WO2018123032A1 - Driving control system for mobility assistance robot - Google Patents

Driving control system for mobility assistance robot Download PDF

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Publication number
WO2018123032A1
WO2018123032A1 PCT/JP2016/089142 JP2016089142W WO2018123032A1 WO 2018123032 A1 WO2018123032 A1 WO 2018123032A1 JP 2016089142 W JP2016089142 W JP 2016089142W WO 2018123032 A1 WO2018123032 A1 WO 2018123032A1
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WO
WIPO (PCT)
Prior art keywords
user
robot
movement support
support robot
operation management
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Application number
PCT/JP2016/089142
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French (fr)
Japanese (ja)
Inventor
裕介 松下
大島　章
宏泰 城吉
柄川　索
裕一 腰原
Original Assignee
株式会社Ｄｏｏｇ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｄｏｏｇ filed Critical 株式会社Ｄｏｏｇ
Priority to PCT/JP2016/089142 priority Critical patent/WO2018123032A1/en
Publication of WO2018123032A1 publication Critical patent/WO2018123032A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services

Definitions

  • the present invention relates to an operation management system for a movement support robot, and more particularly to a technique for improving user convenience.
  • Patent Document 1 described above, after the user gets into an electric wheelchair stopped at a certain station, the electric wheelchair starts automatic driving by inputting a destination station.
  • the wheelchair robot moves autonomously within the service range while interacting with the user in a state where the user is on board.
  • these conventional mobility support robots are rented at zoos or amusement parks where there are a large number of visitors, it cannot be secured when the user temporarily gets off at the animal exhibition hall, etc. There was a possibility that a handicapped person might lose the means of transportation in the facility.
  • the present invention has been made in view of the above situation, and an object thereof is to provide an operation management system for a movement support robot that realizes improvement of user convenience and the like.
  • An operation management system for a movement support robot is provided for a user to ride, travels within a predetermined operation area with battery power, and has a plurality of movement support robots each having a unique ID, and these movements
  • a movement support robot operation management system including a management device that manages the operation of the support robot, wherein the movement support robot includes a mobile terminal owned by a user and an in-vehicle device that communicates with the management device
  • automatic travel is possible based on an instruction from at least one of the mobile terminal, the in-vehicle device, and the management device, and the management device is based on a boarding request from the mobile terminal or the in-vehicle device.
  • a secure mode in which the travel support robot is not accepted a boarding request from another user. Rutotomoni, to allow for the selection of once getting off and complete the getting-off by the user.
  • the association between the user and the ID of the movement support robot is performed via a boarding card possessed by the user or a two-dimensional code displayed on the screen of the portable terminal.
  • the management device transmits information including an ID of a travel-supporting robot that can be boarded as boarding candidate information to the mobile terminal, and the mobile terminal transmits the boarding candidate information.
  • the user is presented with at least one mobility support robot that can be boarded, and the boarding request signal is transmitted to the management device when a selection operation is performed by the user.
  • the boarding candidate information includes a distance between a travel support robot that can be boarded and a user, and the portable terminal selects a travel support robot that can be boarded from the user when a plurality of the boarding candidate information exists. Display in ascending order.
  • the management device when the movement support robot in the secure mode is located away from the user, the management device outputs an incoming command to the movement support robot toward the user.
  • the movement support robot has a follow-up travel mode in which the travel support robot travels following the leader or the lead travel support robot.
  • the movement support robot includes a control unit used for a user's control, and the in-vehicle device sets the movement support robot to an automatic operation mode based on a user operation or a command from a control device. And switching between user and piloting modes.
  • a charging facility is installed in the operation area, and the movement support robot charges at least one of the management device and the in-vehicle device when the remaining amount of the battery decreases below a predetermined value.
  • the battery has a charging mode in which the battery is charged by automatically running to the charging facility.
  • the movement support robot includes a sensor that detects an obstacle present in the traveling direction, and performs a collision avoidance operation based on a detection result of the sensor.
  • the movement support robot in use is not used by other users when getting off the vehicle temporarily.
  • FIG. 1 is a schematic configuration diagram of a movement support robot operation management system according to the embodiment.
  • FIG. 2 is a perspective view of the movement support robot according to the embodiment.
  • a zoo 1 has a large number of animal exhibition buildings 4 arranged on a vast site 3 partitioned by a fence 2, and a main gate 5 and a back gate 6 for users to enter and leave. Is provided.
  • FIG. 1 shows a hippo house 4a, a bear house 4b, a rhino house 4c, an elephant house 4d, a horse house 4e, a lion house 4f, an ostrich house 4g, and a giraffe house 4h as a part of the animal display house 4.
  • the zoo 1 includes a movement support robot operation management system (hereinafter simply referred to as an operation management system) including an electric autonomous traveling type movement support robot 10, an operation management server 31 (management device), a charging station 32, an empty vehicle area 33, and the like. Is written).
  • an operation management system including an electric autonomous traveling type movement support robot 10, an operation management server 31 (management device), a charging station 32, an empty vehicle area 33, and the like. Is written).
  • the movement support robot 10 includes a vehicle body 11 made of a steel plate, FRP, and the like, a pair of left and right drive wheels 12 provided at the rear lower part of the vehicle body 11, and a pair of left and right caster wheels 13, 2 provided at the front lower part of the vehicle body 11.
  • the main components are a seat 14 on which a named user 7 can sit, a support column 15 erected at the front end of the vehicle body 11, and an in-vehicle device 17 fixed to the upper end of the support column 15.
  • the movement support robot 10 on which the user 7 is boarded is indicated as a boarded movement support robot 10 ′.
  • a tablet-type in-vehicle terminal 18 provided for input by the user 7 and a joystick-type control stick (hereinafter referred to as “joystick”) 19 provided for operation.
  • joystick a joystick-type control stick
  • An infrared laser (or millimeter wave radar or visible light laser) is used to detect surrounding obstacles including the pedestrian 9 (see FIG. 1) and other movement support robots 10 on the upper and lower portions of the support column 15. Sensors 20a and 20b are attached.
  • a battery 21 serving as a power source is provided below the seat 14.
  • a retractable armrest 22 is installed at the rear upper end of the vehicle body 11 so that the user 7 can easily get on and off.
  • the drive wheels 12 are respectively connected to a pair of left and right electric motors (not shown) to which electric power is supplied from the battery 21.
  • the drive wheels 12 are moved forward and backward based on commands from the in-vehicle device 17 or the joystick 19, Turn left and right and turn.
  • the operation management server 31 communicates with the mobile terminal 8 (for example, smart phone: see FIG. 2), the in-vehicle device 17, and the store terminal 35a (described later) held by the user 7 via the wireless LAN or the Internet via a 3G line. Communication is performed between them, and the operation of each of the movement support robots 10 is managed according to the request of the user 7, the movement support robot 10 and the surrounding state.
  • the mobile terminal 8 for example, smart phone: see FIG. 2
  • the in-vehicle device 17 the store terminal 35a (described later) held by the user 7 via the wireless LAN or the Internet via a 3G line. Communication is performed between them, and the operation of each of the movement support robots 10 is managed according to the request of the user 7, the movement support robot 10 and the surrounding state.
  • the charging station 32 has a non-contact type (for example, electromagnetic induction type) charging facility 32 a and charges the battery 21 of the movement support robot 10 in accordance with a charging command from the operation management server 31.
  • a non-contact type for example, electromagnetic induction type
  • the charging facility 32a is not a non-contact type, and may employ a system in which a connector is inserted into a charging socket in the same manner as an electric vehicle or the like.
  • the empty vehicle area 33 is an area where the empty vehicle movement support robot 10 is on standby, and is provided in several places in the site 3.
  • the movement support robot 10 may stop outside the empty vehicle area 33 as long as it does not interfere with the travel of the boarded movement support robot 10 ′ or the pedestrian 9.
  • a plurality of stores such as canteens 35 are arranged on the site 3 of the zoo 1, and store terminals (store terminals 35a in the case of the canteen 35) that communicate with the operation management server 31 are connected to the cash registers of these stores, respectively. Has been.
  • FIG. 3 is a front view of the robot boarding card.
  • FIG. 4 is a flowchart showing the procedure of the login process.
  • FIG. 5 is a front view showing the mobile terminal that has received the QR code request command.
  • FIG. 6 is a front view showing the mobile terminal that has received the password request command.
  • FIG. 7 is a front view showing the mobile terminal in the login state.
  • the user 7 When renting the movement support robot 10, the user 7 first obtains the robot boarding card 41 shown in FIG.
  • the robot boarding card 41 may be handed over by a staff at a facility (such as the main gate 5 or the back gate 6) in the site 3 or may be taken home freely from the card place.
  • the robot boarding card 41 is printed with a QR code (registered trademark) 41a, which is a kind of two-dimensional code, and a password 41b composed of a four-character string (four-digit number in the illustrated example).
  • QR code registered trademark
  • 41a is a kind of two-dimensional code
  • a password 41b composed of a four-character string (four-digit number in the illustrated example).
  • the user 7 who has obtained the robot boarding card 41 accesses the robot web application from the mobile terminal 8 and touches login. Then, the operation management server 31 performs the login process which shows the procedure in the flowchart of FIG. When the login process is started, the operation management server 31 outputs a QR code request command to the mobile terminal 8 in step S1 of FIG. 4, and displays a frame 51 for prompting the reading of the QR code 41a on the display 8a as shown in FIG. Then, in step S2, it is determined whether or not the QR code 41a has been read.
  • buttons 52 are displayed at the bottom of the display 8a.
  • the HOME button 52a is a button for moving to the homepage of the robot operation application
  • the MAP display button 52b is a button for displaying a facility map
  • the purchase history button 52c is a button for displaying a point charge and consumption history
  • the boarding confirmation button 52d is being secured.
  • the movement support robot 10 and the button (e.g., the user 7) and the operation method button 52e are buttons for displaying guidance on the operation method of the robot operation application.
  • step S2 If the determination in step S2 is Yes, the operation management server 31 transmits a password request command to the portable terminal 8 in step S3, and displays a password input box 53a and a login button 53b on the display 8a as shown in FIG. Next, the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input in step S4. If this determination is Yes, the mobile terminal 8 is set in the login state in step S5. To do.
  • an appropriate password password 41b corresponding to the QR code 41a
  • the operation management server 31 determines whether or not the user ID has been registered in step S6 (that is, whether or not the login has been made within 24 hours with the combination of the mobile terminal 8 and the robot boarding card 41). If this determination is No, the QR code 41a is registered as the user ID of the portable terminal 8 (user 7) in step S7. On the other hand, when determination of step S6 is Yes, the operation management server 31 complete
  • a boarding point display 61 As shown in FIG. 7, a boarding point display 61, a robot status confirmation button 62, a point charge button 63, a point use button 64, and a support contact button 65 are displayed on the display 8 a of the mobile terminal 8 in the login state. .
  • FIG. 8 is a front view of the point card.
  • FIG. 9 is a flowchart showing the procedure of the point charge process.
  • FIG. 10 is a front view showing the mobile terminal that has received the card number request command.
  • FIG. 11 is a front view showing the mobile terminal that has received the re-input request command.
  • FIG. 12 is a front view showing the mobile terminal that has received the invalid display command.
  • FIG. 13 is a front view showing the mobile terminal that has received the charge completion display command.
  • the point card 42 includes a card number (9-digit number in the illustrated example: hereinafter referred to as a prepaid number) 42a and an authentication code 42b composed of a four-character string (four-digit number in the illustrated example). It is printed.
  • the user 7 who purchased the point card 42 accesses the robot web application with the mobile terminal 8, logs in, and touches the point charge button 63. Then, the operation management server 31 performs the point charge process which shows the procedure in the flowchart of FIG. When the point charge process is started, the operation management server 31 outputs a card number request command to the portable terminal 8 in step S11 of FIG. 9, and the card number input box 54a and the authentication code input box are displayed on the display 8a as shown in FIG. 54b and the ENTER button 54c are displayed.
  • the operation management server 31 determines whether or not the prepaid number 42a and the authentication code 42b are input in step S12, and if this determination is Yes, in step S13 whether or not they are of the issued point card 42. Determine whether. If the determination in step S13 is No due to an input error by the user 7, the operation management server 31 outputs a re-input request command to the portable terminal 8 in step S14, and the prepaid number is displayed on the display 8a as shown in FIG. After the display for prompting the re-input of 42a and the authentication code 42b is performed, the process returns to step S12.
  • step S13 determines whether or not the prepaid number 42a and the authentication code 42b input in step S15 belong to an unused point card 42. If the determination in step S15 is No due to a mistake by the user 7 (such as erroneous input of the prepaid number 42a and the authentication code 42b of the used point card 42), the operation management server 31 carries the mobile phone in step S16. An invalid display command is output to the terminal 8, and as shown in FIG. 12, the display 8a is displayed to indicate that it is a used point card 42, and then the process returns to step S12.
  • step S15 determines whether the determination in step S15 is also Yes. If the determination in step S15 is also Yes, the operation management server 31 executes point charge for the robot boarding card 41 in step S17. Thereafter, the operation management server 31 outputs a charge completion display command to the portable terminal 8 in step S18, and displays the current point balance and the robot status confirmation button 62 on the display 8a as shown in FIG. End the process.
  • the point balance is naturally merged (for example, 50P ⁇ 110P).
  • FIG. 14 is a flowchart showing the procedure of the robot securing process.
  • FIG. 15 is a front view showing the portable terminal that has received the empty robot display instruction.
  • FIG. 16 is a front view showing the mobile terminal that has received the selection candidate display command.
  • FIG. 17 is a front view showing the mobile terminal that has received the temporary securing candidate display command.
  • FIG. 18 is a front view showing the mobile terminal that has received the card number request command.
  • the operation management server 31 executes a robot securing process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 determines the user 7 in step S21 from the positional information of the movement assisting robot 10 (the securing assisting movement assisting robot 10) and the user 7 of the empty vehicle existing in the site 3.
  • the movement supporting robot 10 in a position close to is picked up.
  • the operation management server 31 determines whether or not the robot boarding card 41 has a point balance that can be secured in step S22. If the determination in step S22 is Yes, the operation management server 31 transmits a selection candidate display command to the portable terminal 8 in step S23, and as shown in FIG.
  • the table selection candidates 71 (in the example shown, two of the red tiger 71a and the blue lion 71b) are displayed on the display 8a in ascending order of distance.
  • the selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown).
  • the operation management server 31 determines whether or not the user 7 has selected (touched) one of the selection candidates 71 in step S24. Then, when the determination in step S24 is Yes, the operation management server 31 links the robot boarding card 41 and the movement support robot 10 in step S25, and then transmits a lock command to the in-vehicle device 17 in step S26. The setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19 are disabled. As a result, boarding (unintentional interception or the like) by other users 7 is not performed on the temporarily secured movement support robot 10.
  • the operation management server 31 transmits a securement process completion display command to the portable terminal 8 in step S27, and as shown in FIG. 16, the securement process completion display 75, an incoming call button 76, a QR code display button 77, and a boarding cancel button 78. Is displayed on the display 8a.
  • the reservation processing completion display 75 displays the point balance 75a and the remaining time 75b together with the name of the selected movement support robot 10, and these decrease as time elapses.
  • step S22 when the determination in step S22 is No, the operation management server 31 transmits a temporary reservation candidate display command to the portable terminal 8 in step S28, as shown in FIG.
  • a caution statement 70 indicating that provisional reservation is automatically canceled in a short time (10 minutes in the illustrated example) and two selection candidates 71a and 71b of the picked-up movement support robot 10 are It is displayed on the display 8a.
  • the selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown).
  • Below the caution statement 70 there is a “Point card sales place confirmation” link 70a, and when this is touched, a map of ticket machines and shops in the site 3 is displayed.
  • the operation management server 31 determines whether or not the user 7 has selected one of the selection candidates 71 in step S29, and when this determination is Yes, the point charge process (FIG. 9) described above in step S30 is performed. Execute. At this time, in the portable terminal 8 that has output the card number request command, as shown in FIG. 18 (corresponding to FIG. 10 described above), in order to prompt the user 7 to charge points, an authentication code input box 54b, an ENTER button 54c, During this period, the provisional remaining time 54d of the movement support robot 10 is displayed.
  • step S31 determines whether or not the point charge has been completed in step S31. If this determination is Yes, the operation management server 31 proceeds to step S25 to step S27 to transmit the association or securing process completion display command. Execute.
  • FIG. 19 is a flowchart showing the procedure of the incoming vehicle process.
  • FIG. 20 is a front view showing the mobile terminal that has received the call location display command.
  • FIG. 21 is a front view showing the mobile terminal that has received the confirmation display command.
  • FIG. 22 is a front view showing the mobile terminal that has received the in-coming-call display command.
  • the operation management server 31 executes the pick-up process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 transmits a call location display command to the portable terminal 8 in step S41 of FIG. 19, and as shown in FIG. 20, the call button 81a and the user 7's A current location map 81b and a pull-down menu 8c of each facility (eg, the main gate 5, the back gate 6, the elephant d) are displayed on the display 8a.
  • the operation management server 31 determines whether or not the call button 81a is touched in step S42, and when this determination is Yes, transmits a confirmation display command to the portable terminal 8 in step S43, and confirms as shown in FIG. A confirmation display 82 having a button 82a and a cancel button 82b is popped up on the display 8a. Next, the operation management server 31 determines whether or not the confirmation button 82a has been touched in step S44, and when this determination is Yes, in step S45, an incoming command is transmitted to the in-vehicle device 17 of the movement support robot 10.
  • the in-vehicle device 17 that has received the arrival command causes the movement support robot 10 to autonomously travel to the location designated by the user 7 along the road in the site 3 as indicated by A in FIG.
  • the in-vehicle device 17 detects obstacles in the traveling direction based on input signals from the sensors 20a and 20b, and increases / decreases traveling speed and steers to prevent a collision.
  • the operation management server 31 or the in-vehicle device 17 sends an arrival signal to the mobile terminal 8 of the user 7 when the movement support robot 10 arrives at a place designated by the user 7 so as to notify the arrival. Also good.
  • the operation management server 31 After outputting the incoming command, the operation management server 31 transmits an incoming command to the portable terminal 8 in step S46, and as shown in FIG. 22, the robot status confirmation button 62, the QR code display button 77, the boarding cancel button Along with 78 and the like, a robot call display 85 and a call change button 86 are displayed on the display 8a.
  • the robot call display 85 displays the name of the movement support robot 10 that is calling, the point balance, and the remaining time.
  • the call change button 86 is touched, a display for selecting cancellation of the call and change of the call destination pops up.
  • step S43 determines whether or not the cancel button 82b is touched in step S46. If the determination in step S46 is Yes, the operation management server 31 cancels the call in step S47 and causes the mobile terminal 8 to perform the original display (FIG. 16). If the determination in step S46 is No, the operation management server 31 The process proceeds to S44.
  • FIG. 23 is a flowchart showing the procedure of the robot boarding process.
  • FIG. 24 is a front view showing the in-vehicle terminal that has received the QR code request command.
  • FIG. 25 is a front view showing the in-vehicle terminal that has received the password request command.
  • FIG. 26 is a front view showing the in-vehicle terminal that has received the boarding completion display command.
  • the operation management server 31 executes a robot boarding process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 outputs a QR code request command to the in-vehicle terminal 18 in step S51 of FIG. 23, and reads the QR code 41a of the robot boarding card 41 on the display 18a as shown in FIG. Display the frame 91, the point balance, and the remaining time.
  • the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S52.
  • step S52 When the determination in step S52 is Yes, the operation management server 31 transmits a password request command to the in-vehicle terminal 18 in step S53, and displays the password input box 92 and the lock release button 93 on the display 18a as shown in FIG. .
  • the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input to the password input box 92 in step S54, and when this determination is Yes, the lock is released in step S55. It is determined whether or not the button 93 is touched.
  • the operation management server 31 transmits an unlock command to the in-vehicle device 17 in step S56, and the user 7 moves the robot 10 Enable operation.
  • the operation management server 31 transmits a boarding completion display command to the mobile terminal 8 and the in-vehicle terminal 18 in step S57, and as shown in FIG. 26, in addition to the point charge button 63 and the support contact button 65, the exit button 95, A complete getting-off button 96 and an operation mode setting button 97 are displayed on the displays 8a and 18a (FIG. 26 shows the display 18a of the in-vehicle terminal 18).
  • the operation mode setting button 97 displays a mode display 97a (in FIG. 26, (line trace mode)) indicating the current operation mode.
  • FIG. 27 is a flowchart showing the procedure of the operation mode setting process.
  • FIG. 28 is a front view showing the in-vehicle terminal that has received the operation mode display change command.
  • the movement support robot 10 has four operation modes (operation support mode, follow-up running mode, line trace mode, and automatic operation mode).
  • the steering support mode is an operation mode when the user 7 controls the movement support robot 10 with the joystick 19, and the in-vehicle device 17 performs a collision prevention assist or the like by securing an inter-vehicle distance or automatic braking.
  • the follow-up running mode is an operation mode when the other traveling support robot 10 or the leader follows the traveling mode, and the in-vehicle device 17 keeps the predetermined distance from the other traveling support robot 10 or the leader. To run.
  • the line trace mode is an operation mode for moving the movement support robot 10 to a place designated by the user 7, and the in-vehicle device 17 automatically moves the movement support robot 10 along a retroreflective tape or the like attached to the road surface. Let it run.
  • the automatic driving mode is a mode in which automatic driving is performed toward a destination point (latitude, longitude, area, etc.), and the in-vehicle device 17 moves the movement support robot 10 along a predetermined traveling route based on the position information of the mounted GPS. Let it run automatically.
  • a line trace mode and an automatic driving mode are possible from the viewpoint of safety, but it is not possible to select a steering support mode or a follow-up running mode.
  • the operation management server 31 that has transmitted the boarding completion signal to the mobile terminal 8 and the vehicle-mounted terminal 18 executes an operation mode setting process whose procedure is shown in the flowchart of FIG.
  • the operation management server 31 determines whether or not the operation mode setting button 97 is touched in step S61 of FIG.
  • the operation management server 31 transmits an operation mode display change command shown in FIG. 28 to the in-vehicle device 17 in step S62, and displays the operation mode change display 101 as shown in FIG. Pop up on 18a.
  • the operation mode change display 101 is provided with the three operation modes 101a to 101c and the operation mode selection button 101d described above, and the user 7 can select the operation mode.
  • the operation management server 31 determines whether or not the operation support mode is selected in step S63. And if this determination is Yes, the operation management server 31 will validate operation by the joystick 19 at step S64, and will make the vehicle-mounted apparatus 17 perform driving assistance at step S65. As a result, the user 7 can freely move within the site 3 as indicated by B in FIG. 1, while the movement support robot 10 is detected from the sensors 20a and 20b as indicated by B ′ in FIG. Based on the input detection signal, warning, deceleration, braking, and the like are performed to prevent a collision with another movement support robot 10 ′ or a pedestrian 9. Next, the operation management server 31 transmits an operation support mode display command to the in-vehicle device 17 in step S66, and changes the mode display 97a of the operation mode setting button 97 (see FIG. 26) to (operation support mode).
  • step S63 determines whether or not the follow-up traveling mode is selected in step S67. And if this determination is Yes, the operation management server 31 will perform follow-up driving
  • the movement support robot 10 sets a predetermined distance (for example, 2 to 3 m) to the tracking target (leader or leading vehicle) determined by the user 7. Keep track and keep running.
  • D in FIG. 1 shows a state in which the four movement support robots 10 ′ follow and travel following the leading movement support robot 10 ′ (so-called parade travel).
  • the operation management server 31 transmits a follow-up travel mode display command to the in-vehicle device 17 in step S69, and changes the mode display 97a of the operation mode setting button 97 to (follow-up travel mode).
  • step S67 determines whether or not the line trace mode is selected in step S70. And if this determination is Yes, the operation management server 31 will perform line trace driving
  • step S70 If the operation mode is not yet selected by the user 7 and the determination in step S70 is also No, the operation management server 31 returns to step S63 and executes the processes such as determination again.
  • FIG. 29 is a flowchart showing a procedure of the getting-off process once.
  • FIG. 30 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • FIG. 31 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • the user 7 may want to stop the movement support robot 10 at any facility (for example, the animal exhibition building 4 or a store) and then get off the vehicle temporarily.
  • the user 7 once touches the getting-off button 95 (see FIG. 26), and then gets off the movement support robot 10 in accordance with an instruction on the display 8a of the in-vehicle terminal 18.
  • the operation management server 31 starts a getting-off process whose procedure is shown in the flowchart of FIG. 29, and transmits a confirmation display command to the in-vehicle device 17 in step S81, as shown in FIG.
  • a confirmation display 103 is popped up on the display 18a.
  • the confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the getting-off once.
  • the operation management server 31 determines whether or not the confirmation button 103a is touched in step S82. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S83, and a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 is read in step S84.
  • step S84 the operation management server 31 locks the movement support robot 10 in step S85 and disables the setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19. Thereby, although the boarding point is consumed with progress of time, the user 7 can ensure the movement assistance robot 10 in the place where it got off until it got on again.
  • step S82 determines whether or not the cancel button 103b is touched in step S86. And if this determination is Yes, the operation management server 31 will stop alighting temporarily in step S87, and will return the display 8a to the original display (FIG. 26). Further, when the user 7 has not yet made the determination and the determination in step S86 is No, the operation management server 31 returns to step S82 and executes the process such as determination again.
  • FIG. 32 is a flowchart showing the procedure of a complete getting-off process.
  • FIG. 33 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • FIG. 34 is a front view showing the in-vehicle terminal that has received the confirmation display command.
  • the user 7 touches the complete getting-off button 96 and then gets off according to the instruction on the display 8 a of the in-vehicle terminal 18.
  • the operation management server 31 starts a complete getting-off process whose procedure is shown in the flowchart of FIG. 32, and transmits a confirmation display command to the in-vehicle device 17 in step S91, as shown in FIG.
  • a confirmation display 103 is popped up on the display 18a.
  • the confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the complete disembarkation.
  • the operation management server 31 determines whether or not the confirmation button 103a is touched in step S92. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S93, and displays a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S94.
  • step S94 the operation management server 31 activates a timer for releasing the movement support robot 10 in step S95, so that another user 7 can be secured after a predetermined time has elapsed.
  • the movement support robot 10 that the user 7 got off completely may stay in the place, or may move to the empty vehicle area 33 and stand by as indicated by F in FIG.
  • step S92 determines whether or not the cancel button 103b is touched in step S96. And if this determination is Yes, the operation management server 31 will stop complete alighting at step S97, and will return the display 8a to the original display (FIG. 26). If the user 7 has not yet made a determination and the determination in step S96 is also No, the operation management server 31 returns to step S92 and executes the process such as determination again.
  • FIG. 35 is a flowchart showing the procedure of the point balance warning process.
  • FIG. 36 is a front view showing the in-vehicle terminal that has received the balance warning display command.
  • the operation management server 31 repeatedly executes a point balance warning process whose procedure is shown in the flowchart of FIG. 35 over the opening time of the zoo 1.
  • the operation management server 31 sets the point balance Pr of the robot boarding card 41 to the warning balance Prm (for example, 10) for all the movement support robots 10 on which the user 7 is boarded in step S101.
  • Point Determine whether or not
  • the operation management server 31 transmits a balance warning display command to both the mobile terminal 8 and the in-vehicle terminal 18, as shown in FIG. 36 (example of in-vehicle terminal 18).
  • the balance warning display 111 is popped up on the display 18a.
  • the balance warning display 111 is provided with a point card sales office link 111a and a close button 111b.
  • the point card sales office link 111a is touched, a map of ticket machines and shops in the site 3 is displayed. . Thereby, the user 7 can acquire the point card 42 and can charge the robot boarding card 41 with points when using the movement supporting robot 10 continuously.
  • FIG. 37 is a flowchart showing the procedure of the battery remaining amount warning process.
  • FIG. 38 is a front view showing the in-vehicle terminal that has received the first remaining amount warning display command.
  • FIG. 39 is a front view showing the in-vehicle terminal that has received the second remaining amount warning display command.
  • the operation management server 31 repeatedly executes a battery remaining amount warning process whose procedure is shown in the flowchart of FIG. 37 in parallel with each process described above.
  • the operation management server 31 determines in step S111 that the remaining amount Br of the battery 21 is less than or equal to the first warning remaining amount Brm1 for all the movement support robots 10 on which the user 7 is boarded. It is determined whether or not.
  • the first warning remaining amount Brm1 is a value that enables traveling for about 10 minutes, for example.
  • step S111 When the determination in step S111 is Yes, the operation management server 31 transmits the first remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S112, and FIG. As shown in the example), the first remaining amount warning display 121 is popped up on the display 18a.
  • the first remaining amount warning display 121 is provided with a description prompting to get off and a close button 111b. Therefore, the user 7 can touch the close button 111 b to close the first remaining amount warning display 121 and operate the movement support robot 10.
  • the operation management server 31 determines whether or not the user 7 gets out of the movement support robot 10 in step S113. And if this determination is Yes, the operation management server 31 will transmit a battery charge command to the vehicle-mounted terminal 18 by step S114, and will show the movement assistance robot 10 to the charging station 32 mentioned above as shown by F in FIG. It is made to move and charging by the charging equipment 32a is performed.
  • step S113 determines whether or not the remaining amount Br of the battery 21 is equal to or less than the second warning remaining amount Brm2 in step S115. While there is, the determination in step S115 is repeated.
  • the second warning remaining amount Brm2 is a value at which the movement support robot 10 can move to the charging station 32 at least.
  • step S115 the operation management server 31 transmits the second remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S116, and the second remaining warning display instruction is shown in FIG. 2.
  • a remaining amount warning display 122 is popped up on the display 18a.
  • the second remaining amount warning display 122 describes that the remaining amount of battery is 0 and that the operation of the user 7 is not accepted.
  • the operation management server 31 transmits a lock command to the in-vehicle device 17 in step S117 so that the in-vehicle terminal 18 and the joystick 19 cannot set and control the movement support robot 10. Thereafter, the operation management server 31 proceeds to step S114 to transmit a battery charging command to the in-vehicle terminal 18, and moves the movement support robot 10 to the charging station 32 as shown by F in FIG. Charge by 32a is performed.
  • the robot boarding card 41 charged with points can be used in a restaurant or a store such as a store. For example, after having eaten in the dining room 35 (see FIG. 1), the user 7 can pay in points by holding the QR code 41a of the robot boarding card 41 over the cashier terminal 35a. Thereby, the user 7 can effectively consume the remaining points of the robot boarding card 41 at the same time as the trouble of paying with cash is eliminated.
  • the present invention is applied to a zoo, but can naturally be applied to the operation of a movement support robot in an amusement park or a theme park.
  • a four-seater car type or the like may be adopted instead of the two-seater wheelchair type of the embodiment.
  • the user carries the robot boarding card on which the QR code is printed.
  • a two-dimensional code such as a QR code may be stored in the mobile terminal.
  • the user calls the two-dimensional code on the display of the mobile terminal, and the user ID is recognized by the operation management server by holding it over the in-vehicle terminal or the store terminal when boarding the movement support robot or using it in the store. Is done.
  • the specific configuration of the movement support robot operation management system, the specific procedure of each process, and the like can be appropriately changed.
  • the operation management system of the movement support robot of the present invention can be effectively used for rental type movement support robots in zoos, amusement parks, theme parks, and the like.

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Abstract

[Problem] To provide a driving control system for a mobility assistance robot, said system achieving enhanced user convenience or the like. [Solution] Upon initiating a login process, a driving control server 31 causes, in step S1, a display 8a of a mobile terminal 8 to display a frame 51 for prompting reading of a QR code 41a, and then determines, in step S2, whether or not the QR code 41a has been read. If the determination in step S2 is Yes, the driving control server 31 causes, in step S3, the display 8a of the mobile terminal 8 to display a password input box 53a and a login button 53b. The driving control server 31 then determines, in step S4, whether or not a correct password (a password 41b associated with the QR code 41a) has been entered, and if the determination is Yes, then the driving control server 31 puts the mobile terminal 8 into a login state in step S5.

Description

移動支援ロボットの運行管理システムOperation management system for mobile robot
　本発明は、移動支援ロボットの運行管理システムに係り、詳しくは利用者の利便性向上等を実現する技術に関する。 The present invention relates to an operation management system for a movement support robot, and more particularly to a technique for improving user convenience.
　遊園地や動物公園等の行楽施設において、来場者は多数の遊具やパビリオン間を移動することになる。しかしながら、若者や健常者とは異なり、高齢者や障害者にとって広大な敷地内徒歩で移動することは容易でない。そこで、レンタルの移動支援ロボットを行楽施設に配置し、高齢者や障害者が、単独あるいは家族や介助者とともに場内を自由に移動できることが望ましい。この種の移動支援ロボットとして、自動走行式の電動車椅子が従来より存在する。（特許文献１，２参照） In amusement facilities such as amusement parks and zoos, visitors will move between a number of playground equipment and pavilions. However, unlike young people and healthy people, it is not easy for elderly people and persons with disabilities to move on foot on a vast site. Therefore, it is desirable that rental movement support robots are arranged in a vacation facility so that elderly people and persons with disabilities can move freely in the hall alone or with family members and caregivers. As this type of movement support robot, an automatic traveling type electric wheelchair has conventionally existed. (See Patent Documents 1 and 2)
特開２００３－３８５８０号公報JP 2003-38580 A 特開２０１６－１５５１７９号公報JP 2016-155179 A
　上述した特許文献１では、利用者があるステーションに停車している電動車椅子に乗り込んだ後、行き先のステーションを入力することで電動車椅子が自動走行を開始する。また、特許文献２では、車いすロボットが利用者を乗せた状態で、ユーザと対話しながらサービス範囲内を自律的に移動する。しかしながら、これら従来の移動支援ロボットを多数の来場者がいる動物園や遊園地等でレンタルに供す場合、利用者が動物展示舎等で一時的に降車した際に確保が継続できなくなり、高齢者や障害者が施設内での移動手段を失ってしまう虞等があった。 In Patent Document 1 described above, after the user gets into an electric wheelchair stopped at a certain station, the electric wheelchair starts automatic driving by inputting a destination station. In Patent Document 2, the wheelchair robot moves autonomously within the service range while interacting with the user in a state where the user is on board. However, when these conventional mobility support robots are rented at zoos or amusement parks where there are a large number of visitors, it cannot be secured when the user temporarily gets off at the animal exhibition hall, etc. There was a possibility that a handicapped person might lose the means of transportation in the facility.
　本発明は、上記状況に鑑みなされたものであり、利用者の利便性向上等を実現する移動支援ロボットの運行管理システムを提供することを目的とする。 The present invention has been made in view of the above situation, and an object thereof is to provide an operation management system for a movement support robot that realizes improvement of user convenience and the like.
　本発明の移動支援ロボットの運行管理システムは、利用者の乗車に供され、所定の運行領域内をバッテリの電力で走行するとともに、それぞれが固有のＩＤを有する複数の移動支援ロボットと、これら移動支援ロボットを運行管理する管理装置とを含む移動支援ロボットの運行管理システムであって、前記移動支援ロボットは、利用者が所有する携帯端末および前記管理装置との間で通信を行う車載装置を備えるとともに、前記携帯端末と前記車載装置と前記管理装置との少なくとも一つからの指示に基づく自動走行が可能であり、前記管理装置は、前記携帯端末または車載装置からの乗車要求に基づき前記利用者と前記移動支援ロボットのＩＤとを紐付け、当該移動支援ロボットを他の利用者からの乗車要求を受け付けない確保モードとするとともに、前記利用者による一旦降車と完全降車との選択を可能にする。 An operation management system for a movement support robot according to the present invention is provided for a user to ride, travels within a predetermined operation area with battery power, and has a plurality of movement support robots each having a unique ID, and these movements A movement support robot operation management system including a management device that manages the operation of the support robot, wherein the movement support robot includes a mobile terminal owned by a user and an in-vehicle device that communicates with the management device In addition, automatic travel is possible based on an instruction from at least one of the mobile terminal, the in-vehicle device, and the management device, and the management device is based on a boarding request from the mobile terminal or the in-vehicle device. And a secure mode in which the travel support robot is not accepted a boarding request from another user. Rutotomoni, to allow for the selection of once getting off and complete the getting-off by the user.
　　好適には、前記利用者と前記移動支援ロボットのＩＤとの紐付けが、前記利用者が所持する搭乗カードまたは前記携帯端末の画面に表示された二次元コードを介して行われる。 Preferably, the association between the user and the ID of the movement support robot is performed via a boarding card possessed by the user or a two-dimensional code displayed on the screen of the portable terminal.
　　好適には、前記管理装置は、前記携帯端末からの要求に応じ、乗車可能な移動支援ロボットのＩＤを含む情報を乗車候補情報として当該携帯端末に送信し、前記携帯端末は、前記乗車候補情報に基づき、少なくとも一つの乗車可能な移動支援ロボットを選択可能な状態で利用者に提示するとともに、利用者による選択操作がなされた際に前記乗車要求信号を前記管理装置に送信する。 Preferably, in response to a request from the mobile terminal, the management device transmits information including an ID of a travel-supporting robot that can be boarded as boarding candidate information to the mobile terminal, and the mobile terminal transmits the boarding candidate information. Based on the above, the user is presented with at least one mobility support robot that can be boarded, and the boarding request signal is transmitted to the management device when a selection operation is performed by the user.
　　好適には、前記乗車候補情報は、乗車可能な移動支援ロボットと利用者との距離を含み、前記携帯端末は、前記乗車候補情報が複数存在する場合、乗車可能な移動支援ロボットを利用者から近い順に表示する。 Preferably, the boarding candidate information includes a distance between a travel support robot that can be boarded and a user, and the portable terminal selects a travel support robot that can be boarded from the user when a plurality of the boarding candidate information exists. Display in ascending order.
　　好適には、前記管理装置は、確保モードとなった移動支援ロボットが利用者から離れた場所にある場合、当該移動支援ロボットに対し利用者のもとに向かう迎車指令を出力する。 Preferably, when the movement support robot in the secure mode is located away from the user, the management device outputs an incoming command to the movement support robot toward the user.
　　好適には、前記移動支援ロボットは、先導者または先導する移動支援ロボットに追従走行する追従走行モードを有する。 Preferably, the movement support robot has a follow-up travel mode in which the travel support robot travels following the leader or the lead travel support robot.
　　好適には、前記移動支援ロボットは、利用者の操縦に供される操縦手段を有し、前記車載装置は、利用者の操作または制御装置からの指令に基づき、当該移動支援ロボットを自動運転モードと利用者による操縦モードとの間で切り換える。 Preferably, the movement support robot includes a control unit used for a user's control, and the in-vehicle device sets the movement support robot to an automatic operation mode based on a user operation or a command from a control device. And switching between user and piloting modes.
　　好適には、前記運行領域内に充電設備が設置されており、前記移動支援ロボットは、前記バッテリの残量が所定値以下に低下した場合、前記管理装置と前記車載装置との少なくとも一方の充電指令に基づき、前記充電設備まで自動走行して前記バッテリの充電を行う充電モードを有する。 Preferably, a charging facility is installed in the operation area, and the movement support robot charges at least one of the management device and the in-vehicle device when the remaining amount of the battery decreases below a predetermined value. Based on the command, the battery has a charging mode in which the battery is charged by automatically running to the charging facility.
　　好適には、前記移動支援ロボットは、進行方向に存在する障害物を検出するセンサを有し、当該センサの検出結果に基づき衝突回避動作を行う。 Preferably, the movement support robot includes a sensor that detects an obstacle present in the traveling direction, and performs a collision avoidance operation based on a detection result of the sensor.
　本発明によれば、利用者と移動支援ロボットのＩＤとを紐付けられるため、使用中の移動支援ロボットを一時降車時に他の利用者に使われることがなくなる。 According to the present invention, since the user and the ID of the movement support robot can be associated with each other, the movement support robot in use is not used by other users when getting off the vehicle temporarily.
実施形態に係る移動支援ロボット運行管理システムの概略構成図である。It is a schematic block diagram of the movement assistance robot operation management system which concerns on embodiment. 実施形態に係る移動支援ロボットの斜視図である。It is a perspective view of the movement assistance robot which concerns on embodiment. ロボット搭乗カードの正面図である。It is a front view of a robot boarding card. ログイン処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a login process. ＱＲコード要求指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received QR Code request | requirement instruction | command. パスワード要求指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the password request | requirement instruction | command. ログイン状態となった携帯端末を示す正面図である。It is a front view which shows the portable terminal used as the login state. ポイントカードの正面図である。It is a front view of a point card. ポイントチャージ処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a point charge process. カード番号要求指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received card number request | requirement instruction | command. 再入力要求指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the re-input request | requirement instruction | command. 無効表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the invalid display instruction | indication. チャージ完了表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received charge completion display command. ロボット確保処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a robot securing process. 空車ロボット表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the empty vehicle robot display command. 選択候補表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received selection candidate display instruction | indication. 仮確保候補表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received temporary securing candidate display instruction | indication. カード番号要求指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received card number request | requirement instruction | command. 迎車処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of an incoming vehicle process. 呼出場所表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the calling place display command. 確認表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the confirmation display command. 迎車中表示指令を受信した携帯端末を示す正面図である。It is a front view which shows the portable terminal which received the display command during an incoming vehicle. ロボット搭乗処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a robot boarding process. ＱＲコード要求指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received QR Code request | requirement instruction | command. パスワード要求指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the password request | requirement instruction | command. 搭乗完了表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the boarding completion display command. 運行モード設定処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of an operation mode setting process. 運行モード表示変更指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the operation mode display change command. 一旦降車処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of once alighting process. 確認表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the confirmation display command. 確認表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the confirmation display command. 完全降車処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a complete getting-off process. 確認表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the confirmation display command. 確認表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the confirmation display command. ポイント残高警告処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a point balance warning process. 残高警告表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the balance warning display command. バッテリ残量警告処理の手順を示すフローチャートである。It is a flowchart which shows the procedure of a battery remaining amount warning process. 第１残量警告表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the 1st remaining amount warning display command. 第２残量警告表示指令を受信した車載端末を示す正面図である。It is a front view which shows the vehicle-mounted terminal which received the 2nd remaining amount warning display command.
　以下、図１～図３９を参照して、本発明を動物園の移動支援ロボット運行管理システムに適用した一実施形態を詳細に説明する。 Hereinafter, an embodiment in which the present invention is applied to a movement support robot operation management system in a zoo will be described in detail with reference to FIGS.
［実施形態の構成］
　図１は、実施形態に係る移動支援ロボット運行管理システムの概略構成図である。
　図２は、実施形態に係る移動支援ロボットの斜視図である。 [Configuration of the embodiment]
FIG. 1 is a schematic configuration diagram of a movement support robot operation management system according to the embodiment.
FIG. 2 is a perspective view of the movement support robot according to the embodiment.
　図１に示すように、動物園１には、塀２で仕切られた広大な敷地３に多数の動物展示舎４が配置されるとともに、利用者が入退場するための正門ゲート５および裏門ゲート６が設けられている。図１には、動物展示舎４の一部として、カバ舎４ａ、クマ舎４ｂ、サイ舎４ｃ、ゾウ舎４ｄ、ウマ舎４ｅ、ライオン舎４ｆ、ダチョウ舎４ｇ、キリン舎４ｈを示している。 As shown in FIG. 1, a zoo 1 has a large number of animal exhibition buildings 4 arranged on a vast site 3 partitioned by a fence 2, and a main gate 5 and a back gate 6 for users to enter and leave. Is provided. FIG. 1 shows a hippo house 4a, a bear house 4b, a rhino house 4c, an elephant house 4d, a horse house 4e, a lion house 4f, an ostrich house 4g, and a giraffe house 4h as a part of the animal display house 4.
　動物園１には、電動式自律走行型の移動支援ロボット１０、運行管理サーバ３１（管理装置）、充電ステーション３２、空車エリア３３等から構成される移動支援ロボット運行管理システム（以下、単に運行管理システムと記す）が設置されている。 The zoo 1 includes a movement support robot operation management system (hereinafter simply referred to as an operation management system) including an electric autonomous traveling type movement support robot 10, an operation management server 31 (management device), a charging station 32, an empty vehicle area 33, and the like. Is written).
（移動支援ロボット）
　移動支援ロボット１０は、鋼板やＦＲＰ等から構成された車体１１、車体１１の後下部に設けられた左右一対の駆動輪１２、車体１１の前下部に設けられた左右一対のキャスタ輪１３、２名の利用者７が着座できるシート１４、車体１１の前端に立設された支持柱１５、支持柱１５の上端に固定された車載装置１７を主要構成要素としている。なお、図１においては、利用者７が搭乗している移動支援ロボット１０を搭乗済移動支援ロボット１０’と示す。 (Mobile support robot)
The movement support robot 10 includes a vehicle body 11 made of a steel plate, FRP, and the like, a pair of left and right drive wheels 12 provided at the rear lower part of the vehicle body 11, and a pair of left and right caster wheels 13, 2 provided at the front lower part of the vehicle body 11. The main components are a seat 14 on which a named user 7 can sit, a support column 15 erected at the front end of the vehicle body 11, and an in-vehicle device 17 fixed to the upper end of the support column 15. In FIG. 1, the movement support robot 10 on which the user 7 is boarded is indicated as a boarded movement support robot 10 ′.
　車載装置１７の上面には、利用者７の入力に供されるタブレット型の車載端末１８と、操縦に供されるジョイステック型の操縦桿（以下、ジョイステックと記す）１９とが取り付けられている。車載端末１８には、移動支援ロボット１０を操作するためのロボットアプリがインストールされている。 On the upper surface of the in-vehicle device 17, there are attached a tablet-type in-vehicle terminal 18 provided for input by the user 7 and a joystick-type control stick (hereinafter referred to as “joystick”) 19 provided for operation. Yes. A robot application for operating the movement support robot 10 is installed in the in-vehicle terminal 18.
　支持柱１５の上部および下部には、歩行者９（図１参照）や他の移動支援ロボット１０を含む周囲の障害物を検出すべく、赤外線レーザ（あるいは、ミリ波レーダや可視光レーザ）からなるセンサ２０ａ，２０ｂが取り付けられている。シート１４の下方には、電源となるバッテリ２１が内装されている。車体１１の後部上端には、利用者７の乗降を容易にすべく、可倒式のアームレスト２２が設置されている。 An infrared laser (or millimeter wave radar or visible light laser) is used to detect surrounding obstacles including the pedestrian 9 (see FIG. 1) and other movement support robots 10 on the upper and lower portions of the support column 15. Sensors 20a and 20b are attached. A battery 21 serving as a power source is provided below the seat 14. A retractable armrest 22 is installed at the rear upper end of the vehicle body 11 so that the user 7 can easily get on and off.
　駆動輪１２は、バッテリ２１から電力が供給される左右一対の電気モータ（図示せず）にそれぞれ連結されており、車載装置１７あるいはジョイステック１９からの指令に基づき移動支援ロボット１０を前後進、右左折、旋回をさせる。 The drive wheels 12 are respectively connected to a pair of left and right electric motors (not shown) to which electric power is supplied from the battery 21. The drive wheels 12 are moved forward and backward based on commands from the in-vehicle device 17 or the joystick 19, Turn left and right and turn.
（運行管理サーバ）
　運行管理サーバ３１は、無線ＬＡＮや３Ｇ回線を介したインターネットを経由して利用者７の保持する携帯端末８（例えば、スマートフォン：図２参照）や車載装置１７、店舗端末３５ａ（後述）との間で通信を行い、利用者７の要望や移動支援ロボット１０および周囲の状態等に応じて各移動支援ロボット１０の運行を管理する。 (Operation management server)
The operation management server 31 communicates with the mobile terminal 8 (for example, smart phone: see FIG. 2), the in-vehicle device 17, and the store terminal 35a (described later) held by the user 7 via the wireless LAN or the Internet via a 3G line. Communication is performed between them, and the operation of each of the movement support robots 10 is managed according to the request of the user 7, the movement support robot 10 and the surrounding state.
（充電ステーション）
　充電ステーション３２は、非接触型（例えば、電磁誘導方式）の充電設備３２ａを有しており、運行管理サーバ３１からの充電指令に応じて移動支援ロボット１０のバッテリ２１を充電する。なお、充電設備３２ａとして、非接触型ではなく、電気自動車等と同様に充電ソケットにコネクタを嵌入させる方式を採用してもよい。 (charging station)
The charging station 32 has a non-contact type (for example, electromagnetic induction type) charging facility 32 a and charges the battery 21 of the movement support robot 10 in accordance with a charging command from the operation management server 31. Note that the charging facility 32a is not a non-contact type, and may employ a system in which a connector is inserted into a charging socket in the same manner as an electric vehicle or the like.
（空車エリア）
　空車エリア３３は、空車の移動支援ロボット１０を待機させるエリアであり、敷地３内に数カ所設けられている。なお、移動支援ロボット１０は、搭乗済移動支援ロボット１０’の走行や歩行者９の邪魔にならない範囲であれば、空車エリア３３以外に停車することもある。 (Empty car area)
The empty vehicle area 33 is an area where the empty vehicle movement support robot 10 is on standby, and is provided in several places in the site 3. The movement support robot 10 may stop outside the empty vehicle area 33 as long as it does not interfere with the travel of the boarded movement support robot 10 ′ or the pedestrian 9.
（店舗）
　動物園１の敷地３には食堂３５等の店舗が複数配置されており、これら店舗のレジには運行管理サーバ３１と通信を行う店舗端末（食堂３５の場合には、店舗端末３５ａ）がそれぞれ接続されている。 (store)
A plurality of stores such as canteens 35 are arranged on the site 3 of the zoo 1, and store terminals (store terminals 35a in the case of the canteen 35) that communicate with the operation management server 31 are connected to the cash registers of these stores, respectively. Has been.
［実施形態の作用］
（ログイン処理）
　　図３は、ロボット搭乗カードの正面図である。
　　図４は、ログイン処理の手順を示すフローチャートである。
　　図５は、ＱＲコード要求指令を受信した携帯端末を示す正面図である。
　　図６は、パスワード要求指令を受信した携帯端末を示す正面図である。
　　図７は、ログイン状態となった携帯端末を示す正面図である。 [Operation of the embodiment]
(Login process)
FIG. 3 is a front view of the robot boarding card.
FIG. 4 is a flowchart showing the procedure of the login process.
FIG. 5 is a front view showing the mobile terminal that has received the QR code request command.
FIG. 6 is a front view showing the mobile terminal that has received the password request command.
FIG. 7 is a front view showing the mobile terminal in the login state.
　移動支援ロボット１０をレンタルする場合、利用者７はまず、図３に示すロボット搭乗カード４１を入手する。ロボット搭乗カード４１は、敷地３内の施設（正門ゲート５や裏門ゲート６等）でスタッフから手渡されるようにしてもよいし、カード置き場から自由に持ち帰えるようにしてもよい。ロボット搭乗カード４１には、二次元コードの一種であるＱＲコード（登録商標）４１ａと、４字の文字列（図示例では、４桁の数字）からなるパスワード４１ｂとが印刷されている。なお、通常のロボット搭乗カード４１とは別に、ポイントが無制限に設定された運行管理システムのスタッフ用のロボット搭乗カードが存在する。 When renting the movement support robot 10, the user 7 first obtains the robot boarding card 41 shown in FIG. The robot boarding card 41 may be handed over by a staff at a facility (such as the main gate 5 or the back gate 6) in the site 3 or may be taken home freely from the card place. The robot boarding card 41 is printed with a QR code (registered trademark) 41a, which is a kind of two-dimensional code, and a password 41b composed of a four-character string (four-digit number in the illustrated example). In addition to the normal robot boarding card 41, there is a robot boarding card for staff of an operation management system in which points are set to unlimited.
　ロボット搭乗カード４１を入手した利用者７は、携帯端末８からロボットＷｅｂアプリにアクセスし、ログインをタッチする。すると、運行管理サーバ３１は、図４のフローチャートにその手順を示すログイン処理を実行する。ログイン処理を開始すると、運行管理サーバ３１は、図４のステップＳ１で携帯端末８にＱＲコード要求指令を出力し、図５に示すようにディスプレイ８ａにＱＲコード４１ａの読み込みを促す枠５１を表示させた後、ステップＳ２でＱＲコード４１ａが読み込まれたか否かを判定する。 The user 7 who has obtained the robot boarding card 41 accesses the robot web application from the mobile terminal 8 and touches login. Then, the operation management server 31 performs the login process which shows the procedure in the flowchart of FIG. When the login process is started, the operation management server 31 outputs a QR code request command to the mobile terminal 8 in step S1 of FIG. 4, and displays a frame 51 for prompting the reading of the QR code 41a on the display 8a as shown in FIG. Then, in step S2, it is determined whether or not the QR code 41a has been read.
　ディスプレイ８ａの下部には、５つのフッターボタン５２（ＨＯＭＥボタン５２ａ，ＭＡＰ表示ボタン５２ｂ，購入履歴ボタン５２ｃ，搭乗確認ボタン５２ｄ，操作方法ボタン５２ｅ）が表示される。ＨＯＭＥボタン５２ａはロボット運行アプリのホームページに移動するボタン、ＭＡＰ表示ボタン５２ｂは施設マップを表示させるボタン、購入履歴ボタン５２ｃはポイントのチャージおよび消費の履歴を表示させるボタン、搭乗確認ボタン５２ｄは確保中の移動支援ロボット１０と自分（利用者７）を表示させるボタン、操作方法ボタン５２ｅボタンはロボット運行アプリの操作方法のガイダンスを表示させるボタンである。 At the bottom of the display 8a, five footer buttons 52 (a HOME button 52a, a MAP display button 52b, a purchase history button 52c, a boarding confirmation button 52d, and an operation method button 52e) are displayed. The HOME button 52a is a button for moving to the homepage of the robot operation application, the MAP display button 52b is a button for displaying a facility map, the purchase history button 52c is a button for displaying a point charge and consumption history, and the boarding confirmation button 52d is being secured. The movement support robot 10 and the button (e.g., the user 7) and the operation method button 52e are buttons for displaying guidance on the operation method of the robot operation application.
　ステップＳ２の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ３で携帯端末８にパスワード要求指令を送信し、図６に示すようにディスプレイ８ａにパスワード入力ボックス５３ａおよびログインボタン５３ｂを表示させる。次に運行管理サーバ３１は、ステップＳ４で適正なパスワード（ＱＲコード４１ａに対応するパスワード４１ｂ）が入力されたか否かを判定し、この判定がＹｅｓになるとステップＳ５で携帯端末８をログイン状態にする。 If the determination in step S2 is Yes, the operation management server 31 transmits a password request command to the portable terminal 8 in step S3, and displays a password input box 53a and a login button 53b on the display 8a as shown in FIG. Next, the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input in step S4. If this determination is Yes, the mobile terminal 8 is set in the login state in step S5. To do.
　次に、運行管理サーバ３１は、ステップＳ６でユーザＩＤが登録済みか否か（すなわち、この携帯端末８とロボット搭乗カード４１との組み合わせで２４時間以内にログインされたか否か）を判定し、この判定がＮｏであった場合にはステップＳ７でＱＲコード４１ａをこの携帯端末８（利用者７）のユーザＩＤとして登録する。一方、ステップＳ６の判定がＹｅｓであった場合、運行管理サーバ３１は、ユーザＩＤの登録を行わずに処理を終了する。なお、ロボット搭乗カード４１の再利用等を図るべく、ユーザＩＤの有効期間は２４時間に設定されている。 Next, the operation management server 31 determines whether or not the user ID has been registered in step S6 (that is, whether or not the login has been made within 24 hours with the combination of the mobile terminal 8 and the robot boarding card 41). If this determination is No, the QR code 41a is registered as the user ID of the portable terminal 8 (user 7) in step S7. On the other hand, when determination of step S6 is Yes, the operation management server 31 complete | finishes a process, without registering a user ID. In order to reuse the robot boarding card 41, the valid period of the user ID is set to 24 hours.
　ログイン状態となった携帯端末８のディスプレイ８ａには、図７に示すように、搭乗ポイント表示６１、ロボット状況確認ボタン６２、ポイントチャージボタン６３、ポイント使用ボタン６４、サポート連絡ボタン６５が表示される。 As shown in FIG. 7, a boarding point display 61, a robot status confirmation button 62, a point charge button 63, a point use button 64, and a support contact button 65 are displayed on the display 8 a of the mobile terminal 8 in the login state. .
　（ポイントチャージ処理）
　図８は、ポイントカードの正面図である。
　図９は、ポイントチャージ処理の手順を示すフローチャートである。
　図１０は、カード番号要求指令を受信した携帯端末を示す正面図である。
　図１１は、再入力要求指令を受信した携帯端末を示す正面図である。
　図１２は、無効表示指令を受信した携帯端末を示す正面図である。
　図１３は、チャージ完了表示指令を受信した携帯端末を示す正面図である。 (Point charge processing)
FIG. 8 is a front view of the point card.
FIG. 9 is a flowchart showing the procedure of the point charge process.
FIG. 10 is a front view showing the mobile terminal that has received the card number request command.
FIG. 11 is a front view showing the mobile terminal that has received the re-input request command.
FIG. 12 is a front view showing the mobile terminal that has received the invalid display command.
FIG. 13 is a front view showing the mobile terminal that has received the charge completion display command.
　初回のレンタル時には搭乗ポイントの残高が０であるため、利用者７は、図８に示すプリペイド式のポイントカード４２を敷地３内の券売機や売店で購入し、ポイントをロボット搭乗カード４１にチャージする。ポイントカード４２には、カード番号（図示例では、９桁の数字：以下、プリペイド番号と記す）４２ａと、４字の文字列（図示例では、４桁の数字）からなる認証コード４２ｂとが印刷されている。 Since the boarding point balance is 0 at the time of the first rental, the user 7 purchases the prepaid point card 42 shown in FIG. 8 at a ticket vending machine or a shop in the site 3 and charges the robot boarding card 41 with the points. To do. The point card 42 includes a card number (9-digit number in the illustrated example: hereinafter referred to as a prepaid number) 42a and an authentication code 42b composed of a four-character string (four-digit number in the illustrated example). It is printed.
　ポイントカード４２を購入した利用者７は、携帯端末８でロボットＷｅｂアプリにアクセスし、ログインしてポイントチャージボタン６３をタッチする。すると、運行管理サーバ３１は、図９のフローチャートにその手順を示すポイントチャージ処理を実行する。ポイントチャージ処理を開始すると、運行管理サーバ３１は、図９のステップＳ１１で携帯端末８にカード番号要求指令を出力し、図１０に示すようにディスプレイ８ａにカード番号入力ボックス５４ａ、認証コード入力ボックス５４ｂ、ＥＮＴＥＲボタン５４ｃを表示させる。 The user 7 who purchased the point card 42 accesses the robot web application with the mobile terminal 8, logs in, and touches the point charge button 63. Then, the operation management server 31 performs the point charge process which shows the procedure in the flowchart of FIG. When the point charge process is started, the operation management server 31 outputs a card number request command to the portable terminal 8 in step S11 of FIG. 9, and the card number input box 54a and the authentication code input box are displayed on the display 8a as shown in FIG. 54b and the ENTER button 54c are displayed.
　運行管理サーバ３１は、ステップＳ１２でプリペイド番号４２ａおよび認証コード４２ｂが入力されたか否かを判定し、この判定がＹｅｓになったらステップＳ１３でこれらが発行済みのポイントカード４２のものであるか否かを判定する。利用者７の入力ミスによってステップＳ１３の判定がＮｏとなった場合、運行管理サーバ３１は、ステップＳ１４で携帯端末８に再入力要求指令を出力し、図１１に示すようにディスプレイ８ａにプリペイド番号４２ａおよび認証コード４２ｂの再入力を促す表示を行わせた後にステップＳ１２に戻る。 The operation management server 31 determines whether or not the prepaid number 42a and the authentication code 42b are input in step S12, and if this determination is Yes, in step S13 whether or not they are of the issued point card 42. Determine whether. If the determination in step S13 is No due to an input error by the user 7, the operation management server 31 outputs a re-input request command to the portable terminal 8 in step S14, and the prepaid number is displayed on the display 8a as shown in FIG. After the display for prompting the re-input of 42a and the authentication code 42b is performed, the process returns to step S12.
　一方、ステップＳ１３の判定がＹｅｓであった場合、運行管理サーバ３１は、ステップＳ１５で入力されたプリペイド番号４２ａおよび認証コード４２ｂが未使用のポイントカード４２のものであるか否かを判定する。利用者７のミス（使用済みのポイントカード４２のプリペイド番号４２ａおよび認証コード４２ｂを誤って入力する等）により、ステップＳ１５の判定がＮｏとなった場合、運行管理サーバ３１は、ステップＳ１６で携帯端末８に無効表示指令を出力し、図１２に示すように、ディスプレイ８ａに使用済みポイントカード４２である旨の表示を行わせた後にステップＳ１２に戻る。 On the other hand, when the determination in step S13 is Yes, the operation management server 31 determines whether or not the prepaid number 42a and the authentication code 42b input in step S15 belong to an unused point card 42. If the determination in step S15 is No due to a mistake by the user 7 (such as erroneous input of the prepaid number 42a and the authentication code 42b of the used point card 42), the operation management server 31 carries the mobile phone in step S16. An invalid display command is output to the terminal 8, and as shown in FIG. 12, the display 8a is displayed to indicate that it is a used point card 42, and then the process returns to step S12.
　ステップＳ１５の判定もＹｅｓであった場合、運行管理サーバ３１は、ステップＳ１７でロボット搭乗カード４１に対するポイントチャージを実行する。しかる後、運行管理サーバ３１は、ステップＳ１８で携帯端末８にチャージ完了表示指令を出力し、図１３に示すようにディスプレイ８ａに現在のポイント残高とロボット状況確認ボタン６２とを表示させ、ポイントチャージ処理を終了する。なお、利用者７がポイント残高のある状態でポイントチャージを行うと、当然のことながらポイント残高がマージ（例えば、５０Ｐ→１１０Ｐ）される。 If the determination in step S15 is also Yes, the operation management server 31 executes point charge for the robot boarding card 41 in step S17. Thereafter, the operation management server 31 outputs a charge completion display command to the portable terminal 8 in step S18, and displays the current point balance and the robot status confirmation button 62 on the display 8a as shown in FIG. End the process. In addition, when the user 7 performs point charge with a point balance, the point balance is naturally merged (for example, 50P → 110P).
（ロボット確保処理）
　図１４は、ロボット確保処理の手順を示すフローチャートである。
　図１５は、空車ロボット表示指令を受信した携帯端末を示す正面図である。
　図１６は、選択候補表示指令を受信した携帯端末を示す正面図である。
　図１７は、仮確保候補表示指令を受信した携帯端末を示す正面図である。
　図１８は、カード番号要求指令を受信した携帯端末を示す正面図である。 (Robot securing process)
FIG. 14 is a flowchart showing the procedure of the robot securing process.
FIG. 15 is a front view showing the portable terminal that has received the empty robot display instruction.
FIG. 16 is a front view showing the mobile terminal that has received the selection candidate display command.
FIG. 17 is a front view showing the mobile terminal that has received the temporary securing candidate display command.
FIG. 18 is a front view showing the mobile terminal that has received the card number request command.
　利用者７がロボットＷｅｂアプリにアクセスし、ディスプレイ８ａ上のロボット状況確認ボタン６２にタッチすると、運行管理サーバ３１は、図１４のフローチャートにその手順を示すロボット確保処理を実行する。ロボット確保処理を開始すると、運行管理サーバ３１は、敷地３内に存在する空車の移動支援ロボット１０（確保可能な移動支援ロボット１０）と利用者７との位置情報から、ステップＳ２１で利用者７から近い位置にある移動支援ロボット１０をピックアップする。 When the user 7 accesses the robot web application and touches the robot status confirmation button 62 on the display 8a, the operation management server 31 executes a robot securing process whose procedure is shown in the flowchart of FIG. When the robot securing process is started, the operation management server 31 determines the user 7 in step S21 from the positional information of the movement assisting robot 10 (the securing assisting movement assisting robot 10) and the user 7 of the empty vehicle existing in the site 3. The movement supporting robot 10 in a position close to is picked up.
　次に運行管理サーバ３１は、ステップＳ２２で確保が可能となるポイント残高がロボット搭乗カード４１にあるか否かを判定する。そして、ステップＳ２２の判定がＹｅｓであれば、運行管理サーバ３１は、ステップＳ２３で携帯端末８に選択候補表示指令を送信し、図１５に示すように、ピックアップした移動支援ロボット１０のうちの複数台の選択候補７１（図示例では、レッドタイガー７１ａとブルーライオン７１ｂとの２台）を距離が近い順にディスプレイ８ａに表示させる。選択候補７１には選択ボタン７２と、移動支援ロボット１０の位置を地図（図示せず）上に示す位置確認ボタン７３とがそれぞれ設けられる。 Next, the operation management server 31 determines whether or not the robot boarding card 41 has a point balance that can be secured in step S22. If the determination in step S22 is Yes, the operation management server 31 transmits a selection candidate display command to the portable terminal 8 in step S23, and as shown in FIG. The table selection candidates 71 (in the example shown, two of the red tiger 71a and the blue lion 71b) are displayed on the display 8a in ascending order of distance. The selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown).
　次に運行管理サーバ３１は、ステップＳ２４で利用者７がどちらかの選択候補７１を選択（タッチ）したか否かを判定する。そして、ステップＳ２４の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ２５でロボット搭乗カード４１と移動支援ロボット１０との紐付けを行った後、ステップＳ２６で車載装置１７にロック指令を送信し、車載端末１８やジョイステック１９による移動支援ロボット１０の設定や操縦を行えなくする。これにより、仮確保された移動支援ロボット１０に対し、他の利用者７による搭乗（意図しない横取り等）が行われなくなる。 Next, the operation management server 31 determines whether or not the user 7 has selected (touched) one of the selection candidates 71 in step S24. Then, when the determination in step S24 is Yes, the operation management server 31 links the robot boarding card 41 and the movement support robot 10 in step S25, and then transmits a lock command to the in-vehicle device 17 in step S26. The setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19 are disabled. As a result, boarding (unintentional interception or the like) by other users 7 is not performed on the temporarily secured movement support robot 10.
　次に運行管理サーバ３１は、ステップＳ２７で携帯端末８に確保処理完了表示指令を送信し、図１６に示すように確保処理完了表示７５、迎車ボタン７６、ＱＲコード表示ボタン７７、搭乗キャンセルボタン７８をディスプレイ８ａに表示させる。確保処理完了表示７５には、選択した移動支援ロボット１０の名称とともに、ポイント残高７５ａおよび残り時間７５ｂが表示され、これらが時間の経過とともに減少してゆく。 Next, the operation management server 31 transmits a securement process completion display command to the portable terminal 8 in step S27, and as shown in FIG. 16, the securement process completion display 75, an incoming call button 76, a QR code display button 77, and a boarding cancel button 78. Is displayed on the display 8a. The reservation processing completion display 75 displays the point balance 75a and the remaining time 75b together with the name of the selected movement support robot 10, and these decrease as time elapses.
　一方、ポイント残高がごく少なく（あるいは、０で）ステップＳ２２の判定がＮｏとなった場合、運行管理サーバ３１は、ステップＳ２８で携帯端末８に仮確保候補表示指令を送信し、図１７に示すように、短時間（図示例では、１０分間）で自動的にキャンセルされる仮確保である旨の注意文７０と、ピックアップした移動支援ロボット１０のうちの２台の選択候補７１ａ，７１ｂとをディスプレイ８ａに表示させる。選択候補７１には選択ボタン７２と、移動支援ロボット１０の位置を地図（図示せず）上に示す位置確認ボタン７３とがそれぞれ設けられる。なお、注意文７０の下方には「ポイントカード販売所確認」のリンク７０ａがあり、これをタッチすると敷地３内にある券売機や売店のマップが表示される。 On the other hand, when the point balance is very small (or 0), when the determination in step S22 is No, the operation management server 31 transmits a temporary reservation candidate display command to the portable terminal 8 in step S28, as shown in FIG. As described above, a caution statement 70 indicating that provisional reservation is automatically canceled in a short time (10 minutes in the illustrated example) and two selection candidates 71a and 71b of the picked-up movement support robot 10 are It is displayed on the display 8a. The selection candidate 71 is provided with a selection button 72 and a position confirmation button 73 indicating the position of the movement support robot 10 on a map (not shown). Below the caution statement 70, there is a “Point card sales place confirmation” link 70a, and when this is touched, a map of ticket machines and shops in the site 3 is displayed.
　次に運行管理サーバ３１は、ステップＳ２９で利用者７がどちらかの選択候補７１を選択したか否かを判定し、この判定がＹｅｓになるとステップＳ３０で前述したポイントチャージ処理（図９）を実行する。この際、カード番号要求指令を出力した携帯端末８では、図１８（前述の図１０に対応）に示すように、利用者７にポイントチャージを促すべく、認証コード入力ボックス５４ｂとＥＮＴＥＲボタン５４ｃとの間に移動支援ロボット１０の仮確保の残り時間５４ｄが表示される。 Next, the operation management server 31 determines whether or not the user 7 has selected one of the selection candidates 71 in step S29, and when this determination is Yes, the point charge process (FIG. 9) described above in step S30 is performed. Execute. At this time, in the portable terminal 8 that has output the card number request command, as shown in FIG. 18 (corresponding to FIG. 10 described above), in order to prompt the user 7 to charge points, an authentication code input box 54b, an ENTER button 54c, During this period, the provisional remaining time 54d of the movement support robot 10 is displayed.
　次に運行管理サーバ３１は、ステップＳ３１でポイントチャージが完了したか否かを判定し、この判定がＹｅｓになればステップＳ２５～ステップＳ２７に移行して紐付けや確保処理完了表示指令の送信を実行する。 Next, the operation management server 31 determines whether or not the point charge has been completed in step S31. If this determination is Yes, the operation management server 31 proceeds to step S25 to step S27 to transmit the association or securing process completion display command. Execute.
（迎車処理）
　図１９は、迎車処理の手順を示すフローチャートである。
　図２０は、呼出場所表示指令を受信した携帯端末を示す正面図である。
　図２１は、確認表示指令を受信した携帯端末を示す正面図である。
　図２２は、迎車中表示指令を受信した携帯端末を示す正面図である。 (Traffic handling)
FIG. 19 is a flowchart showing the procedure of the incoming vehicle process.
FIG. 20 is a front view showing the mobile terminal that has received the call location display command.
FIG. 21 is a front view showing the mobile terminal that has received the confirmation display command.
FIG. 22 is a front view showing the mobile terminal that has received the in-coming-call display command.
　ロボット確保処理を終えた利用者７が図１６の迎車ボタン７６にタッチすると、運行管理サーバ３１は、図１９のフローチャートにその手順を示す迎車処理を実行する。迎車処理を開始すると、運行管理サーバ３１は、図１９のステップＳ４１で携帯端末８に呼出場所表示指令を送信し、図２０に示すように、ディスプレイ８ａに、呼出ボタン８１ａと、利用者７の現在地地図８１ｂと、各施設（正門ゲート５、裏門ゲート６、ゾウ舎ｄ等）のプルダウンメニュー８ｃとをディスプレイ８ａに表示させる。 When the user 7 who has finished the robot securing process touches the pick-up button 76 in FIG. 16, the operation management server 31 executes the pick-up process whose procedure is shown in the flowchart of FIG. When the pick-up process is started, the operation management server 31 transmits a call location display command to the portable terminal 8 in step S41 of FIG. 19, and as shown in FIG. 20, the call button 81a and the user 7's A current location map 81b and a pull-down menu 8c of each facility (eg, the main gate 5, the back gate 6, the elephant d) are displayed on the display 8a.
　運行管理サーバ３１は、ステップＳ４２で呼出ボタン８１ａがタッチされたか否かを判定し、この判定がＹｅｓになるとステップＳ４３で携帯端末８に確認表示指令を送信し、図２１に示すように、確認ボタン８２ａおよびキャンセルボタン８２ｂを有する確認表示８２をディスプレイ８ａにポップアップさせる。次に運行管理サーバ３１は、ステップＳ４４で確認ボタン８２ａがタッチされたか否かを判定し、この判定がＹｅｓになるとステップＳ４５で移動支援ロボット１０の車載装置１７に迎車指令を送信する。 The operation management server 31 determines whether or not the call button 81a is touched in step S42, and when this determination is Yes, transmits a confirmation display command to the portable terminal 8 in step S43, and confirms as shown in FIG. A confirmation display 82 having a button 82a and a cancel button 82b is popped up on the display 8a. Next, the operation management server 31 determines whether or not the confirmation button 82a has been touched in step S44, and when this determination is Yes, in step S45, an incoming command is transmitted to the in-vehicle device 17 of the movement support robot 10.
　迎車指令を受信した車載装置１７は、図１中にＡで示すように、敷地３内の道路に沿って移動支援ロボット１０を利用者７が指定した場所まで自律走行させる。自律走行にあたり、車載装置１７は、センサ２０ａ，２０ｂからの入力信号に基づき進行方向の障害物を検知し、衝突を防ぐべく走行速度の増減や操舵を行う。なお、運行管理サーバ３１あるいは車載装置１７は、移動支援ロボット１０が利用者７が指定した場所に到着した際に、利用者７の携帯端末８に到着信号を送信して到着を知らせるようにしてもよい。 The in-vehicle device 17 that has received the arrival command causes the movement support robot 10 to autonomously travel to the location designated by the user 7 along the road in the site 3 as indicated by A in FIG. In autonomous traveling, the in-vehicle device 17 detects obstacles in the traveling direction based on input signals from the sensors 20a and 20b, and increases / decreases traveling speed and steers to prevent a collision. The operation management server 31 or the in-vehicle device 17 sends an arrival signal to the mobile terminal 8 of the user 7 when the movement support robot 10 arrives at a place designated by the user 7 so as to notify the arrival. Also good.
　迎車指令を出力した後、運行管理サーバ３１は、ステップＳ４６で携帯端末８に迎車中表示指令を送信し、図２２に示すように、ロボット状況確認ボタン６２、ＱＲコード表示ボタン７７、搭乗キャンセルボタン７８等とともに、ロボット呼出表示８５と呼出変更ボタン８６とをディスプレイ８ａに表示させる。ロボット呼出表示８５には、呼び出している移動支援ロボット１０の名称、ポイント残高および残り時間が表示される。また、呼出変更ボタン８６がタッチされると、呼び出しの中止と呼出先の変更とを選択するための表示がポップアップされる。 After outputting the incoming command, the operation management server 31 transmits an incoming command to the portable terminal 8 in step S46, and as shown in FIG. 22, the robot status confirmation button 62, the QR code display button 77, the boarding cancel button Along with 78 and the like, a robot call display 85 and a call change button 86 are displayed on the display 8a. The robot call display 85 displays the name of the movement support robot 10 that is calling, the point balance, and the remaining time. When the call change button 86 is touched, a display for selecting cancellation of the call and change of the call destination pops up.
　一方、ステップＳ４３の判定がＮｏであった場合、運行管理サーバ３１は、ステップＳ４６でキャンセルボタン８２ｂがタッチされたか否かを判定する。そして、運行管理サーバ３１は、ステップＳ４６の判定がＹｅｓであればステップＳ４７で呼び寄せをキャンセルして携帯端末８に元の表示（図１６）を行わせ、ステップＳ４６の判定がＮｏであればステップＳ４４に移行する。 On the other hand, when the determination in step S43 is No, the operation management server 31 determines whether or not the cancel button 82b is touched in step S46. If the determination in step S46 is Yes, the operation management server 31 cancels the call in step S47 and causes the mobile terminal 8 to perform the original display (FIG. 16). If the determination in step S46 is No, the operation management server 31 The process proceeds to S44.
（ロボット搭乗処理）
　図２３は、ロボット搭乗処理の手順を示すフローチャートである。
　図２４は、ＱＲコード要求指令を受信した車載端末を示す正面図である。
　図２５は、パスワード要求指令を受信した車載端末を示す正面図である。
　図２６は、搭乗完了表示指令を受信した車載端末を示す正面図である。 (Robot boarding process)
FIG. 23 is a flowchart showing the procedure of the robot boarding process.
FIG. 24 is a front view showing the in-vehicle terminal that has received the QR code request command.
FIG. 25 is a front view showing the in-vehicle terminal that has received the password request command.
FIG. 26 is a front view showing the in-vehicle terminal that has received the boarding completion display command.
　呼び出した移動支援ロボット１０が指定場所に到着すると、運行管理サーバ３１は、図２３のフローチャートにその手順を示すロボット搭乗処理を実行する。ロボット搭乗処理を開始すると、運行管理サーバ３１は、図２３のステップＳ５１で車載端末１８にＱＲコード要求指令を出力し、図２４に示すようにディスプレイ１８ａにロボット搭乗カード４１のＱＲコード４１ａの読み込みを促す枠９１やポイント残高、残り時間を表示させる。次に運行管理サーバ３１は、ステップＳ５２で移動支援ロボット１０に紐づけられたロボット搭乗カード４１のＱＲコード４１ａが読み込まれたか否かを判定する。 When the called movement support robot 10 arrives at the designated place, the operation management server 31 executes a robot boarding process whose procedure is shown in the flowchart of FIG. When the robot boarding process is started, the operation management server 31 outputs a QR code request command to the in-vehicle terminal 18 in step S51 of FIG. 23, and reads the QR code 41a of the robot boarding card 41 on the display 18a as shown in FIG. Display the frame 91, the point balance, and the remaining time. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S52.
　ステップＳ５２の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ５３で車載端末１８にパスワード要求指令を送信し、図２５に示すようにディスプレイ１８ａにパスワード入力ボックス９２およびロック解除ボタン９３を表示させる。次に運行管理サーバ３１は、ステップＳ５４でパスワード入力ボックス９２に適正なパスワード（ＱＲコード４１ａに対応するパスワード４１ｂ）が入力されたか否かを判定し、この判定がＹｅｓになるとステップＳ５５でロック解除ボタン９３がタッチされたか否かを判定する。 When the determination in step S52 is Yes, the operation management server 31 transmits a password request command to the in-vehicle terminal 18 in step S53, and displays the password input box 92 and the lock release button 93 on the display 18a as shown in FIG. . Next, the operation management server 31 determines whether or not an appropriate password (password 41b corresponding to the QR code 41a) is input to the password input box 92 in step S54, and when this determination is Yes, the lock is released in step S55. It is determined whether or not the button 93 is touched.
　利用者７がロック解除ボタン９３にタッチしてステップＳ５５の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ５６で車載装置１７にロック解除指令を送信し、利用者７による移動支援ロボット１０の操作を可能とする。同時に運行管理サーバ３１は、ステップＳ５７で携帯端末８および車載端末１８に搭乗完了表示指令を送信し、図２６に示すように、ポイントチャージボタン６３やサポート連絡ボタン６５の他、一旦降車ボタン９５、完全降車ボタン９６、運行モード設定ボタン９７をディスプレイ８ａ，１８ａ（図２６は車載端末１８のディスプレイ１８ａ）に表示させる。なお、運行モード設定ボタン９７には、現在の運行モードを示すモード表示９７ａ（図２６では、（ライントレースモード））が表示される。 When the user 7 touches the unlock button 93 and the determination in step S55 becomes Yes, the operation management server 31 transmits an unlock command to the in-vehicle device 17 in step S56, and the user 7 moves the robot 10 Enable operation. At the same time, the operation management server 31 transmits a boarding completion display command to the mobile terminal 8 and the in-vehicle terminal 18 in step S57, and as shown in FIG. 26, in addition to the point charge button 63 and the support contact button 65, the exit button 95, A complete getting-off button 96 and an operation mode setting button 97 are displayed on the displays 8a and 18a (FIG. 26 shows the display 18a of the in-vehicle terminal 18). The operation mode setting button 97 displays a mode display 97a (in FIG. 26, (line trace mode)) indicating the current operation mode.
（運行モード設定処理）
　図２７は、運行モード設定処理の手順を示すフローチャートである。
　図２８は、運行モード表示変更指令を受信した車載端末を示す正面図である。 (Operation mode setting process)
FIG. 27 is a flowchart showing the procedure of the operation mode setting process.
FIG. 28 is a front view showing the in-vehicle terminal that has received the operation mode display change command.
　移動支援ロボット１０は、４種の運行モード（操縦支援モード、追従走行モード、ライントレースモード、自動運転モード）を有している。操縦支援モードは、利用者７がジョイステック１９によって移動支援ロボット１０を操縦する際の運行モードであり、車載装置１７が車間確保や自動制動による衝突防止アシスト等を行う。追従走行モードは、他の移動支援ロボット１０や先導者に追走する際の運行モードであり、他の移動支援ロボット１０や先導者に所定の間隔を保つように車載装置１７が移動支援ロボット１０を走行させる。ライントレースモードは、利用者７が指定した場所に移動支援ロボット１０を移動させる際の運行モードであり、路面に貼り付けられた再帰反射テープ等に沿って車載装置１７が移動支援ロボット１０を自動走行させる。自動運転モードは、目的地点（緯度および経度、エリア等）に向けて自動運転するモードであり、搭載したＧＰＳの位置情報に基づき、既定の走行ルートに沿って車載装置１７が移動支援ロボット１０を自動走行させる。なお、携帯端末８では、安全性の観点からライントレースモードおよび自動運転モードが可能となるが、操縦支援モードや追従走行モードを選択することができない。 The movement support robot 10 has four operation modes (operation support mode, follow-up running mode, line trace mode, and automatic operation mode). The steering support mode is an operation mode when the user 7 controls the movement support robot 10 with the joystick 19, and the in-vehicle device 17 performs a collision prevention assist or the like by securing an inter-vehicle distance or automatic braking. The follow-up running mode is an operation mode when the other traveling support robot 10 or the leader follows the traveling mode, and the in-vehicle device 17 keeps the predetermined distance from the other traveling support robot 10 or the leader. To run. The line trace mode is an operation mode for moving the movement support robot 10 to a place designated by the user 7, and the in-vehicle device 17 automatically moves the movement support robot 10 along a retroreflective tape or the like attached to the road surface. Let it run. The automatic driving mode is a mode in which automatic driving is performed toward a destination point (latitude, longitude, area, etc.), and the in-vehicle device 17 moves the movement support robot 10 along a predetermined traveling route based on the position information of the mounted GPS. Let it run automatically. In the mobile terminal 8, a line trace mode and an automatic driving mode are possible from the viewpoint of safety, but it is not possible to select a steering support mode or a follow-up running mode.
　携帯端末８および車載端末１８に搭乗完了信号を送信した運行管理サーバ３１は、図２７のフローチャートにその手順を示す運行モード設定処理を実行する。運行モード設定処理を開始すると、運行管理サーバ３１は、図２７のステップＳ６１で運行モード設定ボタン９７がタッチされたか否かを判定する。そして、ステップＳ６１の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ６２で図２８に示す運行モード表示変更指令を車載装置１７に送信し、図２８に示すように運行モード変更表示１０１をディスプレイ１８ａにポップアップさせる。運行モード変更表示１０１には、上述した３つの運行モード１０１ａ～１０１ｃと運行モード選択ボタン１０１ｄとが設けられ、利用者７が運行モードを選択できる。 The operation management server 31 that has transmitted the boarding completion signal to the mobile terminal 8 and the vehicle-mounted terminal 18 executes an operation mode setting process whose procedure is shown in the flowchart of FIG. When the operation mode setting process is started, the operation management server 31 determines whether or not the operation mode setting button 97 is touched in step S61 of FIG. When the determination in step S61 is Yes, the operation management server 31 transmits an operation mode display change command shown in FIG. 28 to the in-vehicle device 17 in step S62, and displays the operation mode change display 101 as shown in FIG. Pop up on 18a. The operation mode change display 101 is provided with the three operation modes 101a to 101c and the operation mode selection button 101d described above, and the user 7 can select the operation mode.
　次に運行管理サーバ３１は、ステップＳ６３で操縦支援モードが選択されたか否かを判定する。そして、運行管理サーバ３１は、この判定がＹｅｓであれば、ステップＳ６４でジョイステック１９による操作を有効にし、ステップＳ６５で車載装置１７に運転支援を実行させる。これにより、利用者７は図１中にＢで示すように敷地３内を自由に移動できるようになる一方、移動支援ロボット１０は図１中にＢ’で示すように、センサ２０ａ，２０ｂから入力した検出信号に基づき、警告や減速、制動等を行って他の移動支援ロボット１０’や歩行者９との衝突防止等を図る。次に運行管理サーバ３１は、ステップＳ６６で操縦支援モード表示指令を車載装置１７に送信し、運行モード設定ボタン９７（図２６参照）のモード表示９７ａを（操縦支援モード）に変更させる。 Next, the operation management server 31 determines whether or not the operation support mode is selected in step S63. And if this determination is Yes, the operation management server 31 will validate operation by the joystick 19 at step S64, and will make the vehicle-mounted apparatus 17 perform driving assistance at step S65. As a result, the user 7 can freely move within the site 3 as indicated by B in FIG. 1, while the movement support robot 10 is detected from the sensors 20a and 20b as indicated by B ′ in FIG. Based on the input detection signal, warning, deceleration, braking, and the like are performed to prevent a collision with another movement support robot 10 ′ or a pedestrian 9. Next, the operation management server 31 transmits an operation support mode display command to the in-vehicle device 17 in step S66, and changes the mode display 97a of the operation mode setting button 97 (see FIG. 26) to (operation support mode).
　ステップＳ６３の判定がＮｏであった場合、運行管理サーバ３１は、ステップＳ６７で追従走行モードが選択されたか否かを判定する。そして、運行管理サーバ３１は、この判定がＹｅｓであれば、ステップＳ６８で追従走行を実行する。これにより、移動支援ロボット１０は、図１中にＣ，Ｄで示すように、利用者７が決定した追従対象（先導者または先導車）に対し、所定の距離（例えば、２～３ｍ）を保って追従走行するようになる。なお、図１中のＤは、先導する移動支援ロボット１０’に対して４台の移動支援ロボット１０’が連なって追従走行する様子（いわゆる、パレード走行）を示している。次に運行管理サーバ３１は、ステップＳ６９で追従走行モード表示指令を車載装置１７に送信し、運行モード設定ボタン９７のモード表示９７ａを（追従走行モード）に変更させる。 If the determination in step S63 is No, the operation management server 31 determines whether or not the follow-up traveling mode is selected in step S67. And if this determination is Yes, the operation management server 31 will perform follow-up driving | running | working by step S68. Thereby, as shown by C and D in FIG. 1, the movement support robot 10 sets a predetermined distance (for example, 2 to 3 m) to the tracking target (leader or leading vehicle) determined by the user 7. Keep track and keep running. Note that D in FIG. 1 shows a state in which the four movement support robots 10 ′ follow and travel following the leading movement support robot 10 ′ (so-called parade travel). Next, the operation management server 31 transmits a follow-up travel mode display command to the in-vehicle device 17 in step S69, and changes the mode display 97a of the operation mode setting button 97 to (follow-up travel mode).
　ステップＳ６７の判定もＮｏであった場合、運行管理サーバ３１は、ステップＳ７０でライントレースモードが選択されたか否かを判定する。そして、運行管理サーバ３１は、この判定がＹｅｓであれば、ステップＳ７１でライントレース走行を実行する。これにより、移動支援ロボット１０は、図１中にＥで示すように、利用者７が指定した場所に向けが既定の走行ラインに沿って自動走行する。次に運行管理サーバ３１は、ステップＳ７２でライントレースモード表示指令を車載装置１７に送信し、運行モード設定ボタン９７のモード表示９７ａを（ライントレースモード）に変更させる。 If the determination in step S67 is also No, the operation management server 31 determines whether or not the line trace mode is selected in step S70. And if this determination is Yes, the operation management server 31 will perform line trace driving | running | working by step S71. As a result, the movement support robot 10 automatically travels along the predetermined travel line toward the place designated by the user 7 as indicated by E in FIG. Next, the operation management server 31 transmits a line trace mode display command to the in-vehicle device 17 in step S72, and changes the mode display 97a of the operation mode setting button 97 to (line trace mode).
　利用者７による運行モードの選択が未だ行われず、ステップＳ７０の判定もＮｏとなった場合、運行管理サーバ３１は、ステップＳ６３に戻って判定等の処理を再度実行する。 If the operation mode is not yet selected by the user 7 and the determination in step S70 is also No, the operation management server 31 returns to step S63 and executes the processes such as determination again.
（一旦降車処理）
　図２９は、一旦降車処理の手順を示すフローチャートである。
　図３０は、確認表示指令を受信した車載端末を示す正面図である。
　図３１は、確認表示指令を受信した車載端末を示す正面図である。 (Take off once)
FIG. 29 is a flowchart showing a procedure of the getting-off process once.
FIG. 30 is a front view showing the in-vehicle terminal that has received the confirmation display command.
FIG. 31 is a front view showing the in-vehicle terminal that has received the confirmation display command.
　利用者７は、移動支援ロボット１０をいずれかの施設（例えば、動物展示舎４や売店）で停車させ、一時的に降車したいと思うことがある。この場合、利用者７は一旦降車ボタン９５（図２６参照）にタッチした後、車載端末１８のディスプレイ８ａの指示に従って移動支援ロボット１０を降車する。 The user 7 may want to stop the movement support robot 10 at any facility (for example, the animal exhibition building 4 or a store) and then get off the vehicle temporarily. In this case, the user 7 once touches the getting-off button 95 (see FIG. 26), and then gets off the movement support robot 10 in accordance with an instruction on the display 8a of the in-vehicle terminal 18.
　一旦降車ボタン９５がタッチされると、運行管理サーバ３１は、図２９のフローチャートにその手順を示す一旦降車処理を開始し、ステップＳ８１で確認表示指令を車載装置１７に送信し、図３０に示す確認表示１０３をディスプレイ１８ａにポップアップさせる。確認表示１０３には確認ボタン１０３ａと取消ボタン１０３ｂとが設けられており、利用者７が一旦降車の確認あるいはキャンセルを行える。 Once the getting-off button 95 is touched, the operation management server 31 starts a getting-off process whose procedure is shown in the flowchart of FIG. 29, and transmits a confirmation display command to the in-vehicle device 17 in step S81, as shown in FIG. A confirmation display 103 is popped up on the display 18a. The confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the getting-off once.
　次に運行管理サーバ３１は、ステップＳ８２で確認ボタン１０３ａがタッチされたか否かを判定する。そして、この判定がＹｅｓになれば、運行管理サーバ３１は、ステップＳ８３で車載端末１８にＱＲコード要求指令を送信し、図３１に示すようにディスプレイ１８ａにＱＲコード４１ａの読み込みを促す枠１０５を表示させる。次に運行管理サーバ３１は、ステップＳ８４で移動支援ロボット１０に紐づけられたロボット搭乗カード４１のＱＲコード４１ａが読み込まれたか否かを判定する。 Next, the operation management server 31 determines whether or not the confirmation button 103a is touched in step S82. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S83, and a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 is read in step S84.
　ステップＳ８４の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ８５で移動支援ロボット１０をロックし、車載端末１８やジョイステック１９による移動支援ロボット１０の設定や操縦を行えなくする。これにより利用者７は、時間の経過とともに搭乗ポイントが消費されるものの、再び乗車するまで降車した場所に移動支援ロボット１０を確保することができる。 If the determination in step S84 is Yes, the operation management server 31 locks the movement support robot 10 in step S85 and disables the setting and operation of the movement support robot 10 by the in-vehicle terminal 18 and the joystick 19. Thereby, although the boarding point is consumed with progress of time, the user 7 can ensure the movement assistance robot 10 in the place where it got off until it got on again.
　一方、ステップＳ８２の判定がＮｏであった場合、運行管理サーバ３１は、ステップＳ８６で取消ボタン１０３ｂがタッチされたか否かを判定する。そして、この判定がＹｅｓになれば、運行管理サーバ３１は、ステップＳ８７で一旦降車を中止し、ディスプレイ８ａを元の表示（図２６）に復帰させる。また、利用者７がまだ判断をせずステップＳ８６の判定もＮｏとなった場合、運行管理サーバ３１は、ステップＳ８２に戻って判定等の処理を再度実行する。 On the other hand, when the determination in step S82 is No, the operation management server 31 determines whether or not the cancel button 103b is touched in step S86. And if this determination is Yes, the operation management server 31 will stop alighting temporarily in step S87, and will return the display 8a to the original display (FIG. 26). Further, when the user 7 has not yet made the determination and the determination in step S86 is No, the operation management server 31 returns to step S82 and executes the process such as determination again.
（完全降車処理）
　図３２は、完全降車処理の手順を示すフローチャートである。
　図３３は、確認表示指令を受信した車載端末を示す正面図である。
　図３４は、確認表示指令を受信した車載端末を示す正面図である。 (Complete disembarkation processing)
FIG. 32 is a flowchart showing the procedure of a complete getting-off process.
FIG. 33 is a front view showing the in-vehicle terminal that has received the confirmation display command.
FIG. 34 is a front view showing the in-vehicle terminal that has received the confirmation display command.
　利用者７は、いままで搭乗していた移動支援ロボット１０に再び搭乗する予定が無い場合、完全降車ボタン９６にタッチした後、車載端末１８のディスプレイ８ａの指示に従って降車する。 When the user 7 does not plan to board the movement support robot 10 that has been on board until now, the user 7 touches the complete getting-off button 96 and then gets off according to the instruction on the display 8 a of the in-vehicle terminal 18.
　完全降車ボタン９６がタッチされると、運行管理サーバ３１は、図３２のフローチャートにその手順を示す完全降車処理を開始し、ステップＳ９１で確認表示指令を車載装置１７に送信し、図３３に示す確認表示１０３をディスプレイ１８ａにポップアップさせる。確認表示１０３には確認ボタン１０３ａと取消ボタン１０３ｂとが設けられており、利用者７が完全降車の確認あるいはキャンセルを行える。 When the complete getting-off button 96 is touched, the operation management server 31 starts a complete getting-off process whose procedure is shown in the flowchart of FIG. 32, and transmits a confirmation display command to the in-vehicle device 17 in step S91, as shown in FIG. A confirmation display 103 is popped up on the display 18a. The confirmation display 103 is provided with a confirmation button 103a and a cancel button 103b, and the user 7 can confirm or cancel the complete disembarkation.
　次に運行管理サーバ３１は、ステップＳ９２で確認ボタン１０３ａがタッチされたか否かを判定する。そして、この判定がＹｅｓになれば、運行管理サーバ３１は、ステップＳ９３で車載端末１８にＱＲコード要求指令を送信し、図３１に示すようにディスプレイ１８ａにＱＲコード４１ａの読み込みを促す枠１０５を表示させる。次に運行管理サーバ３１は、ステップＳ９４で移動支援ロボット１０に紐づけられたロボット搭乗カード４１のＱＲコード４１ａが読み込まれたか否かを判定する。 Next, the operation management server 31 determines whether or not the confirmation button 103a is touched in step S92. If this determination is Yes, the operation management server 31 transmits a QR code request command to the in-vehicle terminal 18 in step S93, and displays a frame 105 that prompts the display 18a to read the QR code 41a as shown in FIG. Display. Next, the operation management server 31 determines whether or not the QR code 41a of the robot boarding card 41 associated with the movement support robot 10 has been read in step S94.
　ステップＳ９４の判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ９５で移動支援ロボット１０を解放するタイマーを起動し、所定時間が経過した後に他の利用者７が確保できる状態にする。なお、利用者７が完全降車した移動支援ロボット１０は、その場所にとどまっていてもよいし、図１中にＦで示すように、空車エリア３３まで移動して待機するようにしてもよい。 When the determination in step S94 is Yes, the operation management server 31 activates a timer for releasing the movement support robot 10 in step S95, so that another user 7 can be secured after a predetermined time has elapsed. In addition, the movement support robot 10 that the user 7 got off completely may stay in the place, or may move to the empty vehicle area 33 and stand by as indicated by F in FIG.
　一方、ステップＳ９２の判定がＮｏであった場合、運行管理サーバ３１は、ステップＳ９６で取消ボタン１０３ｂがタッチされたか否かを判定する。そして、この判定がＹｅｓになれば、運行管理サーバ３１は、ステップＳ９７で完全降車を中止し、ディスプレイ８ａを元の表示（図２６）に復帰させる。また、利用者７がまだ判断をせずステップＳ９６の判定もＮｏとなった場合、運行管理サーバ３１は、ステップＳ９２に戻って判定等の処理を再度実行する。 On the other hand, when the determination in step S92 is No, the operation management server 31 determines whether or not the cancel button 103b is touched in step S96. And if this determination is Yes, the operation management server 31 will stop complete alighting at step S97, and will return the display 8a to the original display (FIG. 26). If the user 7 has not yet made a determination and the determination in step S96 is also No, the operation management server 31 returns to step S92 and executes the process such as determination again.
（ポイント残高警告処理）
　図３５は、ポイント残高警告処理の手順を示すフローチャートである。
　図３６は、残高警告表示指令を受信した車載端末を示す正面図である。 (Point balance warning processing)
FIG. 35 is a flowchart showing the procedure of the point balance warning process.
FIG. 36 is a front view showing the in-vehicle terminal that has received the balance warning display command.
　運行管理サーバ３１は、動物園１の開園時間にわたり、図３５のフローチャートにその手順を示すポイント残高警告処理を繰り返し実行する。ポイント残高警告処理を開始すると、運行管理サーバ３１は、ステップＳ１０１で、利用者７が搭乗している全ての移動支援ロボット１０について、ロボット搭乗カード４１のポイント残高Ｐｒが警告残高Ｐｒｍ（例えば、１０ポイント）以下となったか否かを判定する。 The operation management server 31 repeatedly executes a point balance warning process whose procedure is shown in the flowchart of FIG. 35 over the opening time of the zoo 1. When the point balance warning process is started, the operation management server 31 sets the point balance Pr of the robot boarding card 41 to the warning balance Prm (for example, 10) for all the movement support robots 10 on which the user 7 is boarded in step S101. Point) Determine whether or not
　ステップＳ１０１の判定がＹｅｓになった場合、運行管理サーバ３１は、携帯端末８と車載端末１８との双方に対し残高警告表示指令を送信し、図３６（車載端末１８の例）に示すように残高警告表示１１１をディスプレイ１８ａにポップアップさせる。残高警告表示１１１には、ポイントカード販売所のリンク１１１ａと閉じるボタン１１１ｂとが設けられており、ポイントカード販売所のリンク１１１ａをタッチすると敷地３内にある券売機や売店のマップが表示される。これにより、利用者７は、移動支援ロボット１０を継続して使用する場合、ポイントカード４２を入手してロボット搭乗カード４１にポイントをチャージすることができる。 When the determination in step S101 is Yes, the operation management server 31 transmits a balance warning display command to both the mobile terminal 8 and the in-vehicle terminal 18, as shown in FIG. 36 (example of in-vehicle terminal 18). The balance warning display 111 is popped up on the display 18a. The balance warning display 111 is provided with a point card sales office link 111a and a close button 111b. When the point card sales office link 111a is touched, a map of ticket machines and shops in the site 3 is displayed. . Thereby, the user 7 can acquire the point card 42 and can charge the robot boarding card 41 with points when using the movement supporting robot 10 continuously.
（バッテリ残量警告処理）
　図３７は、バッテリ残量警告処理の手順を示すフローチャートである。
　図３８は、第１残量警告表示指令を受信した車載端末を示す正面図である。
　図３９は、第２残量警告表示指令を受信した車載端末を示す正面図である。 (Battery remaining warning processing)
FIG. 37 is a flowchart showing the procedure of the battery remaining amount warning process.
FIG. 38 is a front view showing the in-vehicle terminal that has received the first remaining amount warning display command.
FIG. 39 is a front view showing the in-vehicle terminal that has received the second remaining amount warning display command.
　運行管理サーバ３１は、上述した各処理と並行して、図３７のフローチャートにその手順を示すバッテリ残量警告処理を繰り返し実行する。バッテリ残量警告処理を開始すると、運行管理サーバ３１は、ステップＳ１１１で、利用者７が搭乗している全ての移動支援ロボット１０について、バッテリ２１の残量Ｂｒが第１警告残量Ｂｒｍ１以下となったか否かを判定する。第１警告残量Ｂｒｍ１は、例えば１０分程度の走行が可能となる値である。 The operation management server 31 repeatedly executes a battery remaining amount warning process whose procedure is shown in the flowchart of FIG. 37 in parallel with each process described above. When the battery remaining amount warning process is started, the operation management server 31 determines in step S111 that the remaining amount Br of the battery 21 is less than or equal to the first warning remaining amount Brm1 for all the movement support robots 10 on which the user 7 is boarded. It is determined whether or not. The first warning remaining amount Brm1 is a value that enables traveling for about 10 minutes, for example.
　ステップＳ１１１の判定がＹｅｓになった場合、運行管理サーバ３１は、ステップＳ１１２で携帯端末８と車載端末１８との双方に対し第１残量警告表示指令を送信し、図３８（車載端末１８の例）に示すように第１残量警告表示１２１をディスプレイ１８ａにポップアップさせる。第１残量警告表示１２１には、降車を促す記載と閉じるボタン１１１ｂとが設けられている。したがって、利用者７は、閉じるボタン１１１ｂにタッチして第１残量警告表示１２１を閉じ、移動支援ロボット１０の操作を行うことができる。 When the determination in step S111 is Yes, the operation management server 31 transmits the first remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S112, and FIG. As shown in the example), the first remaining amount warning display 121 is popped up on the display 18a. The first remaining amount warning display 121 is provided with a description prompting to get off and a close button 111b. Therefore, the user 7 can touch the close button 111 b to close the first remaining amount warning display 121 and operate the movement support robot 10.
　次に運行管理サーバ３１は、ステップＳ１１３で利用者７が移動支援ロボット１０から降車したか否かを判定する。そして、この判定がＹｅｓになると、運行管理サーバ３１は、ステップＳ１１４でバッテリ充電指令を車載端末１８に送信し、図１中にＦで示すように、移動支援ロボット１０を前述した充電ステーション３２まで移動させて充電設備３２ａによる充電を行わせる。 Next, the operation management server 31 determines whether or not the user 7 gets out of the movement support robot 10 in step S113. And if this determination is Yes, the operation management server 31 will transmit a battery charge command to the vehicle-mounted terminal 18 by step S114, and will show the movement assistance robot 10 to the charging station 32 mentioned above as shown by F in FIG. It is made to move and charging by the charging equipment 32a is performed.
　一方、ステップＳ１１３の判定がＮｏであった場合、運行管理サーバ３１は、ステップＳ１１５でバッテリ２１の残量Ｂｒが第２警告残量Ｂｒｍ２以下となったか否かを判定し、この判定がＮｏである間はステップＳ１１５の判定を繰り返す。なお、第２警告残量Ｂｒｍ２は、少なくとも移動支援ロボット１０が充電ステーション３２まで移動できる値である。 On the other hand, when the determination in step S113 is No, the operation management server 31 determines whether or not the remaining amount Br of the battery 21 is equal to or less than the second warning remaining amount Brm2 in step S115. While there is, the determination in step S115 is repeated. Note that the second warning remaining amount Brm2 is a value at which the movement support robot 10 can move to the charging station 32 at least.
　ステップＳ１１５の判定がＹｅｓになった場合、運行管理サーバ３１は、ステップＳ１１６で携帯端末８と車載端末１８との双方に対し第２残量警告表示指令を送信し、図３９に示すように第２残量警告表示１２２をディスプレイ１８ａにポップアップさせる。第２残量警告表示１２２には、バッテリ残量が０となったことや、利用者７の操作を受け付けない旨が記載されている。 When the determination in step S115 is Yes, the operation management server 31 transmits the second remaining amount warning display instruction to both the mobile terminal 8 and the in-vehicle terminal 18 in step S116, and the second remaining warning display instruction is shown in FIG. 2. A remaining amount warning display 122 is popped up on the display 18a. The second remaining amount warning display 122 describes that the remaining amount of battery is 0 and that the operation of the user 7 is not accepted.
　次に運行管理サーバ３１は、ステップＳ１１７で車載装置１７にロック指令を送信し、車載端末１８やジョイステック１９による移動支援ロボット１０の設定や操縦を行えなくする。しかる後、運行管理サーバ３１は、ステップＳ１１４に移行してバッテリ充電指令を車載端末１８に送信し、図１中にＦで示すように、移動支援ロボット１０を充電ステーション３２まで移動させて充電設備３２ａによる充電を行わせる。 Next, the operation management server 31 transmits a lock command to the in-vehicle device 17 in step S117 so that the in-vehicle terminal 18 and the joystick 19 cannot set and control the movement support robot 10. Thereafter, the operation management server 31 proceeds to step S114 to transmit a battery charging command to the in-vehicle terminal 18, and moves the movement support robot 10 to the charging station 32 as shown by F in FIG. Charge by 32a is performed.
（店舗での使用）
　ポイントがチャージされたロボット搭乗カード４１は、食堂や売店等の店舗で使用することができる。例えば、利用者７は、食堂３５（図１参照）で食事をした後、ロボット搭乗カード４１のＱＲコード４１ａをレジの端末３５ａにかざすことにより、ポイントでの支払いを行うことができる。これにより、利用者７は、現金による支払いにおける煩わしさが無くなると同時に、ロボット搭乗カード４１の残ポイントを有効に消費することができる。 (Use in stores)
The robot boarding card 41 charged with points can be used in a restaurant or a store such as a store. For example, after having eaten in the dining room 35 (see FIG. 1), the user 7 can pay in points by holding the QR code 41a of the robot boarding card 41 over the cashier terminal 35a. Thereby, the user 7 can effectively consume the remaining points of the robot boarding card 41 at the same time as the trouble of paying with cash is eliminated.
　以上で具体的な実施形態の説明を終えるが、本発明の態様はこれらに限られるものではない。例えば、上記実施形態では本発明を動物園でのものに適用したが、遊園地やテーマパーク等での移動支援ロボットの運用にも当然に適用可能である。また、移動支援ロボットについても、実施形態の２人乗り車椅子型に代えて、４人乗りの自動車型等を採用してもよい。また、上記実施形態では、ＱＲコードが印刷されたロボット搭乗カードを利用者が持ち歩くものとしたが、携帯端末にＱＲコード等の二次元コードを記憶させるようにしてもよい。この場合、利用者が携帯端末のディスプレイに二次元コードを呼び出し、これを移動支援ロボットへの搭乗時や店舗での使用時に車載端末や店舗端末にかざすことで、運行管理サーバにユーザＩＤが認識される。したがって、利用者が実体的なカードを持ち歩く必要が無くなり、利便性が大幅に向上するとともに紛失等の虞も無くすことができる。その他、本発明の主旨を逸脱しない範囲であれば、移動支援ロボット運行管理システムの具体的構成や各処理の具体的手順等についても適宜変更可能である。 This is the end of the description of specific embodiments, but the aspects of the present invention are not limited to these. For example, in the above embodiment, the present invention is applied to a zoo, but can naturally be applied to the operation of a movement support robot in an amusement park or a theme park. In addition, as for the movement support robot, a four-seater car type or the like may be adopted instead of the two-seater wheelchair type of the embodiment. In the above embodiment, the user carries the robot boarding card on which the QR code is printed. However, a two-dimensional code such as a QR code may be stored in the mobile terminal. In this case, the user calls the two-dimensional code on the display of the mobile terminal, and the user ID is recognized by the operation management server by holding it over the in-vehicle terminal or the store terminal when boarding the movement support robot or using it in the store. Is done. This eliminates the need for the user to carry a substantial card, greatly improving convenience and eliminating the possibility of loss. In addition, as long as it does not deviate from the gist of the present invention, the specific configuration of the movement support robot operation management system, the specific procedure of each process, and the like can be appropriately changed.
　本発明の移動支援ロボットの運行管理システムは、動物園や遊園地、テーマパーク等におけるレンタル式の移動支援ロボットに効果的に利用できる。 The operation management system of the movement support robot of the present invention can be effectively used for rental type movement support robots in zoos, amusement parks, theme parks, and the like.
　１　　　動物園
　４　　　動物展示舎
　５　　　正門ゲート
　６　　　裏門ゲート
　７　　　利用者
　８　　　携帯端末
　８ａ　　ディスプレイ
　９　　　歩行者
　１０　　移動支援ロボット
　１７　　車載装置
　１８　　車載端末
　１８ａ　ディスプレイ
　１９　　ジョイステック
　２０　　センサ
　２１　　バッテリ
　３１　　運行管理サーバ
　３２　　充電ステーション
　３３　　空車エリア
　４１　　ロボット搭乗カード
　４１ａ　ＱＲコード
　４２　　ポイントカード DESCRIPTION OF SYMBOLS 1 Zoo 4 Animal exhibition building 5 Main gate 6 Back gate 7 User 8 Portable terminal 8a Display 9 Pedestrian 10 Movement support robot 17 In-vehicle device 18 In-vehicle terminal 18a Display 19 Joystick 20 Sensor 21 Battery 31 Operation management server 32 Charging station 33 Empty area 41 Robot boarding card 41a QR code 42 Point card

Claims (9)

  1. 　利用者の乗車に供され、所定の運行領域内をバッテリの電力で走行するとともに、それぞれが固有のＩＤを有する複数の移動支援ロボットと、
    　これら移動支援ロボットを運行管理する管理装置とを含む移動支援ロボットの運行管理システムであって、
    　前記移動支援ロボットは、利用者が所有する携帯端末および前記管理装置との間で通信を行う車載装置を備えるとともに、前記携帯端末と前記車載装置と前記管理装置との少なくとも一つからの指示に基づく自動走行が可能であり、
    　前記管理装置は、前記携帯端末または車載装置からの乗車要求に基づき前記利用者と前記移動支援ロボットのＩＤとを紐付け、当該移動支援ロボットを他の利用者からの乗車要求を受け付けない確保モードとするとともに、前記利用者による一旦降車と完全降車との選択を可能にする、移動支援ロボットの運行管理システム。     A plurality of movement support robots that are used for a user's boarding and run in a predetermined operation area with battery power, each having a unique ID,
    An operation management system for a movement support robot including a management device for operation management of these movement support robots,
    The movement support robot includes a mobile terminal owned by a user and an in-vehicle device that communicates with the management device, and receives instructions from at least one of the mobile terminal, the in-vehicle device, and the management device. Automatic driving based on
    The management device associates the user with the ID of the movement support robot based on a boarding request from the mobile terminal or the in-vehicle device, and the secure mode in which the movement support robot does not accept a boarding request from another user In addition, an operation management system for a movement support robot that enables the user to select whether to get off once or completely.
  2. 　前記利用者と前記移動支援ロボットのＩＤとの紐付けは、前記利用者が所持する搭乗カードまたは前記携帯端末の画面に表示された二次元コードを介して行われる、請求項１記載の移動支援ロボットの運行管理システム。 The movement support according to claim 1, wherein the association between the user and the ID of the movement support robot is performed via a boarding card possessed by the user or a two-dimensional code displayed on a screen of the mobile terminal. Robot operation management system.
  3. 　前記管理装置は、前記携帯端末からの要求に応じ、乗車可能な移動支援ロボットのＩＤを含む情報を乗車候補情報として当該携帯端末に送信し、
    　前記携帯端末は、前記乗車候補情報に基づき、少なくとも一つの乗車可能な移動支援ロボットを選択可能な状態で利用者に提示するとともに、利用者による選択操作がなされた際に前記乗車要求信号を前記管理装置に送信する、請求項１または請求項２記載の移動支援ロボットの運行管理システム。     In response to a request from the mobile terminal, the management device transmits information including an ID of a travel support robot that can be boarded as boarding candidate information to the mobile terminal,
    Based on the boarding candidate information, the mobile terminal presents to the user at least one mobility support robot that can be boarded, and the boarding request signal is displayed when a selection operation is performed by the user. The operation management system of the movement assistance robot according to claim 1 or 2, which is transmitted to the management device.
  4. 　前記乗車候補情報は、乗車可能な移動支援ロボットと利用者との距離を含み、
    　前記携帯端末は、前記乗車候補情報が複数存在する場合、乗車可能な移動支援ロボットを利用者から近い順に表示する、請求項１～請求項３のいずれか一項に記載の移動支援ロボットの運行管理システム。     The boarding candidate information includes a distance between the user and a user-friendly travel support robot,
    The operation of the mobile support robot according to any one of claims 1 to 3, wherein when there are a plurality of pieces of boarding candidate information, the mobile terminal displays the mobile support robots that can be boarded in order from the user. Management system.
  5. 　前記管理装置は、確保モードとなった移動支援ロボットが利用者から離れた場所にある場合、当該移動支援ロボットに対し利用者のもとに向かう迎車指令を出力する、請求項１～請求項４のいずれか一項に記載の移動支援ロボットの運行管理システム。 The management device outputs an incoming command to the user to the movement support robot when the movement support robot in the secure mode is away from the user. The operation management system for the movement support robot according to any one of the above.
  6. 　前記移動支援ロボットは、先導者または先導する移動支援ロボットに追従走行する追従走行モードを有する、請求項１～請求項５のいずれか一項に記載の移動支援ロボットの運行管理システム。 The operation management system for a movement support robot according to any one of claims 1 to 5, wherein the movement support robot has a follow-up running mode in which the follower or the lead movement support robot follows.
  7. 　前記移動支援ロボットは、利用者の操縦に供される操縦手段を有し、
    　前記車載装置は、利用者の操作または制御装置からの指令に基づき、当該移動支援ロボットを自動運転モードと利用者による操縦モードとの間で切り換える、請求項１～請求項６のいずれか一項に記載の移動支援ロボットの運行管理システム。     The movement support robot has a control means used for a user's control,
    The in-vehicle device switches the movement support robot between an automatic operation mode and a user's operation mode based on a user operation or a command from the control device. The operation management system of the movement support robot described in 1.
  8. 　前記運行領域内に充電設備が設置されており、
    　前記移動支援ロボットは、前記バッテリの残量が所定値以下に低下した場合、前記管理装置と前記車載装置との少なくとも一方の充電指令に基づき、前記充電設備まで自動走行して前記バッテリの充電を行う充電モードを有する、請求項１～請求項７のいずれか一項に記載の移動支援ロボットの運行管理システム。     A charging facility is installed in the operation area,
    The movement assist robot automatically travels to the charging facility and charges the battery based on a charging command of at least one of the management device and the in-vehicle device when the remaining amount of the battery falls below a predetermined value. The operation management system for a movement support robot according to any one of claims 1 to 7, further comprising a charging mode for performing the operation.
  9. 　前記移動支援ロボットは、進行方向に存在する障害物を検出するセンサを有し、当該センサの検出結果に基づき衝突回避動作を行う、請求項１～請求項８のいずれか一項に記載の移動支援ロボットの運行管理システム。 The movement according to any one of claims 1 to 8, wherein the movement support robot includes a sensor that detects an obstacle existing in a traveling direction, and performs a collision avoidance operation based on a detection result of the sensor. Operation management system for support robots.
PCT/JP2016/089142 2016-12-28 2016-12-28 Driving control system for mobility assistance robot WO2018123032A1 (en)

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