JP2021189644A - Charge management system and method - Google Patents

Abstract

To prevent customer satisfaction from lowering due to discontinuation of service or occurrence of time zones in which no service is provided in the case of resetting a task execution plan during service provision, in a space in which multiple services are provided by robots.SOLUTION: A system for managing a charging schedule of information processing devices such as robots that can move autonomously includes: robots 60, robot charging stations 70; a robot control server 10; a charging management server 30 that manages the charging schedule of the robots; and a management database 20 for sharing information among the respective devices. When the robot starts a service, a reservation for the charging station is scheduled.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for optimizing charge scheduling of an information processing device that can move autonomously.

In recent years, Internet of Things (IoT) technology, which connects all devices to the Internet and provides various services, is becoming widespread. As the number of devices connected to the Internet increases rapidly, technological development of robot systems is being carried out as autonomously mobile information processing devices that provide various services to humans using communication.

Robots that provide services to such humans manage multiple executable services as tasks, but the power consumption of various tasks varies, and it is predicted that the battery level of battery-powered robots will run out. It is difficult to schedule battery charging more flexibly.

On the other hand, in Patent Document 1, it is a robot control device that manages a task to be executed by a robot having a movement function, and the state of the battery is defined in advance based on the remaining amount of the battery of the robot. A battery level determination means for determining which of the plurality of battery levels has been performed, an execution plan for the task to be executed by the robot are set for each robot, and a procedure determined for each battery level. According to the task management means for resetting the execution plan of the task registered in the execution plan, the execution command generating means for generating the execution command for causing the robot to execute the task set in the execution plan, and the execution command. A robot control device including a transmission means for transmitting to the robot is described.

Japanese Unexamined Patent Publication No. 2006-106919

However, in a robot utilization system as described in Patent Document 1, in a space where some kind of multiple services are provided to a person, for example, a service for interacting with a person or moving to a target place while interacting with a person. Service by resetting the task execution plan during service provision, such as a service that guides you in, a speech service that unilaterally sends information to an unspecified number of audiences while mixing robot motions, etc. If the service itself is suddenly discontinued or if the service itself cannot be provided, the customer satisfaction with the service provided by the robot will decrease.

An object of the present invention is to solve the above-mentioned problems and to provide a charge management system and a method that do not lead to a decrease in customer satisfaction by resetting a task execution plan during service provision.

In order to achieve the above object, in the present invention, the charge management system is an information processing device that can move independently, a charging station of the information processing device, a control device that controls the information processing device, and an information processing device. It has a charging management device that manages the charging schedule of the device and a database for sharing information between the devices.
The charge management device constitutes a charge management system that schedules reservations for charging stations when the information processing device starts a service.

Further, in order to achieve the above object, in the present invention, the charging management method is a charging station of an information processing device capable of autonomous movement, a control device for controlling the information processing device, and charging of the information processing device. Equipped with a charge management device that manages the schedule and a database for sharing information between the devices, the charge management device provides a charge management method for scheduling a reservation of a charging station when the information processing device starts a service. do.

According to the present invention, in a plurality of autonomously movable information processing devices that provide services in an area, the timing at which charging is required varies due to differences in the services provided and conditions due to battery deterioration and the like. However, an optimized schedule that minimizes the impact on the provision of services to users is possible.

In addition, problems, configurations, and effects other than those described above will be clarified by the explanation of the following examples.

It is a figure which shows one configuration example of the charge management system of Example 1. FIG. It is a figure which shows the example of the configuration of the robot control server which concerns on Example 1. FIG. It is a figure which shows the example of the structure of the management database which concerns on Example 1. FIG. It is a block diagram which shows the structure of the data managed by the management database which concerns on Example 1. FIG. It is a figure which shows the example of the configuration of the charge management server which concerns on Example 1. FIG. It is a figure which shows the example of the structure of the robot which concerns on Example 1. FIG. It is a figure which shows the example of the configuration of a charging station. FIG. 5 is a state transition diagram of a robot managed by a robot control server according to the first embodiment. It is a figure which shows the scheduling example of the charging station of the charge management server which concerns on Example 1. FIG. It is a flowchart which shows the example of the battery monitoring process which concerns on Example 1. It is a flowchart which shows the example of the charge instruction processing which concerns on Example 1. It is a flowchart which shows the example of the advance charge scheduling process which concerns on Example 1. It is a flowchart which shows the example of the charge scheduling process which concerns on Example 1. It is a flowchart which shows the example of the service support instruction processing which concerns on Example 1. It is a flowchart which shows the example of the emergency charge scheduling process which concerns on Example 1. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following examples, when it is necessary for convenience of explanation, the description will be divided into a plurality of sections or examples, but unless otherwise specified, they are not unrelated to each other, and one of them is not related to each other. It is related to some or all of the other modifications, details, supplementary explanations, and the like. In this embodiment, a robot will be illustrated as an example of an information processing device that can move independently, but the present invention is not limited to this, and other devices may be used.

In addition, in the following examples, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), except when explicitly stated or when the number is clearly limited to a specific number in principle. , It is not limited to the specific number, and may be more than or less than the specific number.

Furthermore, it goes without saying that in the following embodiments, the components (including element steps, etc.) are not necessarily essential unless otherwise specified or clearly considered to be essential in principle. stomach.

In the first embodiment, information is provided between an information processing device that can move independently, a charging station of the information processing device, a control device that controls the information processing device, a charging management device that manages the charging schedule of the information processing device, and the device. The charging management device is an embodiment of a charging management system and method for scheduling a reservation of a charging station when the information processing device starts a service.

FIG. 1 is a diagram showing a configuration example of the charge management system of the first embodiment. The charging management system of the first embodiment includes a robot control server 10 that controls services by the robot, a charging management server 30 that executes a robot charging instruction charging schedule and a charging station reservation for the robot control server, and a robot. An operation management center 80 in which a management database 20 for storing the state of the charging station in real time and sharing data between the robot control server and the charging management server is arranged, and a service (for example, interacting with a person to a user). A service that guides you to the destination while interacting with people, a speech service that unilaterally sends information to an unspecified number of audiences while using robot motion, etc. in conjunction with signage, etc. ) Is a service area 90 in which a robot 60, which is an information processing device that can move autonomously, and a charging station 70 for charging the robot's battery are arranged as devices for providing the robot.

As described above, the device for providing the service to the user will be described here as the robot 60 which is an information processing device capable of autonomous movement, but the device is not limited to the robot, and the service is used. As long as it is a device that can be provided, its shape and means of transportation do not matter.

The operation management center 80 and the service area 90 are connected by a network 40. Further, the service area is connected by a local area network (LAN) 50. The connection method of the premises LAN is, for example, a wired LAN, a wireless LAN, or a short-range wireless, and a plurality of connection methods may be used in combination.

FIG. 2 is a diagram showing an example of the configuration of the robot control server 10. The processing content of the robot control server 10 is stored in the auxiliary storage device 104 of a general computer in the form of a program (software), and the CPU (Central Processing Unit) 102 reads the program from the auxiliary storage device 104 on the memory 101. Expand to and run. The robot control server 10 communicates with other servers, service devices, and robots via the network I / F 105.

The I / O (input / output interface) 103 is a user interface for the user to input an instruction to the robot control server 10 and present the execution result of the program to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 103. The I / O 103 may be connected to a user interface provided by a management terminal connected via a network.

The CPU 102 is a processor that executes a program stored in the memory 101. The memory 101 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System) and the like. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 102 and data used when executing the program.

Specifically, the memory 101 stores a service control program 111, a scenario control program 112, a voice processing program 113, an image processing program 114, an interactive processing program 115, and a statistical processing program 116.

The service control program 111 is a program for giving an operation instruction based on a service to the robot 60. Specifically, it is an instruction to play a voice from a robot speaker, execute a motion, or move to a specific place. The scenario control program 112 holds a scenario in which the robot acts to provide a service, receives an external event (for example, voice input, image input, etc.), and what the robot does next from the scenario flow. It is a program to decide whether to act.

The voice processing program 113 is a program that receives voice data input to the microphone of the robot 60 from the robot 60, analyzes the voice data, and converts it into text data. The image processing program receives the image data input to the camera of the robot 60 from the robot 60, analyzes the image data, determines whether a person exists in front of the robot 60, estimates the age, gender, emotion, etc. of the person. It is a program to do.

The dialogue processing program 115 receives the text data converted by the voice processing program 113 or the text data input from a device (for example, a signage, a tablet, an externally connected terminal, etc.) to which the text data can be input, and the dialogue data learned in advance. It is a program that guesses the most suitable answer based on and outputs it as text data.

The statistical processing program 116 is a program for totaling the number of people and the time for which the robot 60 has provided a service and estimating the busy time zone for each role. The auxiliary storage device 104 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 104 stores a program executed by the CPU 102 and data used when the program is executed.

That is, the program is read from the auxiliary storage device 104, loaded into the memory 101, and executed by the CPU 102. The robot control server 10 is a computer system composed of physically on one computer or on a plurality of logical or physical computers, and the programs stored in the memory 101 are on the same computer. It may run on a separate thread or on a virtual computer built on multiple physical computer resources.

Further, the robot control server 10 and other devices may be housed in one physical or logical computer. Note that all or part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

FIG. 3 is a diagram showing a configuration example of the management database 20. The processing content of the management database 20 is stored in the auxiliary storage device 204 of a general computer in the form of a program (software), and the CPU (Central Processing Unit) 202 reads the program from the auxiliary storage device 204 on the memory 201. Expand to and run. The management database 20 communicates with other servers via the network I / F 205.

The I / O (input / output interface) 203 is a user interface for the user to input an instruction to the management database 20 and present the execution result of the program to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 203. The I / O 203 may be connected to a user interface provided by a management terminal connected via a network.

The CPU 202 is a processor that executes a program stored in the memory 201. The memory 201 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System) and the like. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 202 and data used when executing the program.

Specifically, the memory 201 stores the database program 211. The database program 211 is a program for receiving input from the I / O 203 or the network I / F 205 and inserting, updating, or deleting the table data stored in the memory 201.

Further, the memory 201 stores a robot information table 221, an area information table 222, a roll information table 223, a charging station table 224, and a charging time schedule table 225 as shown in FIG.

The auxiliary storage device 204 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 204 stores a program executed by the CPU 202 and data used when the program is executed. That is, the program is read from the auxiliary storage device 204, loaded into the memory 201, and executed by the CPU 202.

The management database 20 is a computer system composed of physically on one computer or on a plurality of logical or physical computers, and the programs stored in the memory 201 are on the same computer. It may run on a separate thread or on a virtual computer built on multiple physical computer resources. Further, the management database 20 and other devices may be housed in one physical or logical computer. Note that all or part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

FIG. 4 shows the data structures of various tables existing in the memory 201 of the management database. The robot information table 221 is a table that manages information on the robot 60, and is an X coordinate indicating an identifier for uniquely identifying the robot 60, the state of the robot 60, the service status of the robot 60, and the position information in the map of the robot 60. And Y coordinates, including the estimated remaining battery level of the robot 60.

The state exists as a candidate value during standby, service provision, charging, and moving, and when the state is service provision, the service status includes dialogue, movement guidance, and speech as candidate values. If the status is other than the service is being provided, the service status is on standby. The X coordinate and the Y coordinate are values obtained by estimating their own position by the self-position estimation function mounted on the robot 60.

The area information table 222 is a table that manages information on the service area 90 in which the robot 60 acts, an identifier for uniquely identifying the service area 90, and whether or not a spare robot is held in the corresponding service area 90. The spare robot information shown, all the robots placed in the corresponding service area 90 start charging at the same time, and at least how many robots should be used so as not to lower the service level due to the time when the service cannot be provided in the entire service area. Includes the minimum number of working robots that indicate if they need to be running.

The role information table 223 is a table that manages the role of the robot 60 operating in the service area 90, and is an identifier for uniquely identifying the service area 90, and uniquely identifies the role of the robot operating in the corresponding service area 90. Identifier, scenario information that defines how the robot behaves, importance of the role in the service area 90, busy time schedule estimated by the statistical processing program 116, and the service area 90. Includes the assigned robot identifier of the robot 90 in charge of the role.

The scenario information is data that defines a scenario for executing actions such as speech, dialogue, movement, motion, etc. triggered by input events such as voice data, image data, and text data, and the scenario control program 112 of the robot control server 10 has this data. According to the scenario, the service control program 111 is notified of the next action.

The importance is the importance for the role of the service area 90, that is, the importance of the role, and is classified into small, medium, and large. The rolls that do not have to operate in the service area 90 are small, and the rolls that need to operate in the service area 90 need to be operated, but the rolls that allow temporary absence for charging and maintenance are medium, and the service area 90. It is said that the important role that must be operated in Japan and that there should be no time when the service cannot be provided is large.

The busy time zone schedule holds the time zone determined to be busy from the result of statistical analysis of the operation results of the robot 90 assigned to the corresponding role by the statistical processing program 116. Specifically, the ratio of the time that the robot 90 has been serving customers every 15 minutes is calculated as the degree of customer service. The unit is%, 100% if the customer has been serving customers continuously for 15 minutes, and 0% if the customer has never been served and is in a waiting state. Including the data of 30 minutes before and after this customer service, the moving average is calculated for 24 hours from Sunday to Saturday, and the time zone exceeding 80% is judged as the busy time zone.

The charging station table 224 is a table that manages information on the charging station 70 installed in the service area 90, and is a station identifier for uniquely identifying the charging station 70, a state of the charging station (in use or empty), and charging. If a robot is present, it includes a charging robot identifier indicating its identifier, and X and Y coordinates indicating position information in the map of the charging station 70.

The charging time schedule table 225 is a table that manages the time schedule of the charging station 70, and is a reservation number issued at the time of reservation, a station identifier for uniquely identifying the charging station 70, a start date and time of the reserved charging time, and an end. Includes the date and time, the reserved robot identifier to be charged by the corresponding reservation.

FIG. 5 is a diagram showing a configuration example of the charge management server 30. The processing content of the charge management server 30 is stored in the auxiliary storage device 304 of a general computer in the form of a program (software), and the CPU (Central Processing Unit) 302 reads the program from the auxiliary storage device 304 on the memory 301. Expand to and run. The charge management server 30 communicates with other servers, service devices, and robots via the network I / F 305.

The I / O (input / output interface) 303 is a user interface for the user to input an instruction to the charge management server 30 and present the execution result of the program to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 303. The I / O 303 may be connected to a user interface provided by a management terminal connected via a network.

The CPU 302 is a processor that executes a program stored in the memory 301. The memory 301 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System) and the like. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 102 and data used when executing the program.

Specifically, the memory 301 stores the battery monitoring program 311, the charging scheduler program 312, and the distance calculation 313. The battery monitoring program 311 is repeated, for example, periodically checking the estimated remaining battery level of the robot information table 221 of all the robots operating in the service area 90, and charging as shown in FIG. 10 according to the level of decrease in the remaining battery level. This is a program for calling the functions of the scheduler program 312.

The charging scheduler program 312 reserves a charging station when the robot 90 is first activated or after charging is complete. Further, it is a program that executes processing according to the battery low level from the battery monitoring program 311 and a charging instruction to the robot 90 via the robot control server 10.

The distance calculation program 313 is a program for calculating the distance from the robot 90 to the charging station 70. The auxiliary storage device 304 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 304 stores a program executed by the CPU 302 and data used when the program is executed.

That is, the program is read from the auxiliary storage device 304, loaded into the memory 301, and executed by the CPU 302. The charge management server 30 is a computer system composed of physically one computer or a plurality of logical or physical computers, and the program stored in the memory 301 is on the same computer. It may run on a separate thread or on a virtual computer built on multiple physical computer resources.

Further, the charge management server 30 and other devices may be housed in one physical or logical computer. Note that all or part of the processing realized by executing the program may be realized by hardware such as Field-Programmable Gate Array.

FIG. 6 is a diagram showing a configuration example of the robot 60. The processing content of the robot 60 is stored in the auxiliary storage device 404 of a general computer in the form of a program (software), and the CPU (Central Processing Unit) 402 expands the program read from the auxiliary storage device 404 on the memory 401. And execute. The robot 60 communicates with other devices via the communication I / F405. Further, the robot 60 includes a mechanism unit 406, which is a mechanism part of the robot such as a head, an arm, and a leg, a mechanism control unit 407 that controls the mechanism unit, a speaker 408 that emits sound, a microphone 409 that collects sound, and a light emitting unit. It includes a 410 and a camera sensor 420.

The I / O (input / output interface) 403 is a user interface for the user to input an instruction to the robot 60 and present the execution result of the program to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 403. The I / O 403 may be connected to a user interface provided by a management terminal connected via a network.

The CPU 402 is a processor that executes a program stored in the memory 401. The memory 401 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System) and the like. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 402 and data used when executing the program.

Specifically, the memory 401 stores the position management program 411 and the robot behavior control program 412. The position management program 411 is a program for estimating the self-position using the image data acquired from the camera sensor 420. The robot behavior control program 412 receives an instruction from the service control program 111 of the robot control server 10, reproduces a voice from the speaker 408, controls the mechanism unit 406 to execute a motion, and moves to a specific place. , Is a program for emitting light from the light emitting unit 410 in the specified light emitting pattern.

The auxiliary storage device 404 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 404 stores a program executed by the CPU 402 and data used when the program is executed. That is, the program is read from the auxiliary storage device 404, loaded into the memory 401, and executed by the CPU 402.

The computer system of the robot 60 is a computer system composed of physically on one computer or on a plurality of logical or physical computers, and the programs stored in the memory 401 are on the same computer. It may run in a separate thread, or it may run on a virtual computer built on multiple physical computer resources. Note that all or part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

FIG. 7 is a diagram showing a configuration example of the charging station 70. The charging station 70 is connected to the battery of the robot 90 to charge the battery, that is, to control the optimum current value and voltage value at the time of charging with the power supply unit 501 which is a mechanism for supplying electric power, and to prevent overcharging. The charging station 70 is provided with a power control unit 502, and can also communicate with other devices via the communication I / F 503.

FIG. 8 is a diagram showing an example of the state transition of the robot 60 managed by the robot control server 10. In the figure, 1001 to 1018 indicate each state. The state in which the robot 60 has not been started is 1001, and when the start is completed, the state transitions to the state 1002. Next, the robot control server 10 requests the charging management server 30 to make a reservation for the charging station 70. When the reservation is completed, the state of the robot 60 transitions to 1003, and when the preparation for starting the service is completed, the state transitions to 1004.

In the state of 1004, when the customer service is started, the state transitions to the state of 1010. Customer service refers to actions that communicate with the user, such as dialogue and movement guidance. When the customer service is completed, the status returns to 1004. Here, when the time of the charging schedule reserved immediately after the robot 60 is started is entered, the transition destination changes depending on the importance of the role in charge of the robot. When the importance of the roll is small or medium, the state transitions to the state of 1005 and the movement to the charging station 70 is started. In other words, the service provided by the robot. Make a reservation for a charging station according to the importance of the role in charge,
When the importance of the role is high, it is necessary to maintain the situation where the service can be provided at all times, so the state transitions to 1006 and the service support request is made to another robot 60 operating in the same service area 90. .. When the robot 60 capable of service support can be secured, the state transitions to the state of 1008, the data transfer for transferring the role is started, and when the transfer is completed, the transition to 1009 occurs. If the robot 60 capable of service support cannot be secured, the state returns to 1004.

When a low battery is detected in the state of 1004, the transition to 1007 occurs. In the state of 1007, when the importance of the roll is high, it transitions to 1006, and when it is small or medium, it transitions to 1009. However, even if the importance of the roll is high, if the low battery level is high, the urgency of charging is high, so the transition to 1009 occurs.

Next, in the state of 1010, when the reserved charging schedule time is reached, since the service is being provided, the charging reservation is canceled, the state of 1010 is maintained, and the service provision is continued. When the low battery level is detected in the state of 1010, the state transitions to the state of 1011, but since the service is being provided, the charging reservation is canceled, the state returns to the state of 1010, and the service provision is continued.

When it is detected that the battery level is low in the state of 1010, it transitions to 1012 and the service is being provided. Therefore, a service support request is made to another robot 60 operating in the same service area 90, and the state of 1013. Transition to. When the robot 60 capable of service support can be secured, the state transitions to the state of 1014, the data transfer for transferring the role is started, and when the transfer is completed, the transition to 1009 occurs. If the robot 60 capable of service support cannot be secured, the robot returns to the state of 1010 and continues to provide the service.

When a high battery low level is detected in the state of 1010, it transitions to 1015 and the urgency of charging is high, so it transitions to 1016, executes a dialogue scenario including an apology to the user, and provides the service being provided. It ends unilaterally and transitions to 1009. In the state of 1009, if the charging schedule of the corresponding robot 60 is not within the reserved time, the charging station 70 is immediately reserved. If there is no vacancy in the charging station 70 and reservation is not possible, the process proceeds to 1004. If the charging schedule of the corresponding robot 60 is within the reserved time, the process transitions to 1005 and the robot moves to the charging station 70.

When the robot 60 moves to the charging station and starts charging, it transitions to the state of 1017. The dialogue service is possible even while the 1017 is being charged, and when the customer service is started, the transition to 1018 is performed, and when the customer service is completed, the process returns to 1017. When charging is completed, the transition to 1002 is made and the charging station 70 is reserved.

FIG. 9 is a diagram showing an example of scheduling of a charging station of a charging management server. The means for scheduling the charging reservation of the robot E in the situation where the charging reservation is scheduled from the robot A to the robot D in the service area 90 in which five robots 60 and three charging stations are operated is shown. First, the area information of the corresponding service area 90 is acquired from the area information table 222, the robot information of the robot E is acquired from the robot information table 221 and the roll information is acquired from the roll information table 223, and the charging reservation status of the charging station 70 is charged. Obtained from schedule table 225.

Next, the battery predicted time is calculated from the battery predicted remaining amount of the robot information of the robot E, and since the battery does not have after 13:00, reservation is not possible. Since the busy time zone is set from 12:00 to 14:00 from the roll information, it is not possible to make a reservation for the corresponding time zone. From the area information, the minimum number of operating robots is 3, and if scheduled from 11:30 to 12:00, the minimum number of operating robots will be 2, so reservations cannot be made during that time period.

Excluding the non-reservable time zone and the already reserved time zone, and selecting the charging station having the most free time, the charging reservation is scheduled. In the case of FIG. 9, the robot E is scheduled from 11:00 to 11:30.

FIG. 10 is a flowchart showing an example of the battery monitoring process. The battery monitoring process is a process performed by the battery monitoring program 311 being executed by the CPU 302 of the charge management server 80. The battery monitoring program 311 is a process that operates repeatedly, for example, periodically. When the process starts, the process is repeated for the number of robots. First, the state of the robot 60 is acquired from the robot information table 221 (S1), and it is determined whether or not the state is charging (S2).

When charging is in progress, the processing for the corresponding robot 60 is terminated, and the processing for the next robot 60 is performed. When the battery is not being charged, the estimated remaining battery level is acquired from the robot information table 221 and it is determined whether or not the low battery level is high (S4). When the battery low level is high, the emergency charge scheduling process (FIG. 15) is executed (S9), and the next robot 60 process is executed. If the low battery level is not high, then it is determined whether the low battery level is in progress (S5).

When the battery is low, the charging schedule process (FIG. 13) is executed (S10), and the next robot 60 process is executed. If it is not in the low battery level, it is next determined whether the low battery level is low (S6). If the low battery level is low, the charge scheduling process (FIG. 12) is executed ahead of schedule (S11), and the next robot 60 process. To carry out.

If the battery low level is not small, then the charging reservation of the corresponding robot 60 is acquired from the charging time schedule table 225 (S7), and it is determined whether the current date and time is within the charging reservation time (S8). If it is within the charging reservation time, the charging instruction process (FIG. 11) is executed (S12), and the next robot 60 process is executed. When the processing of all the robots in the service area 90 is completed, the processing is completed.

FIG. 11 is a flowchart showing an example of charging instruction processing. The charging instruction processing is a processing performed by the charging scheduler program 312 being executed by the CPU 302 of the charging management server 80. Specifically, the charging scheduler program 312 first acquires a charging reservation for the robot 60 from the charging time schedule table 225 (S21), and determines whether the current date and time is within the charging reservation time (S22).

If it is within the charging reservation time, the robot 60 is moved to the charging station, and a charging instruction request is transmitted to the service control program 111 of the robot control server 10 to charge the robot (S27). If it is not within the reserved time, the X coordinate and Y coordinate of the corresponding robot 60 are acquired from the robot information table 221, and the position of the charging station where the service area 90 is arranged is acquired from the charging station table 224.

Next, the distance is calculated using the distance calculation program 313 of the charging management server 30 using the X coordinate, the Y coordinate, the X coordinate of the charging station, and the Y coordinate of the corresponding robot 60 (S23). Next, the free schedule of the charging time schedule table 225 is acquired in order from the charging station having the closest distance to the robot 60 (S24). It is determined whether there is a vacancy in the charging station (S25), and if there is a vacancy, a charging reservation is scheduled in the charging time schedule table 225 (S26), and the process is terminated. If there is no space, the process ends without making a charging reservation.

FIG. 12 is a flowchart showing an example of the forward charging scheduling process. The advance charge scheduling process is a process performed by the charge scheduler program 312 being executed by the CPU 302 of the charge management server 80. The battery monitoring program 311 executes the robot 60 when the low battery level is detected prior to the charge reservation schedule.

Specifically, the charging scheduler program 312 first acquires the estimated remaining battery level of the robot 60 from the robot information table 221 and calculates the battery life (S41). Next, the busy time zone schedule of the roll of the corresponding robot 60 is acquired from the roll information table 222 (S42). Next, it is determined whether the current date and time overlaps with the busy time zone (S43). If it overlaps with the busy hour, the process ends. If it does not overlap with the busy time zone, it is next determined whether the date and time after the battery life has elapsed from the current date and time overlaps with the busy time zone (S44). If they do not overlap, the process ends. If they overlap, the state is then acquired from the robot information table 221 (S45), and it is determined whether the state is providing service (S46). If the service is not being provided, the charging instruction process is executed (S12). If the service is being provided, the process ends.

FIG. 13 is a flowchart showing an example of the charge scheduling process. The charge scheduling process is a process performed by the charge scheduler program 312 being executed by the CPU 302 of the charge management server 80. The battery monitoring program 311 executes the robot 60 for detecting the low battery level prior to the charge reservation schedule.

Specifically, the charging scheduler program 312 first acquires the state of the corresponding robot 60 from the robot information table 221 (S61), and determines whether the state is providing service (S62). When the state is that the service is being provided, the service support instruction process (FIG. 14) is executed (S65). When the state is not the service being provided, the importance of the service area 90 is acquired from the role information table 223 (S63), and it is determined whether the importance is high (S64).

If the importance is not high, the charging instruction process is executed (S12), and the process is terminated. When the importance is high, the service support instruction process (FIG. 14) is executed (S65). After executing the service support instruction process, it is determined whether or not the service support robot has been secured (S66). If the service support robot cannot be secured, the process ends. When the service support robot can be secured, it waits until the service support robot moves near the position of the robot (S68). After the service support robot arrives, the charging instruction process (S12) is executed and the process is completed.

FIG. 14 is a flowchart showing an example of service support instruction processing. The service support instruction process is a process performed by the charge scheduler program 312 being executed by the CPU 302 of the charge management server 80. It is executed when the charging scheduler program 312 takes over the service being provided to another robot in the service area 90.

Specifically, the charging scheduler program 312 first acquires the spare robot information from the area information table 222 (S81), and determines whether or not the spare robot exists (S82). When the spare robot exists, the service support instruction request is transmitted to the spare robot to the service control program 111 of the robot control server 10 (S84), and the process is terminated. When the spare robot does not exist, all the robot information of the robots other than the supported robot 60 existing in the service area 90 is acquired from the robot information table 221 (S83), and the subsequent processing is executed in order of the acquired robot information. do.

First, it is determined whether or not the state of the robot 60 is providing the service (S85). When the service is being provided, the next processing of the robot 60 is executed. When the service is not being provided, the busy time zone schedule of the role of the robot 60 is acquired from the roll information table 222 (S86). Next, it is determined whether the current date and time overlaps with the busy time zone (S87). When it overlaps with the busy time zone, the next processing of the robot 60 is executed.

When the robot 60 does not overlap in the busy time zone, the importance of the role of the robot 60 is acquired from the roll information table 222 (S88). Next, it is determined whether or not the importance is high (S89). When the importance is high, the next processing of the robot 60 is executed.

If the importance is not high, a movement request is transmitted to the service control program 111 of the robot control server 10 so that the robot 60 moves closer to the position of the robot 60 on the supported side (S90). The processing is performed for the acquired robot information, but when the robot 60 on the service support side can be secured, the unprocessed robot information is discarded and the processing is terminated.

FIG. 15 is a flowchart showing an example of the emergency charge scheduling process. The emergency charge schedule process is a process performed by the charge scheduler program 312 being executed by the CPU 302 of the charge management server 80. The battery monitoring program 311 executes the robot 60 when the low battery level is detected before the charge reservation schedule.

Specifically, the charging scheduler program 312 first acquires the state of the corresponding robot 60 from the robot information table 221 (S101), and determines whether the state is providing service (S102). When the state is that the service is being provided, the service forced termination scenario is instructed to the service control program 111 of the robot control server 10 (S103). The service forced termination scenario is limited to dialogue, for example, because charging is urgently required, so if you come to the scenario or charging station where the utterance to terminate the service is executed by adding motion or light emission, the service can be provided. There are scenarios that say something.

After the service forced termination scenario execution instruction, the charging instruction processing (S12) is executed, and the processing is terminated. If the status is not that the service is being provided, the charging instruction process (S12) is immediately executed, and the process is terminated.

The embodiment for carrying out the present invention is not limited to the examples described above, and includes various modifications and equivalent configurations. For example, the above-mentioned examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. In addition, a part of the configuration of another embodiment may be added to the configuration of one embodiment.

Further, the above-mentioned processing by the program may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, or a processing by hardware and a processing by a program may be combined. Information such as programs and tables can be stored in a storage device such as a memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD. Further, the control lines and information lines are shown as necessary for explanation, and there may be control lines and information lines other than those shown.

10 Robot control server 20 Management database 30 Charging management server 40 Network 50 School LAN
60 Robot 70 Charging station 80 Operation management center 90 Service area

Claims (12)

It ’s a charge management system.
Information is transferred between the information processing device that can move independently, the charging station of the information processing device, the control device that controls the information processing device, the charging management device that manages the charging schedule of the information processing device, and the device. Equipped with a database for sharing
The charge management device schedules a reservation for the charging station before the information processing device starts service.
A charge management system that features that. The charge management system according to claim 1.
The charge management device reserves the charging station according to the importance of the service provided by the self-sustaining movable information processing device.
A charge management system that features that. The charge management system according to claim 1.
When scheduling the reservation of the charging station, the charge management device acquires the congestion degree for each time zone in advance, and makes a reservation while avoiding the busy time zone based on the congestion degree for each time zone.
A charge management system that features that. The charge management system according to claim 3.
In the charge management device, when the reservation of the charging station is scheduled, the self-movable information processing device operating on the floor determines the self-movable information processing based on the degree of congestion for each time zone. Schedule to maintain at least the minimum number of devices in operation,
A charge management system that features that. The charge management system according to claim 4.
In the charge management device, even if the battery level of the self-movable information processing device is sufficient, the self-movable information processing device is on standby, not during busy hours, and the charging is performed. Advance the charging schedule when there is a vacancy in the station,
A charge management system that features that. The charge management system according to claim 5.
The self-sustaining movable information processing device continues to provide the service until the service provision is completed when the service of high importance is being provided even when the battery level is low.
A charge management system that features that. The charge management system according to claim 6.
When the service provision must be continued with the battery remaining low, the self-sustaining movable information processing device is replaced with another self-sustaining movable information processing device, and the service is continuously provided while being charged. Head to the station
A charge management system that features that. The charge management system according to claim 7.
It is determined whether the self-sustainingly movable information processing apparatus is a role of high importance that should be maintained in a state where the service can be provided at all times, and whether or not to be replaced with the self-sustainingly movable information processing apparatus.
A charge management system that features that. The charge management system according to claim 6.
The self-sustaining mobile information processing device proposes to the user who is providing the service to continue the service provision at the charging station when the service provision must be continued in a state where the battery remaining amount is low. Continue to provide services at the charging station,
A charge management system that features that. The charge management system according to claim 7.
When the service is being provided due to the low battery level of the self-movable information processing device, the service provided by the self-sustaining mobile information processing device is switched to a preliminary scenario such as an apology to the user and the service is terminated. Then head to the charging station,
It features a charging management system. The charge management system according to claim 8.
The charge management device schedules the reservation of the charging station again during charging of the self-moving information processing device or after charging is completed.
A charge management system that features that. It ’s a charge management method.
A charging station of an information processing device that can move autonomously, a control device that controls the information processing device, a charging management device that manages the charging schedule of the information processing device, and a database for sharing information between the devices. Prepare,
The charge management device schedules a reservation for the charging station when the information processing device starts a service.
A charge management method characterized by that.

Images