannot pass through. Areas that the robot 2 cannot pass through are walls, pillars, steps, etc. within the facility 6.

[0033] 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, robots, stationary objects, etc.) around the robot 2 relative to the robot 2. Therefore, by referring to the local map, the robot 2 can move while avoiding objects that are on the movement route determined by the robot guidance system 1.

[0034] (3) Cameras A plurality of cameras 3 are installed in the facility 6 (see FIG. 5). The plurality of cameras 3 are installed, for example, on the walls or ceiling of the facility 6. The plurality of cameras 3 capture images of the surroundings and generate image information. The plurality of cameras 3 transmit the image information to the robot guidance system 1. Note that although the plurality of cameras 3 are installed in the facility 6, they may also be mounted on a plurality of robots moving within the facility 6.

[0035] The camera 3 may be a visible light camera, or may be a camera other than a visible light camera, such as an infrared camera.

[0036] One or more restricted-access areas 5 are set in the facility 6 (see FIG. 3 ). The cameras 3 are installed in positions where they can capture images of the one or more restricted-access areas 5. Of course, the cameras 3 may be installed not only in positions where they can capture images of the one or more restricted-access areas 5 in the facility 6, but also in positions other than those where they can capture images.

[0037] In the first embodiment, the multiple cameras 3 are not components of the robot guidance system 1. However, the multiple cameras 3 may be components of the robot guidance system 1.

[0038] The robot guidance system 1 determines whether the robot 2 can pass through one or more restricted-access areas 5 .

[0039] (4) Robot Guidance System The robot guidance system 1 guides the robot 2, which moves autonomously, within the facility 6, by transmitting information for guiding the robot 2 to the robot 2. The robot guidance system 1 includes, for example, an acquisition unit 11, a processing unit 12, a communication unit 13, and a storage unit 14 (see FIG. 1 ).

[0040] The robot guidance system 1 includes a computer system having one or more processors and a memory. At least some of the functions of the robot guidance system 1 are performed by the processor of the computer system executing a program stored in the memory of the computer system. The program may be stored in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0041] The acquisition unit 11 acquires image information (detection information) captured by the multiple cameras 3 .

[0042] The processing unit 12 includes one or more processors. The processing unit 12 executes programs to realize predetermined functions. The processing unit 12 controls the communication unit 13 and the storage unit 14. The processing unit 12 generates position information of the obstacle 8 based on image information captured by the multiple cameras 3. More specifically, the processing unit 12 calculates the position information of the obstacle 8 based on the position information of each of the multiple cameras 3 and the position information of the obstacle 8 in the image information. Note that the position information of the obstacle 8 is real-time position information.

[0043] The processing unit 12 calculates a congestion degree C that indicates the degree of congestion of the obstacles 8 in the restricted-access area 5 within the facility 6 based on the position information of the obstacles 8. Ｒ Calculate the congestion degree C Ｒ When the processing unit 12 receives a passage permission request signal from the robot 2 requesting permission to pass through the passage restricted area 5, the processing unit 12 determines whether the robot 2 is permitted to pass through the passage restricted area 5 based on the congestion degree C of the obstacles 8 in the passage restricted area 5.Ｒ Based on this, the system determines whether or not the robot 2 can pass, and transmits a pass / no pass signal to the robot 2.

[0044] The communication unit 13 communicates with the robot 2. The communication unit 13 includes a communication interface device. The communication unit 13 is capable of communicating with the robot 2, the multiple cameras 3, and the information terminal 4 via the communication interface device. In this disclosure, "capable of communication" means being able to send and receive signals directly or indirectly via a network, a repeater, or the like, using an appropriate communication method such as wired communication or wireless communication. The communication unit 13 of the first embodiment communicates via wireless communication.

[0045] The storage unit 14 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The storage unit 14 stores information. For example, the storage unit 14 stores position information of each of the multiple cameras 3, identification information of each of the multiple cameras 3, identification information of the robot 2, and map information (global map) of the facility 6 in which the robot 2 travels.

[0046] (5) Information Terminal The information terminal 4 includes a communication unit 41 and a user interface 42 (see FIG. 1). The communication unit 41 includes a communication interface device. The communication unit 41 is capable of communicating with the robot guidance system 1 via the communication interface device. The user interface 42 accepts operations by the user (administrator Q1). The user interface 42 includes, for example, at least one of a button, a mouse, a touchpad, a touch panel, and a touch panel display.

[0047] The information terminal 4 accepts input of area setting information for setting one or more restricted passage areas 5. The information terminal 4 is referred to as a "setting information accepting unit" in the present disclosure. The area setting information for setting one or more restricted passage areas 5 is input by a user's operation on the user interface 42, and the input area setting information is transmitted to the robot guidance system 1 by the communication unit 41.

[0048] The information terminal 4 is not an essential component. The robot guidance system 1 may include a user interface and accept an input operation of the area setting information by the user (administrator Q1).

[0049] (6) Description of Operation The operation of the robot guidance system 1 and the robot 2 will now be described.

[0050] <Setting of Traffic Restriction Area> First, the processing unit 12 of the robot guidance system 1 sets the traffic restriction area 5 based on the area setting information received by the information terminal 4 and the map information (global map) of the facility 6 stored in the storage unit 14 (step ST1 in FIG. 2 ). More specifically, the manager Q1 refers to the map information (global map) of the facility 6 displayed on the display of the information terminal 4 (see FIG. 1 ), for example. The map information (global map) of the facility 6 is, for example, an office floor map as shown in FIG. 3 . In FIG. 3 , areas other than the aisles 7 within the facility 6 (e.g., indoors) are shown in grayscale. Then, the manager Q1 operates the user interface of the information terminal 4 to input area setting information for setting the traffic restriction area 5. The “area setting information” referred to in the present disclosure refers to information that can specify a certain area within the position information of the aisles 7. The area setting information is, for example, coordinate information of each vertex of a rectangle. The manager Q1 specifies an area of ​​the aisles 7 where congestion is expected and inputs the area setting information. Areas where congestion is expected are, for example, narrow passages where people frequently pass, such as in front of elevators, escalators, and entrances to conference rooms. Accordingly, the processing unit 12 sets restricted-traffic areas 5. In FIG. 3 , the restricted-traffic areas 5 are surrounded by dashed lines, and the areas surrounded by the dashed lines are indicated by dotted hatching. Eight restricted-traffic areas 5 are set so as to overlap with passages 7. The processing unit 12 stores information about the set restricted-traffic areas 5 in the memory unit 14.

[0051] The processing unit 12 transmits information about the set restricted passage area 5 to the robot 2 (step ST2 in FIG. 2). Upon receiving the information about the restricted passage area 5, the robot 2 stores the position information about the restricted passage area 5 in its own memory unit 23.

[0052] Thereafter, the robot 2 autonomously moves through the passage 7 in the facility 6 according to the movement route. If the movement route overlaps with at least a part of the restricted passage area 5 set in the passage 7, the robot 2 will pass through the restricted passage area 5. In this case, the robot 2 autonomously moves to the vicinity of one of the two or more restricted passage areas 5 (step ST3 in FIG. 2 ). More specifically, the robot 2 moves to the vicinity of the restricted passage area 5 while referring to the map information of the facility 6, information on its own (robot 2) movement route, its own position information, and the position information of the restricted passage area 5, all of which are stored in the memory unit 23.

[0053] When the robot 2 moves close to one of the two or more passage-restricted areas 5, it transmits a passage permission request signal to the robot guidance system 1 requesting permission to pass through that passage-restricted area 5 (step ST4 in FIG. 2 ). In the present disclosure, "close to" refers to a predetermined position just before the passage-restricted area 5. The "predetermined position" here refers to a position just before the passage-restricted area 5, at least the distance that the robot 2 travels between transmitting the passage permission request and receiving a response to the passage permission request.

[0054] <Determination of Passage Permission> In the robot guidance system 1, when a passage permission request signal is received, the processing unit 12 determines the congestion degree C Ｒ Based on this, it is determined whether the robot 2 is permitted to pass (step ST5 in FIG. 2).

[0055] The details of the determination of whether the robot 2 can pass or not will be described below with reference to Fig. 4. First, the processing unit 12 calculates the area S of the passage-restricted area 5 (step ST11 in Fig. 4). The area S of the passage-restricted area 5 is calculated based on the congestion degree C of the passage-restricted area 5, which will be described later. Ｒ (step ST15 in FIG. 4). The area S of the traffic restricted area 5 may be calculated when the traffic restricted area 5 is set (during the processing of step ST1 in FIG. 2).

[0056] Next, the acquisition unit 11 acquires image information (detection information) of the restricted-traffic area 5 from the multiple cameras 3 (step ST12 in FIG. 4).

[0057] Next, the processing unit 12 determines whether or not an obstacle 8 exists within the traffic-restricted area 5 (step ST13 in FIG. 4 ). The processing unit 12 determines whether or not an obstacle 8 exists within the traffic-restricted area 5 based on image information of the traffic-restricted area 5 captured by the multiple cameras 3. More specifically, the processing unit 12 calculates position information of the obstacle 8 based on the position information of each of the multiple cameras 3 and the position information of the obstacle 8 in the image information, and determines whether or not the obstacle 8 exists within the traffic-restricted area 5. The obstacle 8 is an object whose information is not included in the map information (global map) of the facility 6 stored in the memory unit 14. The processing unit 12 determines whether or not an obstacle 8 exists within the traffic-restricted area 5.

[0058] If no obstacle 8 is present in the restricted passage area 5 (YES in step ST13 in FIG. 4), the processing unit 12 determines that the restricted passage area 5 is passable (step ST14 in FIG. 4).

[0059] On the other hand, if an obstacle 8 is present in the restricted passage area 5 (NO in step ST13 of FIG. 4), the processing unit 12 calculates the congestion degree C Ｒ Calculate the congestion degree C Ｒ The processing unit 12 determines whether the robot 2 can pass or not based on the congestion degree C Ｒ is the threshold T Ｈ It is determined whether the congestion degree C is equal to or greater than the threshold (step ST15 in FIG. 4). Ｒ is the threshold T Ｈ If the congestion degree C is equal to or greater than the threshold (YES in ST15 of FIG. 4), the processing unit 12 determines that the robot 2 is not allowed to pass through the restricted passage area 5 (ST16 of FIG. 4). Ｒ is the threshold T Ｈ If the difference is less than 0 (NO in step ST15 in FIG. 4), the processing unit 12 determines that the robot 2 is allowed to pass through the restricted passage area 5 (ST14 in FIG. 4).

[0060] More specifically, the congestion degree C Ｒ can be expressed by the following formula (1): Ｒ= M / S (1) S is the area of ​​the restricted-access area 5. M is the number of obstacles 8 in the restricted-access area 5. M is a positive integer. M is calculated based on image information within the restricted-access area 5. In the first embodiment, M is the number of people. For example, assuming that the width of a person is 60 cm, the threshold T Ｈ 0.5 [people / m ２ ].

[0061] In the explanatory diagram of Figure 5, there are three obstacles 8 in the restricted area 5. Therefore, M is 3. If the area S of the restricted area 5 is 15 m ２ In this case, the congestion degree C Ｒ is 0.2 [person / m ２ In this case, the congestion level C Ｒ is the threshold T Ｈ , the processing unit 12 determines that the robot 2 is allowed to pass through the restricted passage area 5.

[0062] In addition, congestion level C Ｒ is calculated at predetermined time intervals (for example, every 10 minutes). As a result, the processing unit 12 calculates the congestion degree C Ｒ Based on this, it can be determined whether the robot 2 is allowed to pass.

[0063] Returning to FIG. 2, the robot guidance system 1 transmits a passage permission / prohibition response signal to the robot 2 based on the result of the determination as to whether or not the robot 2 is permitted to pass through the restricted passage area 5 (step ST6 in FIG. 2).

[0064] The robot 2 performs a predetermined operation based on the received pass-through response signal (step ST7 in FIG. 2 ). If the determination result of the passage-restricted area 5 indicates pass-through, the robot 2 passes through the passage-restricted area 5. On the other hand, if the determination result of the passage-restricted area 5 indicates impassability, the robot 2, for example, retransmits a pass-through request signal to the robot guidance system 1. The robot 2 may be configured to repeat the retransmission of the pass-through request signal a predetermined number of times or for a predetermined period of time, and travel through the passage-restricted area 5 after the congestion has cleared. Note that if the determination result of the passage-restricted area 5 indicates impassability, the robot 2 may search for an alternative route to the destination and autonomously travel to the destination via the alternative route.

[0065] (7) Effects In the robot guidance system 1 according to the first embodiment, the congestion degree C of the obstacles 8 calculated based on the detection information detected by the multiple cameras 3 Ｒ Based on this, the robot 2 is able to determine whether it is permitted to pass through the restricted area 5, thereby enabling the robot 2 to avoid congestion that actually occurs. This allows the robot 2 to move efficiently within the facility 6.

[0066] Furthermore, in the robot guidance system 1 according to the first embodiment, the manager Q1 can set an area where congestion is expected as a restricted-access area 5 by operating the information terminal 4 and inputting area setting information for setting the restricted-access area 5 (see FIG. 1).

[0067] Furthermore, in the robot guidance system 1 according to the first embodiment, when the robot 2 moves close to one of two or more restricted passage areas 5, a passage permission request signal for that restricted passage area 5 is transmitted from the robot 2 to the robot guidance system 1. This allows for efficient processing of determining whether or not the robot 2 can pass through only the restricted passage area 5 that is closest to the robot 2 out of the multiple restricted passage areas 5.

[0068] In the robot guidance system 1 according to the first embodiment, the congestion degree C Ｒ and threshold T Ｈ By the simple process of comparing the above, it is possible to determine whether the robot 2 is permitted to pass (see FIG. 2).

[0069] In the robot guidance system 1 according to the first embodiment, the processing unit 12 calculates the congestion degree C Ｒ (See equation (1)). As a result, the processing unit 12 calculates the congestion degree C calculated at each predetermined time at the time when the passage permission request signal is received from the robot 2. Ｒ It is possible to determine whether the robot 2 can pass through depending on the above.

[0070] Second Embodiment Next, a robot guidance system according to a second embodiment of the present disclosure will be described. The same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again.

[0071] In the first embodiment, the restricted passage area 5 is set by the manager Q1 operating the information terminal 4. In contrast, in the second embodiment, the restricted passage area 5 is set automatically, which is different from the first embodiment.

[0072] In the second embodiment, the processing unit 12 performs an automatic setting process to automatically set the restricted-access area 5. The automatic setting process for the restricted-access area 5 will be described below with reference to FIGS. 6 and 7. The automatic setting process is performed by the processing unit 21 at the timing of initial setting. The automatic setting process may be performed before the robot 2 starts autonomously traveling along the passage 7 following the travel route. For example, the automatic setting process is performed at the timing of step ST1 shown in the flowchart of FIG. 2.

[0073] First, the processing unit 12 generates position information of an obstacle 8 present in an aisle 7 within the facility 6 (step ST31 in FIG. 6 ). More specifically, the processing unit 12 acquires image information of the aisle 7 within the facility 6 captured by the multiple cameras 3. Then, the processing unit 12 calculates the position information of the obstacle 8 based on the position information of each of the multiple cameras 3 and the position information of the obstacle 8 in the image information of the aisle 7. The obstacle 8 is an object whose information is not included in the map information (global map) of the facility 6 stored in the memory unit 14.

[0074] In the explanatory diagram of FIG. 7 , the facility 6 has a first entrance 6A and a second entrance 6B. Two structures 10 are provided within the facility 6. More specifically, the first structure 10A and the second structure 10B each have a rectangular shape in a plan view. The first structure 10A has a smaller installation area than the second structure 10B. The first structure 10A is, for example, an elevator. The second structure 10B is, for example, a conference room.

[0075] 7, a first passage 7A, a second passage 7B, a third passage 7C, and a fourth passage 7D are provided within the facility 6. Hereinafter, the first passages 7A to the fourth passages 7D may be collectively referred to simply as the passages 7. More specifically, the first passage 7A and the second passage 7B lead to a first entrance / exit 6A of the facility 6. The first passage 7A and the second passage 7B are separated by a first structure 10A. The first passage 7A and the second passage 7B lead to the space between the first structure 10A and the second structure 10B.

[0076] A travel direction X of the passage 7 and a width direction Y of the passage 7 are defined on a plane parallel to the floor of the passage 7. The width direction Y of the passage 7 is a direction perpendicular to the travel direction X of the passage 7. The first passage 7A is partitioned by a wall 9 within the facility 6 and a wall 9 of the first structure 10A. The wall 9 within the facility 6 and the wall 9 of the first structure 10A face each other in the width direction Y. The second passage 7B is partitioned by a wall 9 within the facility 6 and a wall 9 of the first structure 10A. The wall 9 within the facility 6 and the wall 9 of the first structure 10A face each other in the width direction Y. The first passage 7A is narrower than the second passage 7B.

[0077] The third passage 7C and the fourth passage 7D are connected to the space between the first structure 10A and the second structure 10B. The third passage 7C and the fourth passage 7D are separated by the second structure 10B. The third passage 7C and the fourth passage 7D are connected to the second entrance / exit 6B of the facility 6. The third passage 7C is partitioned by a wall 9 within the facility 6 and the second structure 10B. The wall 9 within the facility 6 and the second structure 10B face each other at the third passage 7C. The fourth passage 7D is partitioned by a wall 9 within the facility 6 and the second structure 10B. The wall 9 within the facility 6 and the second structure 10B face each other at the fourth passage 7D. The third passage 7C is narrower than the fourth passage 7D.

[0078] A first obstacle 8A exists in the first passage 7A. A second obstacle 8B exists in the second passage 7B. In the second embodiment, the first obstacle 8A and the second obstacle 8B may be collectively referred to simply as obstacles 8.

[0079] Next, the processing unit 12 calculates the length between the obstacle 8 and the wall 9 of the passage 7 in the width direction Y based on the information about the obstacle 8 and the map information about the facility 6 (step ST32 in FIG. 6 ). More specifically, the processing unit 12 calculates the length W1 between the first obstacle 8A and the wall 9 of the facility 6 in the width direction Y of the first passage 7A (see FIG. 7 ). The processing unit 12 also calculates the length W2 between the first obstacle 8A and the wall 9 of the first structure 10A in the width direction Y of the first passage 7A (see FIG. 7 ). In the first passage 7A, the wall 9 of the facility 6 and the wall 9 of the first structure 10A correspond to the "passage boundary" as defined in this disclosure. The lengths W1 and W2 correspond to the "first length" as defined in this disclosure.

[0080] The processing unit 12 also calculates a length W3 between the second obstacle 8B and the wall 9 of the first structure 10A in the width direction Y of the second passage 7B (see FIG. 7). The processing unit 12 also calculates a length W4 between the second obstacle 8B and the wall 9 of the facility 6 in the width direction Y of the second passage 7B (see FIG. 7). In the second passage 7B, the wall 9 of the first structure 10A and the wall 9 of the facility 6 correspond to the "passage boundary" as defined in this disclosure. The lengths W3 and W4 also correspond to the "first length" as defined in this disclosure.

[0081] Next, the processing unit 12 compares the length from the obstacle 8 to the wall 9 of the passage 7 with the width R1 of the robot 2 (step ST33 in FIG. 6 ). The width R1 of the robot 2 is pre-stored in the storage unit 14 of the robot guidance system 1. The width R1 of the robot 2 is also referred to as the footprint. Here, it is assumed that the following relationships hold between the lengths W1 to W4 shown in FIG. 7 and the width R1 of the robot: W1<R1 (2) W2<R1 (3) W3<R1 (4) W4>R1 (5) If the length between the obstacle 8 and the wall 9 of the passage 7 is smaller than the width of the robot 2 (YES in step ST33 in FIG. 6 ), the processing unit 12 sets the area between the obstacle 8 and the wall 9 of the passage 7 as the restricted passage area 5 in the passage 7 (step ST34 in FIG. 6 ). More specifically, a restricted passage area 5A is set in the first passage 7A (see FIG. 7 ). In the first passage 7A, from equation (2), the length W1 between the first obstacle 8A and the wall 9 of the facility 6 is smaller than the width R1 of the robot 2. Furthermore, from equation (3), the length W2 between the first obstacle 8A and the wall 9 of the first structure 10A is also smaller than the width R1 of the robot 2. For this reason, the robot 2 cannot pass through the first passage 7A. Therefore, the processing unit 12 sets the area between the first obstacle 8A and the wall 9 of the facility 6 and the area between the first obstacle 8A and the wall 9 of the first structure 10A in the width direction Y of the first passage 7A as the restricted-passage area 5A.

[0082] 7 , the first structure 10A has a rectangular shape in plan view, and the rectangle has four vertices P1, P2, P3, and P4. Each vertex is the intersection of two perpendicular sides. The start and end of the restricted-traffic area 5A in the direction of travel X of the first passage 7A are set at positions corresponding to the two vertices P1 and P2 of the first structure 10A on the first passage 7A side.

[0083] Furthermore, a restricted-access area 5B is set in the second passage 7B (see FIG. 7 ). In the second passage 7B, according to equation (4), the length W3 between the second obstacle 8B and the wall 9 of the first structure 10A is smaller than the width R1 of the robot 2. Furthermore, according to equation (5), the length W4 between the second obstacle 8B and the wall 9 of the facility 6 is larger than the width R1 of the robot 2. Therefore, in the second passage 7B, the robot 2 cannot pass between the second obstacle 8B and the wall 9 of the first structure 10A, but can pass between the second obstacle 8B and the wall 9 of the facility 6. Therefore, the processing unit 12 sets the restricted-access area 5B to the area between the virtual line including the second obstacle 8B and the wall 9 of the first structure 10A in the width direction Y of the second passage 7B. The start and end of the restricted passage area 5B in the travel direction X of the second passage 7B are set at positions corresponding to two vertices P3 and P4 of the first structure 10A on the second passage 7B side.

[0084] On the other hand, if the distance between the obstacle 8 and the wall 9 of the passage 7 is greater than the width R1 of the robot 2 (NO in step ST33 in FIG. 6 ), the processing unit 12 does not set a restricted passage area 5 in the passage 7 (step ST35 in FIG. 6 ). More specifically, in the second passage 7B, from equation (5), the length W4 between the second obstacle 8B and the wall 9 of the facility 6 is greater than the width R1 of the robot 2. Therefore, the processing unit 12 does not include the area between the second obstacle 8B and the wall 9 of the facility 6 in the restricted passage area 5B in the second passage 7B. This is because, in this case, the robot 2 can pass between the second obstacle 8B and the wall 9 of the facility 6 in the second passage 7B, and therefore there is no need to set a restricted passage area 5.

[0085] Therefore, according to the robot guidance system of the second embodiment, the restricted passage areas 5 are automatically set, so that the time required for the manager Q1 to set the restricted passage areas 5 can be reduced compared to the first embodiment. In addition, it is possible to prevent the manager Q1 from forgetting to set the restricted passage areas 5.

[0086] Third Embodiment Next, a robot guidance system according to a third embodiment of the present disclosure will be described. The same components as those in the first embodiment will be denoted by the same reference numerals and will not be described again.

[0087] In the robot guidance system of the first embodiment, the processing unit 12 calculates the congestion degree C of the restricted passage area 5. Ｒ is the threshold T Ｈ If the difference exceeds , it is determined that the robot 2 is not allowed to pass through the restricted passage area 5 (see ST16 in FIG. 4).

[0088] In contrast, in the robot guidance system of the third embodiment, the congestion degree C Ｒ is the threshold T Ｈ If the above is the case (YES in step ST15 in FIG. 8), an additional determination process is performed based on the information about the obstacle 8 and the map information about the facility 6, which is different from the first embodiment.

[0089] The process of determining whether or not a restricted passage area 5 is added will be described below with reference to FIGS. 8 and 9. FIG.

[0090] In the explanatory diagram of FIG. 9 , the passage 7 is partitioned by a first wall 9A and a second wall 9B of the facility 6. The first wall 9A and the second wall 9B of the facility 6 face each other. The restricted passage area 5 is defined in the area between the first wall 9A and the second wall 9B of the facility 6 so as to overlap the passage 7. The direction of travel X of the restricted passage area 5 coincides with the direction of travel X of the passage 7. The width direction Y of the restricted passage area 5 coincides with the width direction Y of the passage 7. As shown in FIG. 9 , the restricted passage area 5 includes a first obstacle 8A, a second obstacle 8B, a third obstacle 8C, a fourth obstacle 8D, a fifth obstacle 8E, and a sixth obstacle 8F. In the third embodiment, the six obstacles 8A to 8F may be collectively referred to simply as obstacles 8.

[0091] In the additional determination process, the processing unit 12 calculates a first distance L1 between the obstacle 8 in the width direction Y of the traffic restricted area 5 and the boundary of the traffic restricted area 5 (step ST16 in FIG. 8 ). In the present disclosure, the "boundary of the traffic restricted area 5" refers to a physical boundary. As shown in FIG. 9 , the boundary of the traffic restricted area 5 corresponds to the first wall 9A and the second wall 9B of the facility 6. Therefore, two first distances L1 between the obstacle 8 in the width direction Y of the traffic restricted area 5 and the boundary of the traffic restricted area 5 can be defined.

[0092] More specifically, the first distance L1 is calculated as follows: The processing unit 12 calculates the first distance L1 between the first obstacle 8A and the first wall 9A in the width direction Y of the traffic restricted area 5 (see FIG. 9 ). The processing unit 12 calculates the first distance L1 between the first obstacle 8A and the second wall 9B in the width direction Y of the traffic restricted area 5 (see FIG. 9 ).

[0093] The processing unit 12 also calculates a first distance L1 between the second obstacle 8B and the first wall 9A in the width direction Y of the passage restricted area 5 (see FIG. 9 ). The processing unit 12 also calculates a first distance L1 between the second obstacle 8B and the second wall 9B in the width direction Y of the passage restricted area 5 (see FIG. 9 ).

[0094] The processing unit 12 also calculates a first distance L1 between the third obstacle 8C and the second wall 9B in the width direction Y of the passage restricted area 5. The processing unit 12 also calculates a first distance L1 between the fourth obstacle 8D and the first wall 9A in the width direction Y of the passage restricted area 5 (see FIG. 9 ).

[0095] The processing unit 12 also calculates a first distance L1 between the fifth obstacle 8E and the first wall 9A in the width direction Y of the passage restricted area 5 (see FIG. 9 ). The processing unit 12 also calculates a first distance L1 between the fifth obstacle 8E and the second wall 9B in the width direction Y of the passage restricted area 5 (see FIG. 9 ).

[0096] The processing unit 12 also calculates a first distance L1 between the sixth obstacle 8F and the first wall 9A in the width direction Y of the passage restricted area 5 (see FIG. 9 ). The processing unit 12 also calculates a first distance L1 between the sixth obstacle 8F and the second wall 9B in the width direction Y of the passage restricted area 5 (see FIG. 9 ).

[0097] Furthermore, in step ST16 of Fig. 8 , if there are multiple obstacles 8 in the width direction Y of the traffic-restricted area 5, the processing unit 12 calculates a second distance L2 between the multiple obstacles 8 in the width direction Y. More specifically, as shown in Fig. 9 , a third obstacle 8C and a fourth obstacle 8D are present in the width direction Y of the traffic-restricted area 5. Therefore, the processing unit 12 calculates the second distance L2 between the third obstacle 8C and the fourth obstacle 8D in the width direction Y.

[0098] Next, the processing unit 12 compares the first distance L1 with the width R1 of the robot 2 (step ST17 in FIG. 8).

[0099] If the first distance L1 is greater than the width R1 of the robot 2, the processing unit 12 determines that the robot 2 is permitted to pass through the passage-restricted area 5 (step ST18 in FIG. 8 ). If the first distance L1 is less than the width R1 of the robot 2, the processing unit 12 determines that the robot 2 is not permitted to pass through the passage-restricted area 5 (step ST19 in FIG. 8 ).

[0100] 9 , in the width direction Y of the passage restricted area 5, the first distance L1 between the first obstacle 8A and the second wall 9B is smaller than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 cannot pass between the first obstacle 8A and the second wall 9B in the passage restricted area 5. In contrast, in the width direction Y of the passage restricted area 5, the first distance L1 between the first obstacle 8A and the first wall 9A is larger than the width R1 of the robot 2. The processing unit 12 determines that the robot 2 can pass between the first obstacle 8A and the first wall 9A in the passage restricted area 5.

[0101] 9 , the first distance L1 between the second obstacle 8B and the first wall 9A in the width direction Y of the passage restricted area 5 is smaller than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 cannot pass between the second obstacle 8B and the first wall 9A in the passage restricted area 5. In contrast, the first distance L1 between the second obstacle 8B and the second wall 9B in the width direction Y of the passage restricted area 5 is larger than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 can pass between the second obstacle 8B and the second wall 9B in the passage restricted area 5.

[0102] 9 , in the width direction Y of the passage-restricted area 5, the first distance L1 between the third obstacle 8C and the second wall 9B is smaller than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 cannot pass between the third obstacle 8C and the second wall 9B in the passage-restricted area 5. Furthermore, the first distance L1 between the fourth obstacle 8D and the first wall 9A is also smaller than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 cannot pass between the fourth obstacle 8D and the first wall 9A in the passage-restricted area 5.

[0103] Furthermore, a third obstacle 8C and a fourth obstacle 8D are present in the width direction Y of the passage-restricted area 5. In this case, the processing unit 12 compares the second distance L2 between the multiple obstacles 8 in the width direction Y with the width R1 of the robot 2. As shown in Fig. 9 , the second distance L2 between the third obstacle 8C and the fourth obstacle 8D in the width direction Y of the passage-restricted area 5 is greater than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 can pass between the third obstacle 8C and the fourth obstacle 8D in the passage-restricted area 5.

[0104] 9 , the first distance L1 between the fifth obstacle 8E and the first wall 9A in the width direction Y of the passage restricted area 5 is greater than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 can pass between the fifth obstacle 8E and the first wall 9A in the width direction Y of the passage restricted area 5. The first distance L1 between the fifth obstacle 8E and the second wall 9B in the width direction Y of the passage restricted area 5 is also greater than the width R1 of the robot 2. Therefore, the processing unit 12 determines that the robot 2 can pass between the fifth obstacle 8E and the second wall 9B in the width direction Y of the passage restricted area 5. However, because the first distance L1 between the fifth obstacle 8E and the second wall 9B is greater than the first distance L1 between the fifth obstacle 8E and the first wall 9A, from the viewpoint of stability, it is preferable that the robot 2 pass through the path between the fifth obstacle 8E and the second wall 9B.

[0105] 9 , in the width direction Y of the passage restricted area 5, the first distance L1 between the sixth obstacle 8F and the first wall 9A is greater than the width R1 of the robot 2. Therefore, it is determined that the robot 2 can pass between the sixth obstacle 8F and the first wall 9A in the width direction Y of the passage restricted area 5. Furthermore, in the width direction Y of the passage restricted area 5, the first distance L1 between the sixth obstacle 8F and the second wall 9B is also greater than the width R1 of the robot 2. Therefore, it is determined that the robot 2 can pass between the sixth obstacle 8F and the second wall 9B in the width direction Y of the passage restricted area 5. However, because the first distance L1 between the sixth obstacle 8F and the first wall 9A is longer than the first distance L1 between the sixth obstacle 8F and the second wall 9B, from the standpoint of stability, it is preferable that the robot 2 pass through the path between the sixth obstacle 8F and the first wall 9A.

[0106] Therefore, according to the third embodiment, even if the restricted passage area 5 is congested, if there is a gap in the width direction Y through which the robot 2 can pass, it can be determined that the restricted passage area 5 is passable.

[0107] (Modifications) The above embodiment is merely one of various embodiments of the present disclosure, and various modifications can be made to the above embodiment depending on the design and the like as long as the object of the present disclosure can be achieved.

[0108] In the robot guidance system of the above embodiment, the processing unit 12 may perform an automatic update process to automatically update two or more set restricted passage areas 5 .

[0109] The automatic update process for the restricted passage area 5 according to the modified example will be described below with reference to Figures 10 and 11. The automatic update process is performed by the processing unit 21, for example, at regular time intervals.

[0110] In the automatic update process, the processing unit 21 updates the congestion degree C for each of the two or more traffic-restricted areas 5 at predetermined time intervals. Ｒ 11 shows the congestion degree C of one traffic restricted area 5. Ｒ 11 is a graph showing an example of a change over time in the congestion degree C calculated every 10 minutes, for example. Ｒ The figure shows an example of the change over time in the congestion degree C at time t1. Ｒ is 0.3 [person / m ２ ]. Congestion degree C at time t2 Ｒ is 0.6 [person / m ２ ]. Congestion degree C at time t3 Ｒ is 0.7 [persons / m ２ ]. Congestion degree C at time t4 Ｒ is 0.4 [person / m ２ ]. Congestion degree C at time t5 Ｒ is 0.2 [person / m ２ ]. Congestion degree C at time t6 Ｒ is 0.3 [person / m ２ ].

[0111] Then, the processing unit 21 calculates the congestion degree C Ｒ is the first threshold T Ｈ１ The congestion degree C is calculated by determining whether the congestion degree C is equal to or greater than the threshold value C. Ｒ is the first threshold T Ｈ１ The number of times n that the first threshold T is equal to or greater than the first threshold T is counted (step ST22 in FIG. 10). Hereinafter, N will also be referred to as the number of determinations. n is an integer equal to or greater than 0. More specifically, Ｈ１ 0.5 [people / m ２] and the number of judgments N is set to 6 (t1 to t6). In this case, in FIG. 11, the congestion degree C at time t2 is Ｒ (0.6 [person / m ２ ]) and the congestion degree C at time t3 Ｒ (0.7 [person / m ２ ]) is the first threshold T Ｈ１ That's all. Therefore, the number of times n is 2.

[0112] Next, the processing unit 21 determines the congestion degree C Ｒ is the first threshold T Ｈ１ The number of times n is equal to or greater than the second threshold T Ｈ２ It is determined whether the second threshold value T Ｈ２ Set to 3.

[0113] The processing unit 21 determines the congestion degree C Ｒ is the first threshold T Ｈ１ The number of times n is equal to or greater than the second threshold T Ｈ２ If so, the processing unit 21 maintains the setting of the traffic restricted area 5 (step ST24 in FIG. 10 ). More specifically, if the congestion in the traffic restricted area 5 continues for a certain period of time (for example, for a period of more than half the measurement period), the processing unit 21 determines that there is a high need for traffic restrictions in the traffic restricted area 5, and maintains the setting of the traffic restricted area 5.

[0114] The processing unit 21 determines the congestion degree C Ｒ is the first threshold T Ｈ１ The number of times n is equal to or greater than the second threshold T Ｈ２ If the result is equal to or less than the predetermined value, the processing unit 21 cancels the setting of the traffic restricted area 5 (step ST25 in FIG. 10 ). When multiple traffic restricted areas 5 are set, if congestion is less than expected, time will be wasted processing the request for passage permission for the traffic restricted area 5. For this reason, if the congestion in the traffic restricted area 5 has not continued for a predetermined period (for example, more than half the measurement period), the processing unit 21 determines that there is little need for traffic restrictions in that traffic restricted area 5 and cancels the setting of the traffic restricted area 5.

[0115] In this modification, the restricted-traffic areas 5 are automatically updated at regular intervals, and unnecessary processing can be reduced by canceling the setting of areas that are less likely to require restrictions on traffic among the multiple restricted-traffic areas 5. This allows for efficient processing in the robot guidance system.

[0116] (Summary) The above-described embodiments and the like disclose the following aspects.

[0117] The robot guidance system (1) of the first aspect includes an acquisition unit (11), a processing unit (12), and a communication unit (13). The acquisition unit (11) acquires detection information detected by a sensor (3). The detection information is information for detecting obstacles (8) that hinder the passage of the robot (2) within a facility (6) in which the robot (2) travels autonomously. The processing unit (12) calculates a congestion degree (C ) that indicates the degree of congestion of obstacles (8) in a restricted-access area (5) within the facility (6) based on the detection information. Ｒ ) and calculate the congestion degree (C Ｒ The communication unit (13) communicates with the robot (2). When the processing unit (12) receives a passage permission request signal from the robot (2) requesting permission to pass through the passage-restricted area (5), the processing unit (12) determines whether the robot (2) is allowed to pass through based on the congestion degree (C Ｒ The processing unit (12) judges whether the robot (2) is permitted to pass based on the information (14). The processing unit (12) transmits a passability response signal to the robot (2) in response to whether the robot (2) is permitted to pass.

[0118] According to this aspect, the degree of congestion (C Ｒ ), the robot (2) can avoid congestion that actually occurs, thereby enabling the robot (2) to move efficiently within the facility (6).

[0119] The robot guidance system (1) of the second aspect is the same as the first aspect, but further includes a setting information receiving unit (4). The setting information receiving unit (4) receives input of area setting information for setting a restricted-access area (5). The processing unit (12) performs area setting processing for setting the restricted-access area (5). In the area setting processing, the restricted-access area (5) is set based on the area setting information received by the setting information receiving unit (4) and map information of the facility (6).

[0120] According to this aspect, the manager (Q1) can set an area where congestion is expected as a restricted-access area (5).

[0121] In the robot guidance system (1) of the third aspect, in the first aspect, the processing unit (12) performs an automatic setting process to automatically set a restricted-access area (5). In the automatic setting process, a first length (W1, W2, W3, W4) between an obstacle (8) in a width direction (Y) of the passage (7) and a boundary (9) of the passage (7) is calculated based on the detection information and map information of the facility (6). If the first length (W1, W2, W3, W4) is smaller than the width (R1) of the robot (2), the area between the obstacle (8) and the boundary (9) of the passage (7) is set as the restricted-access area (5).

[0122] According to this aspect, it is possible to reduce the time required for the administrator (Q1) to set the restricted access area (5), and it is possible to prevent the administrator (Q1) from forgetting to set the restricted access area (5).

[0123] In the robot guidance system (1) of the fourth aspect, in the second or third aspect, there are two or more restricted-access areas (5). The processing unit (12) performs an automatic update process for automatically updating the restricted-access areas (5). In the automatic update process, a congestion degree (C) is calculated for each of the two or more restricted-access areas (5) at predetermined time intervals. Ｒ ) is calculated, and the congestion degree (C Ｒ ) is the first threshold (T Ｈ１ ) or more is determined multiple times (N). Ｒ ) is the first threshold (T Ｈ１ ) is equal to or greater than the second threshold (TＨ２ ) or less, the setting of the restricted passage area (5) is cancelled.

[0124] According to this aspect, by canceling the setting of areas that are less necessary among the multiple restricted access areas (5), it is possible to reduce unnecessary processing, thereby realizing efficient processing.

[0125] In a robot guidance system (1) of a fifth aspect, in any one of the first to fourth aspects, there are two or more restricted passage areas (5). When the robot (2) moves close to any one of the two or more restricted passage areas (5), the robot (2) transmits a request signal for permission to pass through the restricted passage area (5) to the robot guidance system (1). When the processing unit (12) receives the request signal for permission to pass through, the processing unit (12) calculates the congestion degree (C Ｒ ) and determines whether the robot (2) can pass through.

[0126] According to this aspect, an efficient process can be realized in which, among a plurality of restricted-access areas (5), only the restricted-access areas (5) closest to the robot (2) are judged as passable or not.

[0127] In the robot guidance system (1) of the sixth aspect, in any one of the first to fifth aspects, the processing unit (12) calculates the congestion degree (C Ｒ The processing unit (12) calculates the congestion degree (C Ｒ ) and determines whether the robot (2) can pass through.

[0128] According to this aspect, the congestion degree (C Ｒ ) and it can be determined whether the robot (2) can pass through.

[0129] In the robot guidance system (1) of the seventh aspect, in any one of the first to sixth aspects, the processing unit (12) calculates the congestion degree (C Ｒ ) is the threshold (T Ｈ The processing unit (12) determines whether the congestion degree (C Ｒ ) is the threshold (TＨ ) or more, it is determined that the robot (2) is not allowed to pass through the restricted area (5). Ｒ ) is the threshold (T Ｈ ), it is determined that the robot (2) is permitted to pass through the restricted area (5).

[0130] According to this aspect, the congestion degree (C Ｒ ) and threshold (T Ｈ ) and the robot (2) can determine whether it is permitted to pass through.

[0131] In the robot guidance system (1) of the eighth aspect, in the seventh aspect, the processing unit (12) calculates the congestion degree (C Ｒ ) is the threshold (T Ｈ ), an additional determination process is performed based on the detection information and map information of the facility (6). In the additional determination process, a first distance (L1) between the obstacle (8A-8F) in the width direction (Y) of the restricted passage area (5) and the boundary of the restricted passage area (5) is calculated. If the first distance (L1) is greater than the width (R1) of the robot (2), it is determined that the robot (2) can pass through the restricted passage area (5). If the first distance (L1) is less than the width (R1) of the robot (2), it is determined that the robot (2) cannot pass through the restricted passage area (5).

[0132] According to this aspect, even if the restricted access area (5) is congested, if there is a gap in the width direction (Y) through which the robot (2) can pass, it can be determined that the restricted access area (5) is passable.

[0133] In another aspect, when multiple obstacles (8C, 8D) are present in the width direction (Y) of the restricted-access area (5), a second distance (L2) between the multiple obstacles (8C, 8D) in the width direction (Y) is calculated. If the second distance (L2) is greater than the width (R1) of the robot (2), it is determined that the robot (2) can pass through the restricted-access area (5). If the second distance (L2) is less than the width (R1) of the robot (2), it is determined that the robot (2) cannot pass through the restricted-access area (5).

[0134] The robot (2) of the ninth aspect is a robot that moves autonomously within a facility (6). The robot (2) communicates with a robot guidance system (1) that includes an acquisition unit (11), a processing unit (12), and a communication unit (13). The acquisition unit (11) acquires detection information detected by a sensor (3). The detection information is information for detecting an obstacle (8) that hinders the passage of the robot (2). The processing unit (12) calculates a congestion degree (C) that indicates the degree of congestion of obstacles (8) in a restricted-access area (5) within the facility (6) based on the detection information. Ｒ ) and calculate the congestion degree (C Ｒ The communication unit (13) communicates with the robot (2). The robot (2) transmits a passage permission request signal requesting permission to pass through the restricted passage area (5) to the robot guidance system (1). The robot (2) determines the congestion degree (C) of the restricted passage area (5) in the robot guidance system (1). Ｒ The robot (2) receives a passage permission / prohibition response signal that responds with whether or not the robot (2) can pass, determined based on the passage permission / prohibition response signal. The robot (2) performs a predetermined operation based on the passage permission / prohibition response signal.

[0135] The control method of the tenth aspect is a control method for a robot guidance system (1). The robot guidance system (1) includes an acquisition unit (11), a processing unit (12), and a communication unit (13). The acquisition unit (11) acquires detection information detected by a sensor (3). The detection information is information for detecting an obstacle (8) that obstructs the passage of the robot (2) within a facility (6) in which the robot (2) travels autonomously. The processing unit (12) calculates a congestion degree (C ) that indicates the degree of congestion of obstacles (8) in a restricted-access area (5) within the facility (6) based on the detection information. Ｒ ) and calculate the congestion degree (C Ｒ ) and determines whether the robot (2) is permitted to pass. The communication unit (13) communicates with the robot (2). The control method includes a receiving step (ST4), a determining step (ST5), and a transmitting step (ST6). In the receiving step (ST4), a passage permission request signal requesting permission to pass through the passage-restricted area (5) is received from the robot (2). In the determining step (ST5), a passage permission request signal is received from the robot (2) requesting permission to pass through the passage-restricted area (5). Ｒ In a transmission step (ST6), a passage permission / prohibition response signal is transmitted to the robot (2) in response to whether the robot (2) is permitted to pass.

[0136] A program according to an eleventh aspect is a program for causing one or more processors of a computer system to execute the control method according to the tenth aspect.

[0137] The configurations according to the second to eighth aspects are not essential for the robot guidance system (1) and can be omitted as appropriate.

[0138] REFERENCE SIGNS LIST 1 Robot guidance system 2 Robot 3 Camera (sensor) 4 Information terminal (setting information receiving unit) 5 Restricted passage area 6 Facility 7 Passage 8 Obstacle 9 Wall 11 Acquisition unit 12 Processing unit 13 Communication unit 14 Memory unit X Travel direction Y Width direction L1 First distance L2 Second distance C Ｒ Congestion level T Ｈ Threshold T Ｈ１ First threshold T Ｈ２ Second threshold W1, W2, W3, W4 First length R1 Robot width

Claims

1. A robot guidance system comprising: an acquisition unit that acquires detection information detected by a sensor in order to detect obstacles that may hinder the passage of a robot within a facility in which the robot travels autonomously; a processing unit that calculates a congestion level indicating the degree of congestion of said obstacles in a restricted-access area within the facility based on the detection information, and determines whether the robot can pass based on the congestion level; and a communication unit that communicates with the robot, wherein when the processing unit receives a pass permission request signal from the robot requesting permission to pass through the restricted-access area, the processing unit determines whether the robot can pass based on the congestion level of the restricted-access area, and transmits a pass permission response signal to the robot indicating whether it can pass.

2. A robot guidance system as described in claim 1, further comprising a setting information receiving unit that receives input of area setting information for setting the restricted passage area, wherein the processing unit sets the restricted passage area based on the area setting information received by the setting information receiving unit and map information of the facility.

3. The robot guidance system of claim 1, wherein the processing unit performs an automatic setting process to automatically set the restricted passage area, and in the automatic setting process, calculates a first length between the obstacle in the width direction of the passage and the boundary of the passage based on the detection information and map information of the facility, and if the first length is smaller than the width of the robot, sets the area between the obstacle and the boundary of the passage as the restricted passage area.

4. A robot guidance system as described in claim 2 or 3, wherein there are two or more restricted-access areas, and the processing unit performs an automatic update process to automatically update the settings of the restricted-access areas, and in the automatic update process, calculates the congestion level for each of the two or more restricted-access areas at predetermined time intervals, and determines multiple times whether the congestion level calculated at each predetermined time interval is equal to or greater than a first threshold value, and if the number of times during the multiple determinations that the congestion level is equal to or greater than the first threshold value is equal to or less than a second threshold value, cancels the setting of the restricted-access area.

5. A robot guidance system according to any one of claims 1 to 4, wherein there are two or more restricted-entry areas, and when the robot moves close to one of the two or more restricted-entry areas, it transmits the request signal for permission to pass for that restricted-entry area to the robot guidance system, and when the processing unit receives the request signal for permission to pass, it determines whether the robot is allowed to pass based on the degree of congestion.

6. A robot guidance system as described in any one of claims 1 to 5, wherein the processing unit calculates the congestion level at predetermined time intervals, and determines whether the robot is allowed to pass based on the congestion level at the time of receiving the passage permission request signal from the robot.

7. A robot guidance system according to any one of claims 1 to 6, wherein the processing unit, when receiving the passage permission request signal for the restricted-access area from the robot, determines whether the congestion level is equal to or higher than a threshold, determines that the robot is not permitted to pass through the restricted-access area if the congestion level is equal to or higher than the threshold, and determines that the robot is permitted to pass through the restricted-access area if the congestion level is below the threshold.

8. The robot guidance system of claim 7, wherein the processing unit, if the congestion level is equal to or greater than the threshold, performs additional determination processing based on the detection information and map information of the facility, and in the additional determination processing, calculates a first distance between the obstacle in the width direction of the restricted passage area and the boundary of the restricted passage area, and, if the first distance is greater than the width of the robot, determines that the robot can pass through the restricted passage area, and if the first distance is smaller than the width of the robot, determines that the robot cannot pass through the restricted passage area.

9. A robot that moves autonomously within a facility, the robot communicating with a robot guidance system comprising: an acquisition unit that acquires detection information detected by a sensor to detect obstacles that may hinder the robot's passage; a processing unit that calculates a congestion level indicating the degree of congestion of said obstacles in a restricted-access area within the facility based on the detection information and determines whether the robot can pass based on the congestion level; and a communication unit that communicates with the robot; the robot transmitting a pass permission request signal to the robot guidance system requesting permission to pass through the restricted-access area; the robot guidance system receiving a pass permission response signal that replies whether the robot can pass, the pass permission response signal having determined whether the robot can pass based on the congestion level of the restricted-access area; and performing a predetermined operation based on the pass permission response signal.

10. A control method for a robot guidance system comprising: an acquisition unit that acquires detection information detected by a sensor to detect obstacles that may hinder the passage of a robot within a facility in which the robot travels autonomously; a processing unit that calculates a congestion level indicating the degree of congestion of the obstacles in a restricted-access area within the facility based on the detection information and determines whether the robot can pass based on the congestion level; and a communication unit that communicates with the robot, the control method comprising: a receiving step of receiving a pass permission request signal from the robot requesting permission to pass through the restricted-access area; a determining step of determining whether the robot can pass based on the congestion level of the restricted-access area; and a transmitting step of transmitting a pass permission response signal to the robot in response to whether it can pass.

11. A program for causing one or more processors of a computer system to execute the control method according to claim 10.

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