Robot management system, robot, and management server

Abstract

Provided are: a robot management system capable of appropriately managing the operation of a plurality of robots; a robot; and a management server. The robot management system has: a plurality of robots that move autonomously; and a management server that manages the plurality of robots. The robots each have: a detection unit that detects environment information about the environment around the host robot; and a control unit that transmits the environment information to the management server. The management server has: a reception unit that receives the environment information from the robots; and a selection unit that selects a robot, which is to respond to an event occurring around a robot that transmitted the environment information, from among the plurality of robots on the basis of the environment information.

Description

Robot management system, robot, and management server

[0001] The present disclosure relates to a robot management system, a robot, and a management server.

[0002] Conventionally, robots that autonomously move within a facility, such as security robots, cleaning robots, guiding robots, and transport robots, have been developed. In particular, in recent years, a robot management system that uses a plurality of robots within the same facility has been developed.

[0003] Patent Document 1 discloses a control device that determines, at a predetermined timing, a capability indicating the capabilities executable by a first robot at that timing, compares the capabilities required for a task executed by the first robot with the capabilities of the first robot, and generates a help list indicating the capabilities required for the execution of the task. This control device instructs a second robot having capabilities that satisfy the capabilities shown in the help list to execute a task in cooperation with the first robot.

[0004] Patent Document 2 discloses a mobile robot control system including a plurality of mobile robots and a server device that communicates between the mobile robots. This mobile robot control system searches for a movement route based on map information and gives a movement instruction to the mobile robot based on the movement route. The mobile robot control system determines, based on the state and route information of the mobile robot, whether interference may occur between the movements of the plurality of mobile robots, and if interference may occur, changes the route information so as to avoid interference.

[0005] International Publication No. 2019 / 58694, Patent No. 7113343

[0006] In a robot management system, it is required to appropriately manage the operations of a plurality of robots.

[0007] The purpose of the robot management system, the robot, and the management server is to provide a robot management system, a robot, and a management server that can appropriately manage the operations of a plurality of robots.

[0008] The robot management system according to this embodiment is a robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving environmental information from the robots and a selection unit for selecting a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information, based on the environmental information.

[0009] In this robot management system, it is preferable for the control unit to transmit environmental information to the management server when its own robot is unable to respond to the aforementioned event.

[0010] In this robot management system, it is preferable that the control unit transmits environmental information to the management server regardless of whether the robot itself is capable of responding to events occurring around it, and that the selection unit selects a robot to respond to the events occurring around the robot that transmitted the environmental information, regardless of whether the robot itself is capable of responding to those events.

[0011] In this robot management system, it is preferable for the control unit to determine whether the robot is capable of responding to events occurring around it, and if it determines that the robot is not capable of responding to the event, to decide whether to continue the operation it is currently performing or wait until another robot arrives, depending on the event.

[0012] In this robot management system, the management server further has a memory unit that stores the functions that each of the multiple robots can perform, and the selection unit preferably selects a robot to respond to an event occurring around the robot that transmitted environmental information, based on the functions that each of the multiple robots can perform.

[0013] The robot according to this embodiment is an autonomously moving robot and includes a detection unit that detects environmental information around itself, and a control unit that transmits environmental information to a management server that manages a plurality of autonomously moving robots, including itself, and selects a robot from among the plurality of robots to respond to an event indicated in the environmental information, so that the server can select a robot from among the plurality of robots to respond to an event occurring around itself, based on the environmental information.

[0014] Another embodiment of the robot is an autonomously moving robot that includes a detection unit for detecting environmental information around itself, and a control unit for notifying one or more other robots having different functions from itself that an event indicated in the environmental information is occurring around itself.

[0015] Another embodiment of the robot is a management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a selection unit that, based on the environmental information, selects a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information.

[0016] Another embodiment of the robot management system is a robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving environmental information from the robots and a management unit for creating or modifying work processes for robots among the plurality of robots that are different from the robot that transmitted the environmental information, based on the environmental information.

[0017] In this robot management system, the detection unit preferably detects events that affect the robot's work process as environmental information.

[0018] In this robot management system, the detection unit detects abnormalities occurring around the robot or congestion around the robot as environmental information, and the management unit preferably creates or modifies the work process for a robot different from the one that transmitted the environmental information, depending on the area where the abnormality occurred or the area is congested.

[0019] In this robot management system, it is preferable for the management unit to create or modify the work process of a robot different from the one that transmitted the environmental information, so as to bypass the area where an anomaly is occurring or the area is congested, prioritize work outside that area, or shorten part of the work in that area.

[0020] In this robot management system, it is preferable for the management unit to determine whether or not to change the work process of a target robot, depending on the combination of environmental information and the type or task of the target robot that is different from the robot that transmitted the environmental information.

[0021] Another embodiment of the robot is an autonomously moving robot, comprising: a detection unit that detects environmental information around itself; and a control unit that transmits environmental information detected by the detection unit that affects the work processes of other robots to a management server that manages a plurality of autonomously moving robots, including itself, so that the management server can create or modify the work processes of other robots.

[0022] Another embodiment of the robot is an autonomously moving robot, comprising a detection unit that detects environmental information around itself, and a control unit that transmits the environmental information detected by the detection unit, which affects the work processes of other robots, to one or more other robots.

[0023] Another embodiment of the robot is a robot that moves autonomously based on a work process and includes an acquisition unit that acquires environmental information about the surroundings of other robots detected by other robots, and a management unit that, when it acquires environmental information that affects the work process of its own robot, creates or modifies the work process based on that environmental information.

[0024] Another embodiment of the management server provides a management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a management unit that, based on the environmental information, creates or modifies the work process of a robot among the plurality of robots that is different from the robot that transmitted the environmental information.

[0025] The robot management system, robots, and management server enable the proper management of the operation of multiple robots.

[0026] The object and effect of the present invention will be recognized and obtained, in particular, by using the components and combinations indicated in the claims. Both the general description above and the detailed description below are illustrative and descriptive, and do not limit the present invention as described in the claims.

[0027] This is a diagram showing the overall system configuration of the robot management system 1. This is a diagram showing an example of the data structure of the correspondence table 163. This is a diagram showing an example of the data structure of the robot table 243. This is a flowchart illustrating an example of the operation of the detection process, which is a schematic diagram for explaining how to set the movement path. This is a sequence showing an example of the operation of the correspondence process. This is a diagram showing an example of the data structure of the correspondence table 242. This is a sequence showing an example of the operation of the update process. This is a flowchart showing an example of the operation of the management process.

[0028] The robot management system according to this embodiment will be described below with reference to the diagrams.

[0029] Figure 1 is a diagram showing the overall system configuration of a robot management system 1 according to an embodiment. As shown in Figure 1, the robot management system 1 has a plurality of robots 10 and a management server 20, etc. The robot management system 1 is a system for security, cleaning, or management of facilities such as companies, condominiums, and commercial facilities. The robot management system 1 controls and manages a plurality of robots 10. Each robot 10 moves autonomously (travels) within the facility and performs predetermined tasks. The robots 10 include security robots that perform security within the facility, cleaning robots that perform cleaning within the facility, guidance robots that provide guidance to facility users, and transport robots that transport items such as AEDs within the facility. Each robot 10 moves along a predetermined route according to a predetermined schedule, moves to a predetermined point (location), and performs predetermined tasks. The management server 20 is located in a control console or the like, installed inside or outside the facility, and controls or manages the plurality of robots 10. Each robot 10 and the management server 20 are interconnected via a communication network N such as an intranet or the Internet. The robots 10 are connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network.

[0030] The robot 10 includes a position sensor 11, a drive unit 12, an input unit 13, an output unit 14, a first communication unit 15, a first storage unit 16, and a first processing unit 17, etc.

[0031] The position sensor 11 is a sensor for acquiring the current position of the robot 10. The position sensor 11 includes one or more laser sensors (LiDAR). Each laser sensor is provided on the front, side, back, and / or top surface of the robot 10. Each laser sensor includes an irradiator that emits light such as near-infrared light, visible light, or ultraviolet light in a predetermined direction, and a receiver that receives the reflected light. The direction in which each irradiator emits light is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each laser sensor measures the distance to objects present around the robot 10 based on the time from when the irradiator emits light until the receiver receives the reflected light. The position sensor 11 outputs a position detection signal to the first processing unit 17 at a predetermined period, which includes a plurality of combinations of each direction in which each laser sensor emitted light and the measured distance. The position sensor 11 may include a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System). The receiver receives navigation signals transmitted from multiple navigation satellites and outputs them to the first processing unit 17.

[0032] The drive unit 12 includes a motor for rotating the tires of the robot 10, a motor for changing the direction of the tires, and / or a motor for changing the angle of the arms of the robot 10. The drive unit 12 receives a drive signal from the first processing unit 17, rotates according to the received drive signal, and drives the tires and / or arms.

[0033] The input unit 13 includes one or more sensors for detecting the surrounding conditions of the robot 10. The input unit 13 includes one or more laser sensors, similar to the laser sensor of the position sensor 11, for example. Each laser sensor outputs a detection signal to the first processing unit 17 at a predetermined period, which includes a plurality of combinations of the direction in which light was irradiated and the measured distance. The input unit 13 may also include one or more visible light cameras provided on the front, side, back and / or top surface of the robot 10. The imaging direction of each visible light camera is set to have various azimuth and elevation angles with respect to the direction of movement of the robot 10. Each visible light camera has, for example, a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter. Each visible light camera sequentially generates a visible light image based on visible light at a predetermined frame period and outputs it to the first processing unit 17. The input unit 13 may also include a thermal imaging camera to acquire thermal images, either in place of or in addition to the visible light cameras. A thermal imaging camera includes, for example, two-dimensionally arranged sensors that detect two types of wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies the electrical signals output from the sensors and performs analog-to-digital (A / D) conversion. The thermal imaging camera generates a thermal image based on a temperature value determined by the ratio of the two types of radiation energies and outputs it to the first processing unit 17 at a predetermined frame period. The input unit 13 may include a microphone. The microphone has an A / D converter and generates an audio signal based on the detected sound and outputs it to the first processing unit 17 at a predetermined period. The input unit 13 may also include a temperature sensor. The temperature sensor detects the temperature around the robot 10 and outputs a temperature signal indicating the detected temperature to the first processing unit 17 at a predetermined period. The robot 10 uses the sensor data and image data information output from the various sensors in the input unit 13 to determine its own movement path and to perform predetermined tasks.Furthermore, since this information is also useful for the movement and work of other robots 10, it is not limited to its own use but is also utilized by other robots 10. As described later, based on the output information, it detects events occurring around its own robot as environmental information, transmits the detected environmental information to the management server 20 via the first communication unit 15, and the management server 20 aggregates the environmental information acquired from each robot 10.

[0034] The output unit 14 includes an LED that lights up or turns off according to instructions from the first processing unit 17. The output unit 14 also includes a display including a liquid crystal, organic EL, etc., and an interface circuit that outputs image data to the display, and may display various information such as images and text according to instructions from the first processing unit 17. The output unit 14 also includes a speaker and an interface circuit that outputs audio data to the speaker, and may output audio according to instructions from the first processing unit 17. If the robot 10 is a cleaning robot or a transport robot, the robot 10 does not need to have an output unit 14.

[0035] The first communication unit 15 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. Alternatively, the first communication unit 15 has, for example, a communication interface circuit compliant with the W-CDMA or LTE method, and is connected to the communication network N via a communication network such as a base station and a mobile communication network. The first communication unit 15 outputs data received from the communication network N to the first processing unit 17 and transmits data input from the first processing unit 17 to the communication network N.

[0036] The first storage unit 16 includes semiconductor memory such as ROM and RAM, a magnetic disk or optical disk drive such as a CD-ROM or DVD-ROM, and its recording medium. The first storage unit 16 stores a computer program and various data for controlling the robot 10, and inputs and outputs this information to and from the first processing unit 17. The computer program may be installed in the first storage unit 16 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored on a recording medium owned by a predetermined server and installed via a network.

[0037] The first storage unit 16 also stores map information 161, schedule information 162, and correspondence table 163 as data. Map information 161 shows the shape of passages or rooms within the facility, the location of fixed obstacles such as equipment or partitions, etc. Map information 161 shows a graph structure that includes information on nodes and edges set in the passages within the facility. Map information 161 is set by the management server 20. Schedule information 162 shows the work schedule of the robot 10. For each of one or more tasks, the work schedule is set to departure time, departure position, work start time, work position, work content, work end time, return time, return position, and movement route, etc. Schedule information 162 is set by the management server 20. The departure position and return position are set to predetermined home positions, etc. The method for setting the movement route will be described later. Details of the correspondence table 163 will be described later.

[0038] The first processing unit 17 includes a processor such as a CPU or MPU, memory such as ROM or RAM, and peripheral circuits, and performs various signal processing for the robot 10. The first processing unit 17 includes a detection unit 171 and a control unit 172, etc., which are implemented as functional modules of a program that runs on the processor. A DSP, LSI, ASIC, FPGA, etc. may be used as the first processing unit 17.

[0039] The first processing unit 17 receives schedule information for the robot 10 from the management server 20 via the first communication unit 15, and drives the drive unit 12 according to the received schedule information to move the robot 10. The first processing unit 17 moves along the path shown in the map information 161. Periodically, the first processing unit 17 acquires a position detection signal or navigation signal from the position sensor 11 to detect the current position and direction of the robot 10. The first processing unit 17 determines the current position and direction from the combination of the direction in which each laser sensor irradiated light and the distance to the object, and the positions of the path, room, obstacles, etc. shown in the map information 161. Alternatively, the first processing unit 17 determines the current position and direction by obtaining the latitude, longitude, and altitude from the acquired navigation signal. When the robot 10 arrives at the work position shown in the schedule information, the first processing unit 17 executes the work related to the work content shown in the schedule information.

[0040] The management server 20 includes an operation unit 21, a display unit 22, a second communication unit 23, a second storage unit 24, and a second processing unit 25, etc.

[0041] The operation unit 21 includes an input device such as a touch panel or keyboard, and an interface circuit that acquires signals from the input device. It accepts operations from the user and outputs a signal corresponding to the accepted operation to the second processing unit 25. The display unit 22 includes a display including a liquid crystal or organic EL display, and an interface circuit that outputs image data to the display. It displays various information such as images and text according to instructions from the second processing unit 25.

[0042] The second communication unit 23 has a communication interface circuit compliant with, for example, TCP / IP, and is connected to the communication network N. Alternatively, the second communication unit 23 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals via a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. The second communication unit 23 outputs data received from the communication network N to the second processing unit 25 and transmits data input from the second processing unit 25 to the communication network N.

[0043] The second storage unit 24 includes semiconductor memories such as ROM and RAM, magnetic disks, or optical disk drives such as CD-ROM and DVD-ROM and their recording media. The second storage unit 24 stores a computer program for controlling the management server 20 and various data, and inputs and outputs this information to and from the second processing unit 25. The computer program may be installed in the second storage unit 24 using a known setup program or the like from a computer-readable portable recording medium such as CD-ROM or DVD-ROM. The computer program may be stored in a recording medium owned by a predetermined server and installed via a network. Also, the second storage unit 24 stores, as data, map information 241, correspondence table 242, robot table 243, etc. The map information 241 and the correspondence table 242 are the same information as the map information 161 and the correspondence table 163 stored by the robot 10 respectively. Details of the correspondence table 242 and the robot table 243 will be described later.

[0044] The second processing unit 25 includes a processor such as a CPU or MPU, memories such as ROM and RAM, and its peripheral circuits, and executes various processes of the management server 20. The second processing unit 25 includes a reception unit 251, a selection unit 252, a management unit 253, etc. implemented as functional modules of a program operating on the processor. Note that a DSP, LSI, ASIC, FPGA, etc. may be used as the second processing unit 25.

[0045] The second processing unit 25 receives, using the operation unit 21, the setting of the work schedule of the robot 10 from the controller, and transmits schedule information indicating the received work schedule to the robot 10 via the second communication unit 23 and sets it in the robot 10. Also, the second processing unit 25 receives, via the second communication unit 23, environment information indicating an event occurring in the facility from the robot 10, and based on the received environment information, selects the robot 10 corresponding to the event occurring in the facility and makes it correspond to the event.

[0046] FIG. 2A is a diagram showing an example of the data structure of the correspondence table 163. Since the data structure of the correspondence table 242 stored in the management server 20 is the same as the data structure of the correspondence table 163, only the data structure of the correspondence table 163 will be described as a representative. As shown in FIG. 2A, in the correspondence table 163, for each combination of the event indicated by the environment information and the type of the robot 10, the characteristics of each robot 10 for each event are set.

[0047] The environment information indicates an event occurring in the facility. The events indicated by the environment information include the occurrence of a fire or an abnormality such as the presence of a suspicious person, the occurrence of floor contamination, the occurrence of congestion, and the fact that a person has fallen. The environment information is detected by each robot 10 included in the robot management system 1 and notified to the management server 20. The types of the robot 10 include a security robot, a cleaning robot, a guiding robot, a transport robot, and the like.

[0048] The characteristics of each robot 10 for each event include whether each robot 10 can handle each event. For example, a security robot can handle the occurrence of an abnormality, but other robots cannot. Also, a cleaning robot can handle the occurrence of floor contamination, but other robots cannot. Also, a guiding robot that guides the users of the facility can handle the occurrence of congestion, but other robots cannot. A transport robot that transports an AED or the like can handle the fact that a person has fallen, but other robots cannot.

[0049] The characteristics of the robot 10 that are unable to respond to each event include whether or not it needs to wait at the location where the event was detected, and if it needs to wait, it further includes the processing that should be performed at that location. For example, a guidance robot having an output unit 14 is set to wait at the location where an abnormality is detected and notify people in the vicinity to leave that location. On the other hand, a cleaning robot or transport robot without an output unit 14 is set not to wait at the location where an abnormality is detected. Also, robots other than cleaning robots are set not to wait at the location where dirt on the floor is detected. Also, robots other than guidance robots are set not to wait at the location where congestion is detected. A security robot or guidance robot having an output unit 14 is set to wait at the location where a person has fallen and notify people in the vicinity that an AED is being transported if a person has fallen. On the other hand, a cleaning robot without an output unit 14 is set not to wait at the location where a person has fallen.

[0050] Figure 2B shows an example of the data structure of the robot table 243. As shown in Figure 2B, the robot table 243 contains, for each of the multiple robots 10 owned by the robot management system 1, the identification number (robot ID), type, function, current position, battery level, schedule information, etc., of each robot 10, all of which are associated with each other. The function of each robot 10 is the function that each robot can perform. The identification number, type, and function of each robot 10 are set in the robot management system 1 when each robot 10 is put into use. The current position and battery level of each robot 10 are periodically transmitted from each robot 10 to the management server 20 and updated. The schedule information of each robot 10 is set in the robot table 243 when it is set from the management server 20 to each robot 10.

[0051] Figure 3 is a schematic diagram illustrating the method for setting movement paths. As described above, the map information 161 and 241 stored in each robot 10 and the management server 20 show a graph structure containing information about nodes and edges set in the passages within the facility. Figure 3 shows the current position (home position) S of a particular robot 10 and the work position E of a particular task performed by that particular robot 10. In Figure 3, each white circle represents a node, and the line connecting two white circles represents an edge. Nodes are set at any position on the passage, such as branching points, corners, and locations where predetermined equipment is installed. For each pair of mutually adjacent nodes, a path connecting the nodes is set as an edge. Each edge is assigned a weight (cost value) corresponding to the length of the edge (the distance between the nodes located at both ends of each edge). The map information 161 and 241 shows information about nodes and edges, such as the position of each node and the weight (cost value) of each edge.

[0052] When the controller sets the task to be performed, the start time, the work location, and the end time for each robot 10, the management server 20 uses the graph structure shown in the map information 241 to identify the entire route from the home position S to the work location E for each robot 10. The management server 20 uses known graph search techniques, such as Dijkstra's algorithm or the A* (A-star) search algorithm, to identify the route from the home position S to the work location E for each robot 10 that has the minimum sum of cost values ​​(total distance). In the example shown in Figure 3, among the multiple routes R1 to R3, route R2, which has the minimum total distance, is identified. The management server 20 uses the identified route as the travel route and calculates the travel time for each robot 10's travel route. From the calculated travel time, work start time, and work end time, the management server 20 calculates the departure time and return time for the robot 10. The management server 20 sets the robot 10 and the robot table 243 as schedule information, including the work content, work start time, work location, and work end time set by the controller, the specified movement route, and the calculated departure and return times. The movement route may be determined by the robot 10 instead of the management server 20.

[0053] Figure 4 is a flowchart illustrating an example of the operation of the detection process by the robot 10. This flowchart is executed mainly by the first processing unit 17 in cooperation with each element of the robot 10, based on a program pre-stored in the first storage unit 16. The detection process is executed by each robot 10 of the robot management system 1 when each robot 10 is moving or performing a task according to the schedule information 162. The detection process may also be executed when each robot 10 is waiting in its home position.

[0054] First, the detection unit 171 detects environmental information around the robot (step S101). Based on the information output from the input unit 13, the detection unit 171 detects events occurring around the robot as environmental information.

[0055] For example, the detection unit 171 detects the occurrence of an abnormality (fire) based on the temperature signal received from the input unit 13. The detection unit 171 determines that a fire has occurred if the temperature indicated in the temperature signal is above a temperature threshold that is considered to indicate the occurrence of a fire.

[0056] Furthermore, the detection unit 171 detects the occurrence of an anomaly (presence of a suspicious person) based on the detection signal received from the input unit 13. The detection unit 171 determines whether or not there are objects other than those shown in the map information 161 around the robot, based on the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and the positions of passages, rooms, obstacles, etc., shown in the map information 161. The detection unit 171 identifies the size of the object from the combination of the direction in which each laser sensor included in the detection signal emitted light and the measured distance, and determines that a person is located around the robot if the identified size is considered to be the size of a person. The detection unit 171 tracks the identified person and detects that person as a suspicious person if the person stays in the same position for a predetermined time or longer, or if the person moves back and forth within a predetermined range. The detection unit 171 may also detect the occurrence of an anomaly (presence of a suspicious person) based on the visible light image or thermal image received from the input unit 13. The detection unit 171 detects change regions in sequentially acquired images by inter-frame difference processing or background difference processing, and identifies the change region as a person region if it has a predetermined size that is considered to be a person. The robot 10 pre-sets in the first storage unit 16 an equation or table that shows the relationship between the position and size of the change region in the image, the distance from the robot 10, and the direction of the input unit 13 camera relative to the imaging direction. The detection unit 171 refers to that equation or table to determine the distance to the object corresponding to the change region and the direction of that object. The detection unit 171 tracks the corresponding person region between each sequentially acquired image, and detects the person in that person region as a suspicious person if the person region stays in the same position for a predetermined time or longer, or if it moves back and forth within a predetermined range.

[0057] Furthermore, the detection unit 171 detects the occurrence of dirt on the floor based on the visible light image received from the input unit 13. The detection unit 171 extracts edge pixels from the visible light image of the floor using a Sobel filter or the like so that the direction of the slope of the brightness change can be determined. The detection unit 171 detects the object region surrounded by the extracted edge pixels by labeling or the like, and determines that the floor is dirty if the detected object region has a predetermined size that is considered to be dirt. The detection unit 171 may also extract pixels that have a different color from the floor color that has been registered in advance from the visible light image of the floor, and detect the region surrounded by the extracted pixels as an object region.

[0058] Furthermore, the detection unit 171 detects the occurrence of congestion based on the detection signal, visible light image, or thermal image received from the input unit 13. The detection unit 171 determines that congestion is occurring if the number of people or areas of people detected based on the detection signal, visible light image, or thermal image is equal to or greater than a predetermined number considered to indicate congestion. The detection unit 171 may also detect the occurrence of congestion based on the sound signal received from the input unit 13. The detection unit 171 analyzes the sound indicated in the sound signal at predetermined intervals and determines that congestion is occurring if the proportion of amplitudes (sound intensity) at frequencies considered to be human voices that are equal to or greater than a predetermined value is equal to or greater than a predetermined proportion.

[0059] Furthermore, the detection unit 171 detects whether a person has fallen based on the detection signal, visible light image, or thermal image received from the input unit 13. The detection unit 171 determines that a person has fallen if it detects a person or area of ​​a person that is considered to be of a size that is considered to be a person that has fallen, based on the detection signal generated for light irradiated towards the floor or the image of the floor that has been captured.

[0060] Next, the control unit 172 determines whether or not an event requiring action has been detected as environmental information (step S102). Events requiring action include the occurrence of an abnormality such as a fire or the presence of a suspicious person, the occurrence of dirt on the floor, congestion, or a person lying down. At least one of these events is pre-set as the event requiring action. If no event requiring action has been detected, the control unit 172 returns to step S101.

[0061] On the other hand, if an event requiring action is detected, the control unit 172 determines whether or not the robot is capable of responding to that event (step S103). The control unit 172 refers to the response table 163 and determines whether or not the type of the robot belongs to a type that can respond to the event indicated in the detected environmental information. If the type of the robot belongs to a type that can respond to that event, the control unit 172 determines that the robot is capable of responding to that event; if the type of the robot does not belong to a type that can respond to that event, the control unit 172 determines that the robot is not capable of responding to that event. In this way, the control unit 172 determines whether or not the robot is capable of responding to an event occurring around it based on the environmental information and the type of the robot, i.e., the functions that the robot can perform. Note that the control unit 172 may also determine whether or not the robot is capable of responding to an event if it is currently performing an action indicated in the schedule information, or if it is scheduled to perform an action indicated in the schedule information within a predetermined time, regardless of the type of the robot. In this way, the control unit 172 may determine whether or not it is capable of responding to an event occurring around it based on the robot's schedule.

[0062] If the robot determines that it can respond to the event, the control unit 172 responds to the event (step S104) and returns to step S101. This enables the robot management system 1 to respond to events occurring at the facility quickly and appropriately.

[0063] If the detected event is a fire, the control unit 172 outputs a predetermined alarm sound from the output unit 14 to notify people in the vicinity of the fire and urges them to evacuate. The control unit 172 also sends a notification signal to the management server 20 via the first communication unit 15 to notify the control operator of the fire. The control unit 172 may also move the robot 10 to the location where the sprinkler activation button is installed and drive the arm to press the sprinkler activation button.

[0064] If the detected event indicates the presence of a suspicious person, the control unit 172 outputs a predetermined alarm sound from the output unit 14 to warn the suspicious person. The control unit 172 also sends a notification signal to the management server 20 via the first communication unit 15 indicating the presence of a suspicious person, and notifies the controller of the presence of a suspicious person. The control unit 172 may also move the robot 10 to track the suspicious person until the controller arrives.

[0065] If the detected event is dirt on the floor, the control unit 172 uses a cleaning device provided on the robot 10 to clean the area of ​​the floor where the dirt is located.

[0066] If the detected event is congestion, the control unit 172 displays a map of the facility on the output unit 14 and outputs voice guidance from the output unit 14 to guide people in the vicinity so that they can move to their destination quickly.

[0067] If the detected event is a person lying down, the control unit 172 outputs voice guidance from the output unit 14 requesting nearby people to help the person who has fallen. Also, if the robot is equipped with an AED, the control unit 172 outputs voice guidance from the output unit 14 requesting that the AED installed on the robot be used if the person who has fallen has stopped heartbeat.

[0068] On the other hand, if the control unit 172 determines that its own robot is not capable of responding to the event, it determines whether any other robots among the robots 10 owned by the robot management system 1 are capable of responding to the event (step S105). For example, the control unit 172 refers to the correspondence table 163 and determines whether there is a type of robot that is capable of responding to the event shown in the detected environmental information. If there is a type of robot that is capable of responding, the control unit 172 determines that the other robot is capable of responding to the event; if there is no type of robot that is capable of responding, it determines that the other robot is not capable of responding to the event. Alternatively, the control unit 172 may refer to the correspondence table 163 to identify a type of robot that is capable of responding to the event and send an inquiry signal to the management server 20 via the first communication unit 15 to ask whether the robot management system 1 has a robot of that type. When the management server 20 receives an inquiry signal from the robot 10 via the second communication unit 23, it refers to the robot table 243, determines whether there is a type of robot that is capable of responding to the received inquiry signal, and sends the determination result to the robot 10 via the second communication unit 23. The control unit 172 receives a determination result from the management server 20 via the first communication unit 15, and determines whether or not there is a robot of a type that can be handled by the robot management system 1 based on the received determination result.

[0069] If the control unit 172 determines that another robot is capable of responding to the event, it decides to send environmental information to the management server (step S106) and proceeds to step S108. On the other hand, if the control unit 172 determines that another robot is not capable of responding to the event, it decides not to send environmental information to the management server (step S107) and proceeds to step S108.

[0070] Next, the control unit 172 determines whether the robot needs to wait for the event (step S108). The control unit 172 refers to the correspondence table 163 and determines whether the type of the robot belongs to a type that should wait at the location where the event indicated in the environmental information is detected. If the type of the robot belongs to a type that should wait at that location, the control unit 172 determines that the robot needs to wait; if the type of the robot does not belong to a type that should wait at that location, the control unit 172 determines that the robot does not need to wait.

[0071] If the control unit 172 determines that the robot needs to wait in response to the event, it places the robot 10 in that position (step S109) and returns to step S101. The control unit 172 also refers to the correspondence table 163 to identify the process that the robot should perform at that position and executes the identified process. For example, the control unit 172 outputs a pre-set voice announcement from the output unit 14. In this way, the robot management system 1 can suppress the occurrence of secondary damage, etc., until the robot 10 corresponding to the detected event arrives.

[0072] On the other hand, if the robot determines that it does not need to wait for the event, the control unit 172 continues the process that is currently running (step S110) and returns to step S101. That is, if the robot 10 is moving according to the schedule information 162, the control unit 172 moves from the position where the event was detected to the work position. Also, if the robot 10 is performing a task according to the schedule information 162, the control unit 172 continues the execution of that task. As a result, the robot management system 1 can have each robot 10 perform tasks efficiently and can suppress delays in the scheduled schedule.

[0073] In this way, the control unit 172 decides whether to continue the operation being performed or wait until another robot arrives, depending on the detected event and the functions that the device can perform. As a result, the robot management system 1 can suppress delays in the scheduled schedule while suppressing the occurrence of secondary damage, etc.

[0074] Figure 5 shows a sequence illustrating an example of the operation of the corresponding processing by the robot management system 1. This sequence is executed mainly by the first processing unit 17 and the second processing unit 25 in cooperation with each element of the robot 10 and the management server 20, based on a program pre-stored in the first storage unit 16 and the second storage unit 24. The corresponding processing is executed when the robot 10 decides to send environmental information to the management server 20 in step S106 of Figure 4.

[0075] First, the control unit 172 of the robot 10 that detected the environmental information transmits the detected environmental information to the management server 20 via the first communication unit 15 (step S201). By transmitting the environmental information to the management server 20, the control unit 172 causes the management server 20 to select a robot from among the multiple robots 10 owned by the robot management system 1 that will respond to the event occurring around the robot 10 that detected the environmental information, based on the environmental information.

[0076] Next, the receiving unit 251 of the management server 20 receives environmental information from the robot 10 via the second communication unit 23 (step S202).

[0077] Next, the selection unit 252 selects a robot 10 from among the multiple robots 10 owned by the robot management system 1 to respond to the event occurring around the robot 10 that transmitted the environmental information (step S203). The selection unit 252 refers to the correspondence table 242 to identify the type of robot 10 that can respond to the event indicated in the received environmental information. The selection unit 252 also refers to the robot table 243 to extract the identified type of robot 10 from among the multiple robots owned by the robot management system 1. The selection unit 252 refers to the robot table 243 to select the robot 10 that is closest to the robot 10 that transmitted the environmental information from among the extracted robots 10 as the robot 10 to respond to that event. The selection unit 252 may also select the robot 10 with the largest battery level from among the extracted robots 10 as the robot 10 to respond to that event. The selection unit 252 may select from the extracted robots 10 the robot 10 that is not currently performing work or the robot 10 with the longest time until the departure time or start time of the next work to be used to respond to the event. The selection unit 252 may also exclude the robot 10 that transmitted environmental information from the selection target. Alternatively, the selection unit 252 may include the robot 10 that transmitted environmental information in the selection target.

[0078] In this way, the selection unit 252 selects a robot 10 to respond to an event occurring around the robot 10 that transmitted the environmental information, based on the environmental information and the functions that each robot 10 can perform. That is, the selection unit 252 selects a robot 10 to respond to the event indicated in the environmental information from among a plurality of robots 10. As a result, the robot management system 1 can appropriately select a robot 10 that can respond to the detected event.

[0079] Next, the selection unit 252 transmits a request signal to the selected robot 10 via the second communication unit 23, requesting that it respond to the event indicated in the environmental information (step S204). The request signal includes the event indicated in the environmental information and the current position of the robot 10 that detected the event, i.e., the location where the event is occurring. The selection unit 252 may set a movement path from the current position of the selected robot 10 to the current position of the robot 10 that detected the event, based on the map information 241, and include the set movement path in the request signal.

[0080] Next, the control unit 172 of the robot 10, which is the destination of the request signal, receives the request signal from the management server 20 via the first communication unit 15 (step S205).

[0081] If the robot 10, which is the recipient of the request signal, is performing a task, it will interrupt or terminate that task. Next, the control unit 172, which received the request signal, moves to the position specified in the request signal via the movement path specified in the request signal and responds to the event specified in the request signal (step S206). If the request signal does not include a movement path, the control unit 172 sets a movement path from the robot's current position to the position specified in the request signal based on the map information 161. The control unit 172 responds to each event in the same manner as the process in step S104 of Figure 4. With this, the response process is completed.

[0082] Note that steps S103 to S104 in Figure 4 are omitted, and the control unit 172 may transmit environmental information to the management server 20 regardless of whether its own robot is capable of responding to the events occurring around it. In this case, the selection unit 252 selects a robot 10 to respond to the event, regardless of whether the robot 10 that transmitted the environmental information is capable of responding to the event occurring around it. This allows the robot management system 1 to centrally manage the robots 10 to respond to the events that occur on the management server 20. Even if a robot 10 that has detected a particular event is capable of responding to that event, that robot 10 may already have a task assigned to it. In the robot management system 1, the management server 20, which manages the schedule of each robot 10, selects the robot 10 that should respond to the event that has occurred, thereby enabling each robot 10 to perform its task efficiently.

[0083] Furthermore, steps S105 and S107 in Figure 4 may be omitted, and the control unit 172 may transmit environmental information to the management server 20 without determining whether other robots are capable of responding to events occurring around its own robot. This allows the robot management system 1 to centrally manage the robots 10 that should respond to the events that occur, using the management server 20.

[0084] As explained above, the robot management system 1 selects a robot 10 from among multiple robots 10 to respond to an event occurring around a specific robot 10, based on environmental information surrounding that robot 10. This allows the robot management system 1 to appropriately select a robot 10 to respond to an event occurring around a specific robot 10, and to have the robot 10 that detected the environmental information and the selected robot 10 perform tasks appropriate to each robot. Therefore, the robot management system 1 can appropriately manage the operation of multiple robots.

[0085] The robot management system 1 can appropriately select a robot 10 capable of handling a specific event, even if the robot 10 that detects the event is of a type that cannot handle that event. Therefore, the robot management system 1 can respond appropriately to the event without leaving it unattended. In addition, the robot 10 that detects a specific event can instead respond to other events that it can handle, allowing the robot management system 1 to respond efficiently to events occurring within the facility.

[0086] Although preferred embodiments have been described above, the embodiments are not limited to the examples described above. For example, in the robot management system 1, the management server 20 may be omitted, and the robot 10 may select a robot to respond to an event occurring around itself. In that case, the first storage unit 16 of the robot 10 stores the information stored in the second storage unit 24 of the management server 20. The first processing unit 17 of the robot 10 has a selection unit that has the same function as the selection unit 252. Steps S201 to S204 in Figure 5 are omitted, and instead, the selection unit of the robot 10 executes the processing of steps S203 to S204 in Figure 5. That is, the selection unit selects a robot 10 to respond to an event occurring around itself from among the multiple robots that the robot management system 1 has, and sends a request signal to the selected robot 10. In this case as well, the robot management system 1 can appropriately select a robot 10 to respond to an event occurring around a specific robot 10, and can appropriately have the robot 10 that detected the environmental information and the selected robot 10 perform the work.

[0087] Furthermore, in the robot management system 1, if the management server 20 is omitted, the robot 10 may communicate with other robots 10 periodically (for example, every 10 minutes) or irregularly (for example, when environmental information is detected) via an access point to obtain information about the status of other robots 10 (location information, work status (working, standby, etc.), battery level, etc.). Note that the robots 10 to be communicated with may be robots 10 within a predetermined range (for example, within a predetermined distance, within the same area) or robots 10 that have been registered in advance as robots to be linked.

[0088] Furthermore, in the robot management system 1, if the management server 20 is omitted, robot 10 is not limited to selecting a robot 10 to respond to an event occurring around itself, but may also transmit a signal to other robots 10 to notify them of the occurrence of the event. That is, the control unit 172 of robot 10 may notify one or more other robots having different functions from itself that an event indicated in the environmental information is occurring around itself. In that case, the robot 10 that receives the notification may decide on its own whether or not it can respond to the event and respond to the event. At this time, robot 10 may also notify other robots 10 of its own position (the position where the event is occurring), and if the other robots 10 can respond to the event, they may transmit a message to the notifying robot 10 indicating that they can respond. In this case, robot 10 may notify all other robots 10 of the occurrence of the event, rather than a specific robot 10, or it may notify only other robots 10 in the same area.

[0089] Furthermore, in addition to robot management by the management server 20, the robot management system 1 may also perform communication between robots and respond to events. In this case, the management server 20 manages all robots 10 operating within the facility, and also performs communication between robots 10 that can or need to cooperate without going through the management server 20. For example, when a robot detects an event indicated in the environmental information, if other robots 10 exist in the area where the robot is located, these robots 10 may be notified. If no other robots 10 exist in the area, or if there are no robots 10 capable of responding to the event, the management server 20 may be notified.

[0090] In the above embodiment, the detection unit 171 of the robot 10 was described as detecting events occurring around the robot as environmental information based on the information output from the input unit 13, but the embodiment is not limited to this. For example, the robot 10 may use the information output from the input unit 13 as environmental information. In this case, the robot 10 may transmit some (e.g., image data) or all of the information output from the input unit 13 (i.e., environmental information) to the management server 20, and the management server 20 may detect events occurring around the robot 10 based on the received environmental information.

[0091] The second embodiment will be described below. In this embodiment, the second processing unit 25 receives environmental information indicating events occurring within the facility from the robot 10 via the second communication unit 23, and creates or modifies a work process for a robot 10 different from the robot 10 that transmitted the environmental information, based on the received environmental information.

[0092] Figure 6 shows an example of the data structure of the correspondence table 242 in this embodiment. In this embodiment, the correspondence table 163 is omitted. As shown in Figure 6, the correspondence table 242 contains information on whether or not the work process of each robot 10 needs to be changed for each combination of an event shown in the environmental information and the type of robot 10, or for each combination of an event shown in the environmental information and the work performed by the robot 10.

[0093] The events indicated in the environmental information are events that affect the work process of the robot 10, which moves around the facility and performs predetermined tasks, such as the occurrence of a fire or the presence of a suspicious person, and the occurrence of congestion. The environmental information is information that affects the work processes of other robots. However, examples of abnormalities are not limited to these, and any situation in which obstacles or other things hinder the movement or work of the robot 10 may also be considered an abnormality. The tasks performed by the robot 10 include security, cleaning, guidance, and transportation. Security includes standing guard, which monitors the surroundings without moving from a predetermined position, and patrol guard, which monitors while moving within a predetermined range.

[0094] For example, if cleaning, guidance, transport, etc., are performed by robot 10 when an abnormality occurs, secondary damage may occur. Therefore, the cleaning robot, guidance robot, transport robot, and the work processes for cleaning, guidance, and transport are configured to be changed. On the other hand, to ensure that security is carried out as scheduled when an abnormality occurs, the work processes for security robots and each type of security are configured not to be changed. If congestion occurs, the cleaning robot may not be able to clean sufficiently. Therefore, the work processes for cleaning robots and cleaning are configured to be changed. Also, if congestion occurs, if security robots perform patrol security, it may interfere with facility users. Therefore, the work processes for patrol security are configured to be changed. On the other hand, even if congestion occurs, transport robots can transport without any particular problems. Therefore, the work processes for transport robots and transport are configured not to be changed. Also, if congestion occurs, guidance or standing guard security should be actively carried out. Therefore, the work processes for guidance robots, and guidance and standing guard security are configured not to be changed.

[0095] Figure 7 shows a sequence illustrating an example of the operation of the update process by the robot management system 1 according to this embodiment. This sequence is executed mainly by the first processing unit 17 and the second processing unit 25 in cooperation with each element of the robot 10 and the management server 20, based on a program that is pre-stored in the first storage unit 16 and the second storage unit 24. The update process is performed periodically.

[0096] First, the detection unit 171 detects environmental information around the robot (step S301). The detection unit 171 detects environmental information around the robot based on the information output from the input unit 13. The detection unit 171 detects environmental information around the robot in the same manner as the process in step S101 of Figure 4.

[0097] In this way, the detection unit 171 detects abnormalities occurring around the robot or congestion conditions around the robot as environmental information.

[0098] Next, the control unit 172 of the robot 10 that detected the environmental information transmits the detected environmental information to the management server 20 via the first communication unit 15 (step S302). By transmitting the environmental information to the management server 20, the control unit 172 causes the management server 20 to create or modify a work process for a different robot 10 (another robot) from the robot 10 that transmitted the environmental information, among the multiple robots 10 owned by the robot management system 1.

[0099] Next, the receiving unit 251 of the management server 20 receives environmental information from the robot 10 via the second communication unit 23 (step S303).

[0100] Next, the management unit 253 executes a management process (step S304). In the management process, the management unit 253 creates or modifies a work process for a robot 10 that is different from the robot 10 that transmitted the environmental information, among the multiple robots 10 owned by the robot management system 1, based on the environmental information received by the receiving unit 251. Then, the management unit 253 updates the schedule information in the robot table 243 for the robot 10 whose work process or movement path has been modified. Details of the management process will be described later.

[0101] Next, the management unit 253 transmits a request signal to the robot 10, which has updated its schedule information, via the second communication unit 23, requesting that it update its work process (step S305). The request signal includes the schedule information updated in the management process.

[0102] Next, the control unit 172 of the robot 10, which is the destination of the request signal, receives the request signal from the management server 20 via the first communication unit 15 (step S306).

[0103] Next, the control unit 172, upon receiving the request signal, acquires the schedule information contained in the request signal and updates the schedule information 162 stored in the first storage unit 16 with the newly acquired schedule information (step S307). With this, the update process is completed.

[0104] Figure 8 is a flowchart illustrating an example of the operation of the management process by the management server 20. This flowchart is executed mainly by the second processing unit 25 in cooperation with each element of the management server 20, based on a program pre-stored in the second storage unit 24. The management process is executed in step S304 of Figure 7.

[0105] First, the control unit 253 identifies the detection area where environmental information has been detected (step S401). The control unit 253 refers to the robot table 243 to identify the current position of the robot 10 that transmitted the environmental information, and identifies a predetermined area including the identified position as the detection area. The predetermined area is set, for example, to the floor or (pre-divided within the floor) block including the identified position. The predetermined area may also be set to an area within a predetermined distance from the identified position. The predetermined distance may be set, for example, to the width of each corridor in the facility or the average or maximum value of one side of each room.

[0106] The processes in steps S402 to S406 are performed for each robot 10 among the multiple robots 10 owned by the robot management system 1 that is different from the robot 10 that transmitted the environmental information. Hereinafter, the robots 10 owned by the robot management system 1 that are subject to the processes in steps S402 to S406 and are different from the robot 10 that transmitted the environmental information may be referred to as the target robot. Note that the processes in steps S402 to S406 may also be performed for the robot 10 that transmitted the environmental information.

[0107] First, the control unit 253 determines whether or not the target robot will pass through the detection area (step S402). The control unit 253 refers to the robot table 243 to identify the schedule information of the target robot and identifies the tasks currently being performed and the tasks to be performed in the future from among the tasks set in the identified schedule information. If the movement path related to any of the identified tasks is included in the detection area, the control unit 253 determines that the target robot will pass through the detection area. If the movement paths related to all of the identified tasks are not included in the detection area, the control unit 253 determines that the target robot will not pass through the detection area. If the control unit 253 determines that the target robot will not pass through the detection area, it proceeds to step S404 without performing any special processing.

[0108] On the other hand, if the control unit 253 determines that the target robot is passing through the detection area, it sets a travel path for the target robot that bypasses the detection area, that is, bypasses the area where an abnormality is occurring or the area is congested (step S403).

[0109] The management unit 253 uses the graph structure shown in the map information 241 to identify all routes from the departure position to the work position related to the corresponding work, and then identifies the routes that do not pass through the detection area from among all the identified routes. The management unit 253 uses known graph search techniques, such as Dijkstra's algorithm or A* (A-star) search algorithm, to identify the route with the smallest sum of cost values ​​(total distance) among the identified routes. In the example shown in Figure 3, when the schedule information was first set, route R2, which has the smallest total distance among the multiple routes R1 to R3, was identified. If node N2 included in route R2 is included in the detection area, then route R1, which has the smallest total distance among routes R1 and R3 that do not pass through the detection area, is identified as a detour route. If node N2 included in route R2 and node N1 included in route R1 are included in the detection area, then route R3, which does not pass through the detection area, is identified as a detour route. The management unit 253 updates the corresponding movement path in the schedule information of the target robot on the robot table 243 to an alternative path, and calculates the movement time, departure time, and return time based on the updated movement path, and updates the departure time and return time. As a result, the robot management system 1 can prevent the target robot from traveling through areas where abnormalities are occurring or areas that are congested, thus preventing delays in arriving at the work location. Therefore, the robot management system 1 can prevent delays in work at the facility.

[0110] Next, the control unit 253 determines whether or not the target robot will perform an operation that utilizes the detection area (step S404). The control unit 253 refers to the robot table 243 to identify the target robot's schedule information and identifies the operations currently being performed and those to be performed in the future from among the operations set in the identified schedule information. If the work position or movement path related to any of the identified operations is included in the detection area, the control unit 253 determines that the target robot will perform an operation that utilizes the detection area. On the other hand, if the work positions and movement paths related to all of the identified operations are not included in the detection area, the control unit 253 determines that the target robot will not perform an operation that utilizes the detection area. If the control unit 253 determines that the target robot will not perform an operation that utilizes the detection area, it terminates processing for that target robot without performing any further processing.

[0111] On the other hand, if the control unit 253 determines that the target robot will perform an operation that utilizes the detection area, it determines whether the operation of the target robot is subject to change (step S405). The control unit 253 identifies the type of target robot by referring to the robot table 243. The control unit 253 also identifies the schedule information of the target robot and identifies the operations currently being performed and those to be performed in the future from among the operations set in the identified schedule information. The control unit 253 determines that the operation of the target robot is subject to change if the correspondence table 242 is set so that the work process will be changed for the combination of the detected environmental information and the identified type of target robot or any of the identified operations. On the other hand, the control unit 253 determines that the operation of the target robot is not subject to change if the correspondence table 242 is set so that the work process will not be changed for the combination of the detected environmental information and the identified type of target robot or all of the identified operations. If the control unit 253 determines that the operation of the target robot is not subject to change, it terminates processing for that target robot without performing any special processing.

[0112] On the other hand, if the control unit 253 determines that the work of the target robot is subject to change, it creates or changes the work process of the target robot (step S406). The control unit 253 creates or changes the work process of the target robot according to the detection area, i.e., the area where the abnormality is occurring or the area that is congested. The control unit 253 changes the work process of the target robot to prioritize work that does not use the detection area, i.e., work that does not use the area where the abnormality is occurring or the area that is congested (work outside the area where the abnormality is occurring or the area that is congested). In other words, the control unit 253 changes the work process of the target robot to execute work performed outside the detection area first and work performed in the detection area later. Furthermore, the control unit 253 changes the work process of the target robot to execute work that should be performed in the detection area or work that may be performed in the detection area first and work that should not be performed in the detection area later. For example, if congestion occurs in the detection area, the management unit 253 modifies the target robot's work process so that tasks that should be performed in the detection area, such as standing guard, are performed first, and tasks that should not be performed in the detection area, such as patrolling, are performed later. This allows the robot management system 1 to instruct the target robot to perform tasks that should not be performed when an abnormality or congestion occurs only after the abnormality or congestion has been resolved. The management unit 253 may also modify the target robot's work process to shorten some of the tasks performed in the area where the abnormality or congestion is occurring. For example, the management unit 253 may shorten some of the work path or some of the work movements for tasks performed in the detection area. This allows the robot management system 1 to control the target robot so that it does not get in the way in the area where the abnormality or congestion is occurring. The management unit 253 may also delete tasks that have been determined to be subject to change in the schedule information and / or create new tasks that have been pre-set as executable tasks for the detected environmental information. This allows the robot management system 1 to control the target robot so that it does not get in the way in the area where the abnormality or congestion is occurring.The management unit 253 updates the departure time, work start time, work end time, and return time, etc., related to the changed work within the schedule information of the target robot in the robot table 243.

[0113] In this way, the management unit 253 creates or modifies the work process of the target robot based on environmental information. In particular, the management unit 253 determines whether or not to change the work process depending on the combination of environmental information and the type of robot or task. As a result, the robot management system 1 can modify the work process only for tasks that should not be performed when a specific event occurs, without changing the work process for tasks that can be performed even when that event occurs. Therefore, the robot management system 1 can enable each robot 10 to perform tasks appropriately while suppressing a reduction in the work efficiency of each robot 10.

[0114] Once steps S402 to S406 have been executed for all target robots, the management process is terminated.

[0115] Note that steps S402 to S403 in Figure 8 may be omitted. Also, step S404 in Figure 8 may be omitted, and the management unit 253 may create or modify the work process of the target robot regardless of whether the target robot performs work that utilizes the detection area. Also, step S405 in Figure 8 may be omitted, and the management unit 253 may create or modify the work process of the target robot regardless of whether the work of the target robot is subject to modification.

[0116] As described above, the robot management system 1 creates or modifies the work processes of other robots 10 based on environmental information surrounding a specific robot 10. This allows the robot management system 1 to efficiently acquire the status of various locations within the facility from each robot 10 and determine whether each robot 10 should perform work at each location based on the acquired status of each location. Therefore, the robot management system 1 can appropriately manage the operation of multiple robots.

[0117] The robot management system 1 instructs the robots 10 to perform tasks that should not be performed at locations where specific events are occurring, delaying their execution and allowing other tasks to be performed first. Therefore, the robot management system 1 can improve the work efficiency of each robot 10 while ensuring that each robot 10 performs all the tasks it should.

[0118] Although preferred embodiments have been described above, the embodiments are not limited to the examples described above. For example, in the robot management system 1, the management server 20 may be omitted, and the robot 10 may create or modify work processes. In that case, the first storage unit 16 of the robot 10 stores the information stored in the second storage unit 24 of the management server 20. The first processing unit 17 of the robot 10 has a receiving unit and a management unit having the same functions as the receiving unit 251 and the management unit 253, respectively. Steps S302 to S305 in Figure 7 are omitted, and instead, the management unit of the robot 10 executes the processes of steps S303 to S305 in Figure 7. That is, the detection unit 171 of each robot 10 detects environmental information around each robot 10 that may affect the work processes of other robots 10, such as abnormalities or congestion. When the detection unit 171 detects environmental information, the control unit 172 transmits the detected environmental information to one or more other robots 10 of the robot management system 1 via the first communication unit 15 and access point. The receiving unit receives environmental information about the surroundings of other robots 10, detected by other robots 10, from the other robots 10 via the first communication unit 15. When the receiving unit receives environmental information that affects the work process of its own robot, the management unit creates or modifies the work process of its own robot based on that environmental information and updates the schedule information according to that work process. Note that the robots 10 to be communicated with (robots 10 to which environmental information is to be transmitted) may be robots 10 that are within a predetermined range (for example, within a predetermined distance, within the same area) from each robot 10, or robots 10 that have been registered in advance as robots to be coordinated. In this case as well, the robot management system 1 can efficiently acquire the status of various locations within the facility from each robot 10, and based on the acquired status of each location, it can determine whether or not each robot 10 should perform work at each location.

[0119] Furthermore, in addition to robot management by the management server 20, the robot management system 1 may also perform communication between robots and create or modify work processes. For example, if the detection unit 171 of robot 10 detects an abnormality or congestion as environmental information, it may notify other robots 10 if they are in the same area as the robot in question, or notify the management server if no other robots 10 are present.

[0120] In the above embodiment, a detection unit 171 of the robot 10 was described as detecting environmental information based on information output from the input unit 13, but it is not limited to this. For example, the information output from the input unit 13 may be environmental information. In this case, the robot 10 may transmit part (for example, image data) or all of the information output from the input unit 13 (i.e., environmental information) to the management server 20, and the management server 20 may detect events that affect the work process (for example, abnormalities or congestion) based on the received environmental information.

[0121] One embodiment of the robot management system can contribute to solving social issues such as the declining workforce and long working hours. Furthermore, one embodiment of the robot management system can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation."

[0122] 1 Robot management system, 10 Robots, 171 Detection unit, 172 Control unit, 20 Management server, 251 Receiving unit, 252 Selection unit, 253 Management unit

Claims

1. A robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving the environmental information from the robots and a selection unit for selecting a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information, based on the environmental information.

2. The robot management system according to claim 1, wherein the control unit transmits the environmental information to the management server when the robot itself is unable to respond to the event.

3. The robot management system according to claim 1, wherein the control unit transmits the environmental information to the management server regardless of whether the robot itself is capable of responding to events occurring around it, and the selection unit selects a robot to respond to an event regardless of whether the robot that transmitted the environmental information is capable of responding to an event occurring around it.

4. The robot management system according to claim 1, wherein the control unit determines whether the robot is capable of responding to an event occurring around it, and if it determines that the robot is not capable of responding to the event, it determines whether to continue the operation it is currently performing or wait until another robot arrives, depending on the event.

5. The robot management system according to any one of claims 1 to 4, wherein the management server further has a storage unit that stores functions that each of the plurality of robots can perform, and the selection unit selects a robot to respond to an event occurring around the robot that transmitted the environmental information, based on the functions that each of the plurality of robots can perform.

6. A robot that moves autonomously, comprising: a detection unit that detects environmental information around the robot itself; and a control unit that transmits the environmental information to a management server that manages a plurality of autonomously moving robots, including the robot itself, and selects a robot from the plurality of robots to respond to an event indicated in the environmental information, so that the server selects a robot from the plurality of robots to respond to an event occurring around the robot itself, based on the environmental information.

7. A robot that moves autonomously, comprising: a detection unit that detects environmental information around the robot; and a control unit that notifies one or more other robots having different functions from the robot that an event indicated in the environmental information is occurring around the robot.

8. A management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a selection unit that, based on the environmental information, selects a robot from among the plurality of robots that corresponds to an event occurring around the robot that transmitted the environmental information.

9. A robot management system comprising a plurality of autonomously moving robots and a management server for managing the plurality of robots, wherein each robot has a detection unit for detecting environmental information around itself and a control unit for transmitting the environmental information to the management server, and the management server has a receiving unit for receiving the environmental information from the robots and a management unit for creating or modifying work processes for robots among the plurality of robots that are different from the robot that transmitted the environmental information, based on the environmental information.

10. The robot management system according to claim 9, wherein the detection unit detects events that affect the robot's work process as environmental information.

11. The robot management system according to claim 9 or 10, wherein the detection unit detects an abnormality occurring around the robot or congestion around the robot as environmental information, and the management unit creates or modifies a work process for a robot different from the robot that transmitted the environmental information, according to the area where the abnormality occurred or the area that is congested.

12. The robot management system according to claim 11, wherein the management unit creates or modifies the work process of a robot different from the robot that transmitted the environmental information, so as to bypass the area where the abnormality occurred or the area is congested, prioritize work outside the area, or shorten part of the work in the area.

13. The robot management system according to claim 9 or 10, wherein the management unit determines whether or not to change the work process of the target robot according to the combination of the environmental information and a different type of target robot or task from the robot that transmitted the environmental information.

14. A robot that moves autonomously, comprising: a detection unit that detects environmental information around the robot; and a control unit that transmits the environmental information detected by the detection unit, which affects the work processes of other robots, to a management server that manages a plurality of autonomously moving robots, including the robot itself, so that the management server can create or modify the work processes of other robots based on the environmental information.

15. A robot that moves autonomously, comprising: a detection unit that detects environmental information around the robot itself; and a control unit that transmits the environmental information detected by the detection unit, which affects the work processes of other robots, to one or more other robots.

16. A robot that moves autonomously based on a work process, comprising: a receiving unit that receives environmental information about the surroundings of another robot detected by that other robot; and a management unit that, when it receives the environmental information that affects the work process of its own robot, creates or modifies the work process based on the environmental information.

17. A management server for managing a plurality of autonomously moving robots, comprising: a receiving unit that receives environmental information about the surroundings of each robot from each of the plurality of robots; and a management unit that, based on the environmental information, creates or modifies the work process of a robot among the plurality of robots that is different from the robot that transmitted the environmental information.

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