JP2021064292A - Rescue assisting server device - Google Patents

Abstract

To realize a mechanism for providing a rescue tool to a user who has encountered an emergency.SOLUTION: A rescue request acquisition unit 222 acquires a rescue request transmitted from a terminal device of a user, the rescue request including position information indicating a user position. A peripheral robot specifying unit 232 specifies a mobile robot existing near the user position from the position information included in the rescue request. A dispatch instruction unit 242 transmits a dispatch instruction to the specified mobile robot to dispatch the robot to the user position as a destination. A type information acquisition unit 224 acquires type information indicating a type of an occurring emergency, transmitted from the terminal device of the user. Based on the type information, a return robot specifying unit 234 specifies a mobile robot that is not suitable for coping with the occurring emergency among the mobile robots to which the dispatch instruction had been transmitted. A feedback instructing unit 244 transmits a dispatch stop instruction to the specified mobile robot.SELECTED DRAWING: Figure 9

Description

The present invention relates to a rescue support server device that manages a plurality of mobile robots equipped with rescue tools.

Patent Document 1 describes a bottom portion, a first pillar portion and a second pillar portion extending vertically from both ends in the horizontal direction of the bottom portion, and an upper end portion of each of the first pillar portion and the second pillar portion. An article storage portion that forms an opening by a top portion connected to the above, and an article storage aid provided so as to form a pair between the first pillar portion and the second pillar portion with the opening sandwiched between them are fixed. Disclose an article transfer robot provided with a fixing portion for doing so. In Patent Document 1, the article transporting robot follows behind the user who is shopping, and while the user is shopping, the article is taken in and out of the article storage assisting tool fixed to the opening of the article transporting robot. It is assumed that the usage scene will be used.

Japanese Patent No. 6336235

In commercial facilities such as department stores, rescue tools used in emergencies, such as AEDs (Automated External Defibrillators) and fire extinguishers, are installed in various places. However, there is a problem that the user who encounters an emergency cannot obtain the rescue tool because he / she does not know the location of the rescue device.

Therefore, an object of the present invention is to realize a mechanism for providing a rescue tool to a user who has encountered an emergency.

In order to solve the above problems, the rescue support server device of a certain aspect of the present invention manages a plurality of mobile robots equipped with rescue tools. The rescue support server device is a rescue request transmitted from the user's terminal device, and is a user position based on the first acquisition unit that acquires the rescue request including the position information indicating the user position and the position information included in the rescue request. A first robot identification unit that identifies a mobile robot existing near the robot, a first instruction unit that transmits a dispatch instruction with the user position as a destination to the mobile robot specified by the first robot identification unit, and a user's terminal. Of the second acquisition unit that acquires the type information that indicates the type of emergency that has occurred and the mobile robot that has sent the dispatch instruction from the type information, it is not suitable for responding to the emergency that has occurred. It includes a second robot identification unit that identifies a mobile robot, and a second instruction unit that transmits a dispatch stop instruction to the mobile robot specified by the second robot identification unit.

According to the present invention, it is possible to realize a mechanism for providing a rescue tool to a user who has encountered an emergency situation.

It is a perspective view of the mobile robot of an Example. It is a perspective view of a mobile robot in an upright posture. It is a perspective view of a mobile robot loaded with cargo. It is a figure for demonstrating the relative motion of the main body with respect to a traveling mechanism. It is a figure for demonstrating the structure of a mobile robot. It is a figure which shows the functional block of a mobile robot. It is a figure which shows the rescue system which a mobile robot operates in a rescue action mode. It is a figure which shows the SOS button displayed on the mobile terminal apparatus. It is a figure which shows the functional block of the rescue support server device. It is a figure which shows the selection screen of the emergency situation which occurred.

1 (a) and 1 (b) show perspective views of the mobile robot 10 of the embodiment. The height of the mobile robot 10 may be, for example, about 1 to 1.5 meters. The mobile robot 10 includes a traveling mechanism 12 having an autonomous traveling function, and a main body portion 14 supported by the traveling mechanism 12 for mounting an object such as luggage. The traveling mechanism 12 includes a first wheel body 22 and a second wheel body 24, the first wheel body 22 has a pair of front wheels 20a and a pair of middle wheels 20b, and the second wheel body 24 has a pair of rear wheels. A wheel 20c is provided. 1 (a) and 1 (b) show a state in which the front wheels 20a, the middle wheels 20b, and the rear wheels 20c are arranged in a straight line.

The main body portion 14 has a frame body 40 formed in a rectangular shape, and the inside of the frame body 40 constitutes a storage space on which an object such as a luggage is placed. The frame body 40 includes a pair of right side walls 18a and a left side wall 18b, a bottom plate 18c connecting the pair of side walls on the lower side, and an upper plate 18d connecting the pair of side walls on the upper side. A pair of ridges (ribs) 56a, 56b, 56c (hereinafter, referred to as "ridges 56" unless otherwise specified) are provided on the inner surfaces of the right side wall 18a and the left wall 18b. The main body 14 is connected to the traveling mechanism 12 so as to be relatively movable. The mobile robot 10 of the embodiment has a home delivery function of loading a load, autonomously traveling to a set destination, and delivering the load to a user waiting at the destination. Hereinafter, regarding the orientation of the main body portion 14, the direction perpendicular to the opening of the frame body 40 in a state where the main body portion 14 is upright with respect to the traveling mechanism 12 is the “front-back direction”, and the direction vertically penetrating the pair of side walls is the “left-right direction”. ".

2 (a) and 2 (b) show perspective views of the mobile robot 10 in an upright posture. The front wheels 20a and the rear wheels 20c of the traveling mechanism 12 approach each other, and the first wheel body 22 and the second wheel body 24 tilt each other with respect to the ground contact surface, so that the mobile robot 10 takes an upright posture. For example, when the mobile robot 10 reaches the destination and takes a standing posture in front of the user at the destination, the user can easily pick up the baggage addressed to himself / herself placed on the main body 14.

FIG. 3 shows a perspective view of the mobile robot 10 in an upright posture with a load loaded. FIG. 3 shows how the first baggage 16a, the second baggage 16b, and the third baggage 16c are loaded on the main body 14. The first luggage 16a, the second luggage 16b, and the third luggage 16c are mounted on the main body portion 14 by being placed on or engaged with the protrusions 56 formed on the inner surfaces of the right side wall 18a and the left side wall 18b.

The first baggage 16a, the second baggage 16b, and the third baggage 16c shown in FIG. 3 have a box shape, but the object placed on the main body 14 is not limited to the box shape. For example, a container for accommodating an object may be placed on a pair of ridges 56 so that the object can be put in the container. Further, a hook may be provided on the inner surface of the upper plate 18d of the frame body 40, the object may be put in a bag with a handle, and the handle of the bag may be hung on the hook to hang the bag.

In addition to luggage, various items can be stored in the storage space inside the frame 40. For example, by accommodating the refrigerator in the frame 40, the mobile robot 10 can function as a moving refrigerator. Further, the mobile robot 10 can function as a moving store by accommodating the product shelves on which the products are mounted in the frame 40.

The mobile robot 10 of the embodiment has a rescue tool mounted inside the frame 40, and functions as a rescue robot that rushes to the site in the event of an emergency. The rescue support server device recognizes the position where the mobile robot 10 exists, and when an emergency occurs, sends a dispatch instruction to the mobile robot 10 near the site. The operation as a rescue robot will be described with reference to FIGS. 7 to 10.

4 (a) and 4 (b) are views for explaining the relative movement of the main body 14 with respect to the traveling mechanism 12.
FIG. 4A shows a state in which the side wall of the frame body 40 is inclined with respect to the vertical direction. The frame body 40 is rotatably supported by a connecting shaft extending in the left-right direction with respect to the traveling mechanism 12, and can be tilted in any of the front-rear directions. By alternately repeating the tilting motion in the front-rear direction, the frame body 40 enables the swinging motion in the front-rear direction.

FIG. 4B shows a state in which the frame body 40 is rotated approximately 90 degrees around the axis in the vertical direction. The frame body 40 is rotatably supported by a connecting shaft extending in the vertical direction with respect to the traveling mechanism 12, and the frame body 40 and the traveling mechanism 12 rotate relative to each other around the connecting shaft. As shown in b), the frame body 40 rotates. The frame 40 may be rotatable 360 degrees.

5 (a) and 5 (b) are diagrams for explaining the structure of the mobile robot 10. FIG. 5A shows the structure of the traveling mechanism 12, and FIG. 5B mainly shows the structure of the main body portion 14. Actually, the traveling mechanism 12 and the main body 14 are provided with a power supply unit and a control unit, but they are omitted in FIGS. 5 (a) and 5 (b).

As shown in FIG. 5A, the traveling mechanism 12 includes front wheels 20a, middle wheels 20b, rear wheels 20c, first wheel body 22, second wheel body 24, shaft body 26, connecting gear 28, and standing actuator 30. It has a shaft body support portion 32, an object detection sensor 34, a front wheel motor 36, and a rear wheel motor 38.

The first wheel body 22 has a pair of side members 22a and a cross member 22b that connects the pair of side members 22a and extends in the vehicle width direction. The pair of side members 22a are provided so as to extend in the direction perpendicular to both ends of the cross member 22b. The pair of front wheels 20a are provided at the front end positions of the pair of side members 22a, and the pair of middle wheels 20b are provided at positions on both ends of the cross member 22b. A front wheel motor 36 for rotating a wheel shaft is provided on each of the pair of front wheels 20a.

The second wheel body 24 has a cross member 24a extending in the vehicle width direction and a connecting member 24b extending in the vertical direction from the center position of the cross member 24a. The connecting member 24b is inserted into the cross member 22b of the first wheel body 22 and is connected to the first wheel body 22 so as to be relatively rotatable. Rear wheels 20c are provided on both ends of the cross member 24a.

A rear wheel motor 38 for rotating a wheel shaft is provided on each of the pair of rear wheels 20c. The pair of front wheels 20a and the pair of rear wheels 20c can be rotated independently by each motor, and the traveling mechanism 12 can be bent left and right by the difference in the amount of rotation of the left and right wheels.

Inside the cross member 22b, a shaft body 26 extending in the vehicle width direction and a shaft body support portion 32 for supporting both ends of the shaft body 26 are provided. The connecting member 24b of the second wheel body 24 is rotatably connected to the shaft body 26 by the connecting gear 28. The standing actuator 30 can rotate the connecting member 24b around the axis of the shaft body 26. The first wheel body 22 and the second wheel body 24 can rotate relative to each other by being driven by the standing actuator 30, and can take the standing postures shown in FIGS. 2 (a) and 2 (b). It is possible to return to the horizontal posture shown in (a) and 1 (b).

The traveling mechanism 12 has a rocker bogie structure capable of traveling on a step on the road. The shaft body 26 connecting the first wheel body 22 and the second wheel body 24 is located offset from the wheel shaft of the middle wheel 20b, and the wheel shaft of the front wheel 20a and the wheel shaft of the middle wheel 20b in the direction perpendicular to the vehicle width. Located between. As a result, the first wheel body 22 and the second wheel body 24 can be bent according to the shape of the road surface during traveling with the shaft body 26 as a fulcrum.

The object detection sensor 34 is provided on the first wheel body 22 and detects an object in the traveling direction. The object detection sensor 34 may be a millimeter wave radar, an infrared laser, a sound wave sensor, or a combination thereof. The object detection sensor 34 may be provided not only at the front portion of the first wheel body 22 but also at various positions of the first wheel body 22 and the second wheel body 24 in order to detect an object in the rear or lateral direction.

As shown in FIG. 5B, the mobile robot 10 includes a frame body 40, a connecting shaft 42, an outer peripheral tooth portion 43, a rotary actuator 44, a connecting shaft 45, an inclined actuator 46, a first camera 50a, and a second camera 50b. A communication unit 52 is provided. The frame 40 includes a right side display 48a, a left side display 48b, a top surface display 48c (hereinafter, referred to as “display 48” unless otherwise specified), a hook 54, a pair of first ridges 56a, and a pair of first ridges. Two ridges 56b and a pair of third ridges 56c are provided. For convenience of explanation, FIG. 5B shows the connecting shaft 42, the outer peripheral tooth portion 43, the rotary actuator 44, the connecting shaft 45, and the tilting actuator 46 in a simplified manner. The portion 43 and the rotary actuator 44 may be provided separately from the connecting shaft 45 and the tilting actuator 46.

The ridge portion 56 is provided so as to project from the inner surface of the right side wall 18a and the left side wall 18b in order to place luggage or the like. A hook 54 for hanging a load is formed on the inner surface of the upper plate 18d of the frame body 40. The hook 54 may be always exposed from the inner surface of the upper plate of the frame body 40, but may be provided so as to be accommodated in the inner surface of the upper plate so that the hook 54 can be taken out when necessary.

The right side display 48a is provided on the outer surface of the right side wall 18a, the left side display 48b is provided on the outer surface of the left side wall 18b, and the upper surface display 48c is provided on the outer surface of the upper plate 18d. The bottom plate 18c and the top plate 18d are provided with a first camera 50a and a second camera 50b (referred to as "camera 50" when these are not distinguished), respectively. It is preferable that the mobile robot 10 is equipped with a camera in addition to the first camera 50a and the second camera 50b so that the surrounding situation can be monitored. The camera 50 may be provided at a position for photographing the accommodation space of the frame body 40. The upper plate 18d is further provided with a communication unit 52, which can communicate with an external server device via a wireless communication network.

The bottom plate 18c is rotatably attached to the outer peripheral tooth portion 43 of the connecting shaft 42 via a gear (not shown) on the rotary actuator 44 side, and is connected to the first wheel body 22 by the connecting shaft 42. The rotary actuator 44 rotates the frame body 40 about the axis with respect to the connecting shaft 42 by relatively rotating the outer peripheral tooth portion 43 and the gear. The rotary actuator 44 makes it possible to rotate the frame body 40 as shown in FIG. 4 (b).

The tilting actuator 46 rotates the connecting shaft 45 to tilt the connecting shaft 42 in the vertical direction. The connecting shaft 45 extending in the left-right direction is integrally provided at the lower end of the connecting shaft 42, and the tilting actuator 46 rotates the connecting shaft 45 to realize the tilting motion of the connecting shaft 42. By tilting the connecting shaft 42, the tilting actuator 46 can tilt the frame body 40 in the front-rear direction as shown in FIG. 4A.

FIG. 6 shows a functional block of the mobile robot 10. The mobile robot 10 includes a control unit 100, a reception unit 102, a communication unit 52, a GPS (Global Positioning System) receiver 104, a sensor data processing unit 106, a map holding unit 108, an actuator mechanism 110, a display 48, a front wheel motor 36, and a rear wheel motor 10. A wheel motor 38 is provided. The control unit 100 includes a travel control unit 120, a motion control unit 122, a display control unit 124, and an information processing unit 126, and the actuator mechanism 110 includes an upright actuator 30, a rotary actuator 44, and a tilt actuator 46. The communication unit 52 has a wireless communication function, can perform vehicle-to-vehicle communication with the communication unit of another mobile robot 10, and can receive information transmitted from a mobile terminal device such as a user's smartphone. The GPS receiver 104 detects the current position based on the signal from the satellite.

In FIG. 6, each element described as a functional block that performs various processes can be composed of a circuit block, a memory, and other LSIs in terms of hardware, and is loaded in the memory in terms of software. It is realized by a program or the like. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and is not limited to any of them.

The map holding unit 108 holds map information indicating the road position. The map holding unit 108 is not limited to the road position, and may hold map information indicating the passage position of each floor in a building having a plurality of floors such as a commercial facility.

The mobile robot 10 has a plurality of action modes and acts in the set action modes. Of the plurality of action modes, the basic action mode is an action mode in which the user autonomously travels to the destination and delivers the luggage to the user waiting at the destination. Hereinafter, the basic action mode of the mobile robot 10 will be described.

<Basic action mode>
The mobile robot 10 is waiting at the collection point, and when the delivery destination is input by the staff of the collection place, the mobile robot 10 autonomously travels to the input delivery destination. The traveling route may be determined by the mobile robot 10, but may be set by an external server device. The input of the delivery destination is performed by a predetermined wireless input tool, and when the staff inputs the delivery destination from the wireless input tool, the communication unit 52 receives the delivery destination and notifies the travel control unit 120. The wireless input tool may be a dedicated remote controller, or may be a smartphone on which a dedicated application is installed.

The mobile robot 10 is provided with an interface for inputting a delivery destination, and the staff may input the delivery destination from the interface. For example, when the display 48 is configured as a touch panel, the display control unit 124 may display a delivery destination input screen on the display 48, and the staff may input the delivery destination from the delivery destination input screen. When the reception unit 102 receives the touch operation of the touch panel, the information processing unit 126 identifies the delivery destination from the touch position and notifies the travel control unit 120. When the staff at the collection site instructs the mobile robot 10 to start delivery after placing the luggage on the frame 40 and inputting the delivery destination, the travel control unit 120 starts traveling to the set delivery destination. The staff may set a plurality of delivery destinations and place the luggage for each delivery destination in the accommodation space of the frame 40.

The frame body 40 is provided with a mechanism for locking (fixing) the loaded luggage to the frame body 40. While the mobile robot 10 is running, the luggage is fixed to the frame 40 by the lock mechanism so that the mobile robot 10 does not fall during the running and is not taken out by a third party who is not the recipient.

The travel control unit 120 controls the travel mechanism 12 so as to travel on the set travel route by using the map information held by the map holding unit 108 and the current position information supplied from the GPS receiver 104. .. Specifically, the travel control unit 120 drives the front wheel motor 36 and the rear wheel motor 38 to drive the mobile robot 10 to the destination.

The sensor data processing unit 106 acquires information about objects existing around the mobile robot 10 based on the detection data by the object detection sensor 34 and the captured image by the camera 50, and provides the travel control unit 120 with information about the objects. The target object includes a static object such as a structure or a side groove that hinders traveling, and a movable object (moving object) such as a person or another mobile robot 10. The travel control unit 120 determines the traveling direction and the traveling speed so as to avoid a collision with another object, and drives and controls the front wheel motor 36 and the rear wheel motor 38.

When the mobile robot 10 reaches the destination where the user who is the recipient is, the traveling control unit 120 stops the motor drive. The user has obtained a passcode for unlocking the package addressed to him / her from an external server device in advance. When the user transmits the passcode to the mobile robot 10 using a mobile terminal device such as a smartphone, the communication unit 52 receives the unlocking passcode, and the information processing unit 126 unlocks the luggage. At this time, the motion control unit 122 drives the standing actuator 30 to cause the mobile robot 10 to take a standing posture. As a result, the user recognizes that the baggage can be received, and it becomes easy for the user to pick up the baggage addressed to himself / herself placed on the main body portion 14. When the luggage is received by the user, the travel control unit 120 autonomously travels to the next destination.

Although the basic action modes of the mobile robot 10 have been shown above, the mobile robot 10 can also perform actions in other action modes. There may be various action modes of the mobile robot 10, and a program for realizing each action mode may be pre-installed. When the action mode is set, the mobile robot 10 acts in the set action mode. Hereinafter, a rescue action mode in which the mobile robot 10 mounts a rescue tool inside the frame 40 and acts as a rescue robot that rushes to the site in the event of an emergency will be described.

<Rescue action mode>
FIG. 7 shows the environment of the rescue system 1 in which a plurality of mobile robots 10 operate in the rescue action mode. In the rescue system 1, a plurality of mobile robots 10 are each equipped with rescue tools and exist at positions spaced apart from each other. For example, the rescue system 1 may be provided in a space such as a commercial facility, and each of them may be on standby at a predetermined standby position. The rescue tools mounted on the mobile robot 10 are typically fire extinguishers and AEDs (automated external defibrillators), and in addition to these, for example, dehydration countermeasure kits containing oral rehydration solutions and disinfectants. It may include a first-aid kit that includes a defibrillator or a packaging bag.

In the example shown in FIG. 7, the mobile robot 10a behaves as a fire extinguisher robot equipped with a fire extinguisher, the mobile robot 10b behaves as an emergency robot equipped with a first aid kit, and the mobile robot 10c acts as an AED robot equipped with an AED. Behavior, the mobile robot 10d behaves as a dehydration countermeasure robot equipped with a dehydration countermeasure kit. Note that one mobile robot 10 may be equipped with a plurality of types of rescue tools. In the rescue system 1, the rescue support server device 200 manages the status of a plurality of mobile robots 10 equipped with rescue tools.

The user has installed an application (hereinafter referred to as "SOS application") for requesting rescue in an emergency on a mobile terminal device 150 such as a smartphone. In the event of an emergency, the user launches an SOS application on the mobile terminal device 150. The user starts the SOS application when he / she feels something is wrong with him / her, when there is a person who is in poor physical condition in front of him / her, or when he / she finds an outbreak of a fire. When the SOS application is started, a touch-operable SOS button is displayed on the screen on the touch panel.

FIG. 8 shows an SOS button displayed on the mobile terminal device 150. When the user touches the SOS button 152, the SOS application sends a rescue request including position information indicating the position of the user to the rescue support server device 200.

FIG. 9 shows a functional block of the rescue support server device 200. The rescue support server device 200 includes a control unit 202 and a communication unit 204. The control unit 202 includes a robot management unit 210, a robot information holding unit 212, an acquisition unit 220, a robot identification unit 230, and an instruction unit 240, and the acquisition unit 220 has a rescue request acquisition unit 222 and a type information acquisition unit 224. The robot identification unit 230 has a peripheral robot identification unit 232 and a return robot identification unit 234, and the instruction unit 240 has a dispatch instruction unit 242 and a return instruction unit 244. The communication unit 204 communicates with the user's mobile terminal device 150 and the mobile robot 10.

In FIG. 9, each element described as a functional block that performs various processes can be composed of a circuit block, a memory, and other LSIs in terms of hardware, and is loaded in the memory in terms of software. It is realized by a program or the like. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and is not limited to any of them.

The robot management unit 210 manages the status of the plurality of mobile robots 10 in the rescue system 1. Here, the situation of the mobile robot 10 includes position information (latitude, longitude) indicating the location of the mobile robot 10 and information for identifying the rescue tool mounted on the mobile robot 10. Information for identifying the rescue device may be transmitted to the rescue support server device 200 before the mobile robot 10 is used as the rescue robot. For example, a staff member who sets the “rescue action mode” for the mobile robot 10 transmits information for identifying the rescue tool mounted on the mobile robot 10 to the rescue support server device 200 at the time of setting. As a result, the robot management unit 210 can manage the rescue tool mounted on the robot in association with the identification information (robot ID) of the mobile robot.

The mobile robot 10 may periodically transmit its position information to the rescue support server device 200. As a result, the robot management unit 210 grasps the current position of each mobile robot 10 and the situation information including the rescue tool to be mounted. The robot management unit 210 stores the status information of the mobile robot 10 in the robot information holding unit 212. The robot management unit 210 periodically updates the status information of the robot information holding unit 212, so that the robot information holding unit 212 holds the latest status information of the mobile robot 10.

When the user touches the SOS button 152 shown in FIG. 8, the mobile terminal device 150 transmits a rescue request including the user position information to the rescue support server device 200. The communication unit 204 supplies the received rescue request to the rescue request acquisition unit 222, and the rescue request acquisition unit 222 acquires the rescue request. The rescue request acquisition unit 222 extracts the user position information from the rescue request and notifies the robot identification unit 230.

In the robot identification unit 230, the peripheral robot identification unit 232 identifies the mobile robot 10 existing near the user position from the user position information. The robot information holding unit 212 holds the latest position information of the mobile robot 10, and therefore, the peripheral robot identification unit 232 refers to the position information of the moving robot 10 held by the robot information holding unit 212. The mobile robot 10 existing within a predetermined range from the user position is specified.

The peripheral robot identification unit 232 may specify N mobile robots 10 from the mobile robots 10 existing within a predetermined distance L from the user position in the order of proximity to the user position. For example, N = 4 and L = 100 m.

The dispatch instruction unit 242 transmits a dispatch instruction with the user position as the destination to the mobile robot 10 specified by the peripheral robot identification unit 232. When the communication unit 52 receives the dispatch instruction in the mobile robot 10, the travel control unit 120 sets the destination at the user position, controls the travel mechanism 12, and starts traveling to the destination. FIG. 7 shows a state in which the mobile robots 10a, 10b, 10c, and 10d existing near the user who issued the rescue request from the mobile terminal device 150 receive the dispatch instruction and rush to the user position. There is.

After the user sends the SOS button 152, the SOS application displays a screen for selecting the type of emergency that has occurred.
FIG. 10 shows a selection screen for an emergency that has occurred. The emergency selection screen is provided with selection buttons 154a, 154b, 154c, 154d for selecting the type of emergency. The selection button 154a is when a fire is occurring, the selection button 154b is when the user or a nearby person is injured, and the selection button 154c is when there is a person who is lying down in front of the user. In addition, the selection button 154d is selected when the user or a nearby person is suspected of having heat stroke.

When the user touches any of the selection buttons 154, the mobile terminal device 150 transmits the type information indicating the type of the emergency that has occurred to the rescue support server device 200. The communication unit 204 supplies the received type information to the type information acquisition unit 224, and the type information acquisition unit 224 acquires the type information and notifies the robot identification unit 230.

In the robot identification unit 230, the return robot identification unit 234 identifies from the type information the mobile robots 10a, 10b, 10c, and 10d that have transmitted the dispatch instruction, which are not suitable for responding to the emergency situation that has occurred. .. For example, when the type information indicates the occurrence of a fire, the return robot identification unit 234 indicates that the mobile robot 10a, which is a fire extinguisher robot, is suitable for responding to an emergency, and the mobile robots 10b, 10c, and 10d are suitable for an emergency. It can be determined that it is not suitable for the response. When the type information indicates that there is an injured person in front of the user, the return robot identification unit 234 indicates that the mobile robot 10b, which is an emergency robot, is suitable for responding to an emergency, and the mobile robot 10a It can be determined that 10c and 10d are not suitable for responding to an emergency.

As described above, the return robot specifying unit 234 specifies the mobile robot 10 to be returned from the mobile robots 10 that have already been dispatched after receiving the dispatch instruction. Since the mobile robot 10 to be returned is not equipped with rescue tools for responding to the emergency situation that is occurring, it is not useful even if the user goes to the place where the user is, and it interferes with the mobile robot 10 that should be rushed. There is also. Therefore, the return instruction unit 244 transmits a dispatch stop instruction to the mobile robot 10 specified by the return robot identification unit 234. When the communication unit 52 receives the dispatch stop instruction in the mobile robot 10, the travel control unit 120 changes the destination to the standby position, controls the travel mechanism 12, and starts the return travel to the standby position. As a result, the mobile robot 10 returns to the standby position and waits for the next dispatch instruction.

According to the rescue system 1 of the embodiment, when the user touches the SOS button 152 to send a rescue request from the mobile terminal device 150, a nearby rescue robot immediately rushes to the user's place. At this time, if the user can transmit the type information indicating the type of emergency from the mobile terminal device 150, the rescue robot that is not suitable for emergency response can be promptly returned to the standby position, and the rescue suitable for emergency response can be promptly returned. Make sure that only the robot arrives at the user's location. If the user himself / herself is ill and the type information cannot be transmitted from the mobile terminal device 150, a useless rescue robot may arrive at the user's place, but the necessary rescue robot also arrives. As described above, according to the rescue system 1 of the embodiment, it is possible to realize a mechanism in which the rescue tool can be obtained only by the user pressing the SOS button 152.

It should be noted that the examples are merely examples, and it is understood by those skilled in the art that various modifications are possible for the combination of each component, and that such modifications are also within the scope of the present invention.

1 ... Rescue system, 10, 10a, 10b, 10c, 10d ... Mobile robot, 12 ... Travel mechanism, 14 ... Main body, 40 ... Frame, 52 ... Communication unit, 100 ... Control unit, 102 ... Reception unit, 104 ... GPS receiver, 106 ... Sensor data processing unit, 108 ... Map holding unit, 110 ... Actuator mechanism, 120 ... Travel control unit, 122 ... motion control unit, 124 ... display control unit, 126 ... information processing unit, 150 ... mobile terminal device, 200 ... rescue support server device, 202 ... control Department, 204 ... Communication Department, 210 ... Robot Management Department, 212 ... Robot Information Holding Department, 220 ... Acquisition Department, 222 ... Rescue Request Acquisition Department, 224 ... Type Information Acquisition Department , 230 ... Robot identification unit, 232 ... Peripheral robot identification unit, 234 ... Return robot identification unit, 240 ... Instruction unit, 242 ... Dispatch instruction unit, 244 ... Return instruction unit.

Claims (1)

A rescue support server device that manages multiple mobile robots equipped with rescue equipment.
A first acquisition unit that acquires a rescue request including position information indicating the user's position, which is a rescue request transmitted from the user's terminal device.
From the position information included in the rescue request, the first robot identification unit that identifies the mobile robot that exists near the user's position, and the first robot identification unit.
A first instruction unit that transmits a dispatch instruction with the user position as a destination to the mobile robot specified by the first robot identification unit.
A second acquisition unit that acquires type information indicating the type of emergency that has occurred, which is transmitted from the user's terminal device.
From the type information, among the mobile robots that sent the dispatch instruction, the second robot identification unit that identifies the mobile robot that is not suitable for responding to the emergency situation that occurred, and
A second instruction unit that transmits a dispatch stop instruction to the mobile robot specified by the second robot identification unit, and
Rescue support server device equipped with.

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