JP4598812B2 - Robot control system - Google Patents

Description

The present invention relates to a robot control system , and more particularly to a robot control system that controls patrol of a robot.

  Conventionally, autonomous mobile robots have been used for the purpose of security and surveillance. For example, a robot that patrols a warehouse, a data center, etc., patrols according to a preset movement route. However, various articles such as cardboard may be temporarily placed in a warehouse, a data center, or the like, and these articles may be an obstacle for the robot.

Therefore, conventionally, there is a technique in which, when an obstacle is detected, the robot automatically sets a detour route and makes a patrol (for example, Patent Document 1 and Patent Document 2).
JP 2007-94743 A JP 2002-85305 A

  However, once such a detour route is set in the robot, there is a problem that the detour route continues to be circulated even after the temporarily placed article is removed. Therefore, it is necessary for the administrator to always grasp the status of the tour route, monitor whether the tour route is accurate at that time, and reset the tour route after removing the article.

The present invention has been made in view of the above points, and an object of the present invention is to provide a robot control system capable of efficiently circulating a robot.

Accordingly, in order to solve the above-described problem, the present invention provides a robot control system including a robot that makes a patrol route and a robot control device that can communicate with the robot, and the robot is arranged on the patrol route. A detection unit that detects an obstacle, an acquisition unit that acquires arrangement deadline identification information for identifying the arrangement deadline of the obstacle from the obstacle, and a transmission unit that transmits the arrangement deadline identification information to the robot control device has the door, the robot controller receives the placement date identifying information more sent to the robot, and a recording unit for recording the placement date identification information in the storage unit, is recorded in the storage unit Based on the placement deadline determined by the placement deadline identification information, the presence / absence of an obstacle in the cyclic route is determined. When it is determined that there is an obstacle, the route differs from the cyclic route. With that route and a route determination unit for determining as a cyclic path, and a cyclic instructing unit for instructing the cyclic by patrol route that has been determined in the path determination section to the robot.

In such a robot control system , the robot can be circulated efficiently.

ADVANTAGE OF THE INVENTION According to this invention, the robot control system which can rotate a robot efficiently can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a system configuration example according to an embodiment of the present invention.

  In the figure, the control server 10 is constituted by a general computer, and instructs the robot 50 on a patrol route. The control server 10 automatically determines a tour route that is estimated to be free of obstacles to the robot 50 when instructing the tour route.

  The robot 50 is an autonomous mobile robot. In the present embodiment, the robot 50 circulates in the data center 1 for the purpose of security or monitoring. The robot 50 includes, as main hardware, a wireless LAN device 51, a sensor 52, a camera 53, an RFID (Radio Frequency Identification) reader 54, a position measuring device 55, a control unit 56, and the like.

  The wireless LAN device 51 is used to perform wireless LAN communication with the wireless LAN device 20 installed in the data center 1. The wireless LAN device 20 is connected to the control server 10 via a network 30 such as a LAN (Local Area Network). Therefore, the robot 50 can communicate with the control server 10 by the wireless LAN device 51.

  The sensor 52 detects the presence of the obstacle 60 that exists in the traveling direction during the patrol. The camera 53 is a digital camera used to image the obstacle 60 detected by the sensor 52. The RFID reader 54 is a wireless IC tag reader used to read information recorded on an RFID tag 61 (wireless IC tag) attached to the obstacle 60. The RFID tag 61 includes information indicating the type of article of the obstacle 60 (obstacle attribute) and information that can identify the arrangement deadline or arrangement period of the obstacle 60 (hereinafter referred to as “placement deadline information”). That is, in this embodiment, when the obstacle 60 is arranged in the data center 1, the RFID tag 61 in which the arrangement deadline or arrangement period is recorded is attached to the obstacle 60. The position measuring device 55 measures the position of the robot 50 in the data center 1.

  The control unit 56 includes a CPU, a ROM, a RAM, and the like, and controls the driving of the robot 50 according to an instruction from the control server 10.

  The control server 10 will be described in more detail. FIG. 2 is a diagram illustrating a hardware configuration example of the control server according to the embodiment of the present invention. The control server 10 in FIG. 2 is configured to include a drive device 100, an auxiliary storage device 102, a memory device 103, a CPU 104, and an interface device 105 that are mutually connected by a bus B.

  A program for realizing processing in the control server 10 is provided by a recording medium 101 such as a CD-ROM. When the recording medium 101 on which the program is recorded is set in the drive device 100, the program is installed from the recording medium 101 to the auxiliary storage device 102 via the drive device 100. The auxiliary storage device 102 stores the installed program and also stores necessary files and data.

  The memory device 103 reads the program from the auxiliary storage device 102 and stores it when there is an instruction to start the program. The CPU 104 executes a function related to the control server 10 in accordance with a program stored in the memory device 103. The interface device 105 is used as an interface for connecting to a network.

  The program need not be installed from the recording medium 101 and may be downloaded from another computer via a network.

  FIG. 3 is a diagram illustrating a functional configuration example of the control server according to the embodiment of the present invention. In FIG. 1, the control server 10 includes a tour instruction unit 11, a data transmission unit 12, a tour route determination unit 13, a data reception unit 14, an obstacle information registration unit 15, an image analysis unit 16, an obstacle management DB 17, and the like. These units are realized based on processing that the CPU 104 causes the program installed in the control server 10 to execute.

  The tour instruction unit 11 outputs a tour instruction to the robot 50. The patrol instruction is transmitted to the robot 50 by the data transmission unit 12. The traveling route specified in the traveling instruction is determined by the traveling route determination unit 13. Based on the information managed by the obstacle management DB 17, the tour route determination unit 13 determines a tour route that is estimated to have no obstacle in the tour of the robot 50. The obstacle management DB 17 manages information related to a failure in the data center 1, information set in advance for the traveling route determination unit 13 to determine the traveling route, and the like. Such information is recorded in the auxiliary storage device 102.

  The data receiving unit 14 receives the obstacle data including the image data 62 and the obstacle attributes and the arrangement time limit information transmitted from the robot 50. The obstacle information registration unit 15 registers the obstacle information received by the data reception unit 14 in the obstacle management DB 17. The image analysis unit 16 analyzes the image data 62 received by the data reception unit 14 to determine the type of the obstacle article.

  Hereinafter, a processing procedure of the system in the present embodiment will be described. FIG. 4 is a flowchart for explaining a processing procedure at the time of a patrol instruction to the robot in the control server. The process of FIG. 4 is executed in response to an input of a tour instruction by the operator or in response to detection of the arrival of a tour time based on preset tour schedule information.

  In step S <b> 101, the traveling route determination unit 13 of the control server 10 determines the presence or absence of an obstacle on the traveling route based on the obstacle management table in the obstacle management DB 17. The tour route is specified in, for example, a tour instruction or tour schedule information by an operator.

  FIG. 5 is a diagram illustrating an example of an obstacle management table constituting the obstacle management DB. In the same figure, the obstacle management table 171 has a management No. for each obstacle arranged (or arranged) in the data center 1. , Coordinates (x), coordinates (y), image data, obstacle attributes, detection date and time, placement deadline, and related routes are registered.

  Management No. Is a number for identifying each record in the obstacle management table 171. The coordinates (x) and the coordinates (y) are information (position information) indicating a two-dimensional arrangement position of the obstacle when a certain position in the data center (for example, the patrol start position of the robot 50) is the origin. . For example, each value has m (meter) as a unit. The detection date and time is the date and time when the presence of the obstacle is detected or the date and time when the obstacle is arranged. The image data is image data obtained by capturing an obstacle. The arrangement deadline is a date and time indicating a deadline for the arrangement state of the obstacle to continue. In other words, the arrangement deadline is the date and time when the obstacle is scheduled to be removed. The related route is an identification name (route name) of a route in which the obstacle becomes a traveling obstacle among a plurality of circulating routes (for example, route A to route D) set as options in advance.

  Each record in the obstacle management table 171 is registered based on detection of an obstacle by the robot 50 described later. Further, when an obstacle is placed, it may be registered by an administrator or the like.

  Based on such an obstacle management table 171, in step S101, it is confirmed whether or not there is a record (hereinafter referred to as “related record”) in which the route name of the cyclic route is registered as a related route. That is, when there is a related record, the traveling route determination unit 13 determines that there is an obstacle in the traveling route, and when there is no related record, the traveling route determination unit 13 determines that there is no obstacle in the traveling route. For example, when the patrol route is route B, the management No. Is retrieved as a related record.

  If it is determined that there is an obstacle on the cyclic route (Yes in S101), the cyclic route determination unit 13 compares the placement deadline in the related record with the current time to determine whether the obstacle is still present. Judgment is made (S102). That is, the traveling route determination unit 13 determines that there is no obstacle when the current time has passed the arrangement deadline, and determines that there is an obstacle when the current time is within the arrangement time limit.

  When it is determined that an obstacle still exists (Yes in S102), the circulation route determination unit 13 determines a bypass route based on the bypass route management table in the obstacle management DB 17, and sets the bypass route as a circulation route. (S103).

  FIG. 6 is a diagram illustrating an example of a detour route management table constituting the obstacle management DB. In the figure, a detour route is registered for each round route in the detour route management table 172. For example, when the cyclic route is the route B, the route C is determined as the detour route and set as the cyclic route.

  Subsequently, the processing from step S101 is executed on the newly set patrol route. If it is determined in step S101 that there is no obstacle, or if it is determined in step S102 that the current time has passed the placement deadline, the tour instruction unit 11 uses the tour route set at that time. A patrol instruction is transmitted to the robot 50 via the data transmitter 12 (S104).

  If there are obstacles on all the tour routes, the tour route with the smallest number of obstacles may be selected. In step S102, the number of obstacles presently recorded is recorded for each cyclic route, and when it is found that there are obstacles in all the cyclic routes, the number of obstacles is compared by comparing the number of recorded obstacles. It is only necessary to determine the tour route with the smallest number.

  Next, FIG. 7 is a flowchart for explaining a processing procedure at the time of patrol in the robot.

  When the control unit 56 of the robot 50 detects that the tour instruction has been received by the wireless LAN device 51, the control unit 56 starts the tour of the robot 50 (S201). At this time, the control unit 56 controls the robot 50 so as to go around the route specified in the tour instruction. When the obstacle 60 is detected by the sensor 52 during the patrol (Yes in S202), the control unit 56 attempts to detect the RFID tag 61 using the RFID reader 54, whereby the RFID tag 61 is attached to the obstacle 60. It is confirmed whether it has been done (S203).

  When the RFID tag 61 is attached (Yes in S203), the control unit 56 uses the RFID reader 54 to read the obstacle attribute and the arrangement time limit information from the RFID tag 61, and the read information is stored in the RAM of the control unit 56. (S204). Subsequently, the control unit 56 images the obstacle 60 using the camera 53, and records the image data of the obstacle 60 in the RAM of the control unit 56 (S205). Subsequently, the control unit 56 detects the obstacle attribute, the arrangement deadline information and the image data recorded in the RAM, and the current position of the robot 50 measured by the position measuring device 55 (that is, the position where the obstacle 60 is detected). ) And obstacle name information including position information (position information) and a route name (for example, “route B”) of the traveling route that the robot 50 is currently traveling are transmitted to the control server 10 using the wireless LAN device 51. (S206). Thereafter, the robot 50 autonomously avoids the obstacle 60 and continues the patrol (S207).

  When the RFID tag 61 is not attached to the obstacle 60 (No in S203), the obstacle attribute and the arrangement time limit information are not read from the RFID tag 61. Therefore, in this case, the obstacle information transmitted to the control server 10 does not include the obstacle attribute and the arrangement time limit information.

  Next, FIG. 8 is a flowchart for explaining a processing procedure when the control server receives failure information.

  When obstacle information or the like from the robot 50 is received by the data receiving unit 14 (S301), the obstacle information registration unit 15 includes the placement deadline information (information read from the RFID 61) in the obstacle information. It is confirmed whether or not (S302). If the placement deadline information is not included (No in S302), a process for estimating the placement deadline of the obstacle is executed.

  First, the image data analysis unit 16 analyzes the image data 62 included in the obstacle information by image processing, determines an obstacle attribute (type of article) of the obstacle 60, and registers the determination result as obstacle information. The data is output to the unit 15 (S303). Subsequently, the obstacle information registration unit 15 determines the arrangement period according to the determined obstacle attribute based on the arrangement period table in the obstacle management DB 17, and adds the arrangement period to the current time to set the arrangement period. Determination is made (S304).

  FIG. 9 is a diagram illustrating an example of an arrangement period table constituting the obstacle management DB. In the drawing, an arrangement period is registered in the arrangement period management table 173 for each obstacle attribute. The arrangement period is a predicted value that is empirically predicted according to the type of article. For example, since the person does not stay for a long time, the arrangement period is set to zero. In addition, since the rack is expected to be arranged for a long period of time, it is set to 3 months. Moreover, since it is predicted that the cardboard will be removed in a relatively short time, it is set to 2 days. That is, when the obstacle information does not include the placement deadline information, the image data is used as information for identifying the obstacle deadline.

  Note that if the obstacle information includes the placement time limit information (Yes in S302), the processes in steps S303 and S304 are not executed.

  Following step S304 or No in step S302, the obstacle information registration unit 15 executes an update process of the obstacle management table 171 based on the received obstacle information (S305). Details of this processing will be described later. Subsequently, the obstacle information registration unit 15 notifies the administrator of the detection of the obstacle according to the rule table in the obstacle management DB 17 (S306).

  FIG. 10 is a diagram illustrating an example of a rule table constituting the obstacle management DB. In the figure, a rule is registered in the rule table 174 for each obstacle attribute. The rule is information indicating what means is used to notify the administrator. For example, “alarm” indicates that the control server 10 outputs a buzzer sound. “Mail” indicates that an e-mail for notifying the administrator of detection of an obstacle is transmitted.

  Note that only the obstacle attribute may be recorded in the RFID 61. In this case, the arrangement deadline may be determined based on the obstacle attribute and the arrangement period table 173.

  Next, the obstacle management table update process in step S305 of FIG. 8 will be described. FIG. 11 is a flowchart for explaining an obstacle management table update process by the obstacle information registration unit.

  In step S401, a new record (new record) is generated in the obstacle management table 171, and the value specified by the above processing is registered in the position information, image data, obstacle attribute, and arrangement deadline of the record, and detection is performed. Register the current time of day and time. In the related route, the route name received from the robot 50 is registered. Subsequently, based on the position information of the obstacle and the traveling route area table in the obstacle management DB 17, can the obstacle detected this time become an obstacle of another traveling route (whether it affects other traveling routes)? Is determined (S402). This is because each patrol route has an overlapping portion.

  FIG. 12 is a diagram illustrating an example of a patrol route area table constituting the obstacle management DB. In the figure, a coordinate value for specifying the movement area of the robot 50 in the data center 1 is registered for each round path in the round path area table 175. In the present embodiment, a moving area is defined by combining rectangular areas. Therefore, coordinate values of diagonal vertices are registered for each rectangular area. For example, the route A has a rectangular area A1 as a moving area. In addition, the path B has rectangular areas B1 and B2 as moving areas.

  The movement area will be described with reference to FIGS. 13, 14, and 15. FIG. FIG. 13 is a diagram illustrating an example of the route A and the route B for explaining the moving area. As shown in the figure, it is assumed here that the area of the data center 1 is a rectangle of 160 m in the X direction and 150 m in the Y direction. In such a data center 1, a solid arrow A indicates a route A. A broken line arrow B indicates the route B. The origin is a position where the robot 50 starts patrol.

  Next, FIG. 14 is a diagram for explaining a moving area of the route A. In the figure, a rectangle A1 indicated by a broken line indicates a moving area of the route A. As shown in the figure, one coordinate value of the diagonal vertex of the rectangle A1 is (0, 150), and the coordinate value of the other vertex is (80, 0). This coordinate value is registered as the coordinate value of the rectangular area A1 in the cyclic route area table 175.

  FIG. 15 is a diagram for explaining a movement area of the route B. In the same figure, rectangles B1 and B2 indicated by broken lines indicate moving areas of the route B. As illustrated, one coordinate value of the diagonal vertex of the rectangle B1 is (0, 20), and the other coordinate value is (60, 0). This coordinate value is registered as the coordinate value of the rectangular area B1 in the cyclic route area table 175. One coordinate value of the corner vertex of the rectangle B2 is (60, 150), and the other coordinate value is (160, 0). This coordinate value is registered as the coordinate value of the rectangular area B2 in the cyclic route area table 175.

  Note that the rectangular area indicating the moving area may be further divided and defined. For example, a rectangular area may be defined for each path between racks, and the moving area may be defined by a combination of the rectangular areas.

  Therefore, in step S402, the presence / absence of a path having a rectangular area including the position of the obstacle other than the current path of the robot 50 is determined based on the position information (coordinate values) of the obstacle and the cyclic path area table 175. The

  If such a route exists (Yes in S402), the route name of the route is added to the related route of the new record generated in step S401 (S403). However, a new record having the route as a related route may be added to the obstacle management table 171. In this case, the record differs from the record generated in step S401 only in the value of the related route.

  As described above, since the obstacle detected this time is registered in the obstacle management table 171 as an obstacle of another cyclic route, it is estimated that there is no obstacle at the time of judging the cyclic route in FIG. It is possible to efficiently determine the traveling route.

  The related route may not be registered in the obstacle management table 171. In this case, at the time of determining the traveling route, it is only necessary to determine the traveling route having no obstacle or having the smallest number of obstacles based on the coordinate value of the obstacle and the traveling route area table 175. Therefore, in this case, the related route determination and registration process (specifically, S402 and S403 in FIG. 11) is not required in the obstacle management table 171.

  As described above, according to the control server 10 of the present embodiment, the obstacle placement deadline detected by the robot 50 is managed. Therefore, the presence / absence of the obstacle can be automatically determined (estimated) at the time of the patrol instruction. Therefore, when there is a high possibility that the obstacle has been removed, it is possible to automatically instruct the patrol route that is originally planned, and the detour route is instructed even though the obstacle has been removed. The occurrence of such a situation can be prevented.

  Further, the control server 10 manages information for identifying a patrol route affected by the obstacle (position information of the obstacle or a route name of the patrol route of the robot that detected the obstacle). Therefore, even when there are a plurality of patrol routes, it is possible to appropriately determine the route affected by the obstacle.

  In the present embodiment, an example in which the control server 10 is configured as hardware separate from the robot 50 has been described. However, the function of the control server 10 may be realized by the control unit 56 of the robot 50. In this case, the processing described in FIGS. 4, 8, and 11 is also executed by the robot 50.

  As mentioned above, although the Example of this invention was explained in full detail, this invention is not limited to such specific embodiment, In the range of the summary of this invention described in the claim, various deformation | transformation・ Change is possible.

Regarding the above description, the following items are further disclosed.
(Appendix 1)
On the computer,
A recording procedure for recording, in a storage unit, arrangement deadline identification information for identifying an arrangement deadline of an obstacle detected by the robot, which is received from a robot that makes a patrol route;
Route determination that determines the presence or absence of an obstacle in the cyclic route based on the arrangement deadline determined by the arrangement deadline identification information, and determines a route different from the cyclic route as a cyclic route when it is determined that there is an obstacle Procedure and
A robot control program for executing a tour instruction procedure for instructing a robot to make a tour on a tour route determined in the route determination procedure.
(Appendix 2)
The recording procedure records the influence route identification information received from the robot for identifying the patrol route affected by the obstacle in the storage means,
The route determination procedure is based on the influence route identification information and the placement deadline determined by the placement deadline identification information, and the route that is estimated to have no obstacle from a plurality of preset tour routes The robot control program according to supplementary note 1, characterized by:
(Appendix 3)
The influence route identification information is an identification name of a patrol route when the robot detects an obstacle,
The robot control program according to appendix 2, wherein the route determination procedure determines at least a tour route other than the tour route related to the identification name as a tour route estimated that no obstacle exists.
(Appendix 4)
The influence route identification information is information indicating a position where the obstacle is detected,
The robot control program according to supplementary note 2, wherein the route determination procedure determines a patrol route presumed that there is no obstacle based on the information indicating the position.
(Appendix 5)
5. The appendix 1 to 4, wherein the placement deadline identification information is information indicating a placement deadline or a placement period of the obstacle read from an IC tag attached to the obstacle. Robot control program.
(Appendix 6)
The arrangement time limit identification information is image data of an obstacle imaged by the imaging means of the robot,
An article determination procedure for determining the type of article of the obstacle by analyzing the image data;
An arrangement deadline determination procedure for determining the arrangement deadline of the obstacle based on the determined type of the article and the storage means in which the arrangement period is recorded according to the type of the article,
The robot control program according to any one of appendices 1 to 4, wherein the route determination procedure determines a cyclic route based on the arrangement deadline determined in the arrangement deadline determination procedure.
(Appendix 7)
The arrangement deadline identification information is information indicating the type of article of the obstacle read from the IC tag attached to the obstacle,
An arrangement deadline determination procedure for determining an arrangement deadline of the obstacle based on the type of the article and a storage unit in which an arrangement period is recorded according to the type of the article,
The robot control program according to any one of appendices 1 to 4, wherein the route determination procedure determines a cyclic route based on the arrangement deadline determined in the arrangement deadline determination procedure.
(Appendix 8)
In the recording procedure, a traveling route determined to be affected by the obstacle is selected from a plurality of preset traveling routes based on information received from the robot and indicating the position where the obstacle is detected. Record the identification name as the influence path identification information,
The robot control program according to appendix 1, wherein the route determination procedure determines at least a tour route other than the tour route related to the recorded identification name.
(Appendix 9)
Recording means for recording arrangement deadline identification information for identifying an arrangement deadline of an obstacle detected by the robot, which is received from a robot that makes a patrol route,
Route determination that determines the presence or absence of an obstacle in the cyclic route based on the arrangement deadline determined by the arrangement deadline identification information, and determines a route different from the cyclic route as a cyclic route when it is determined that there is an obstacle Means,
A robot control apparatus comprising: a tour instruction means for instructing the robot to make a tour on the tour route determined by the route determination means.

It is a figure which shows the system configuration example of embodiment of this invention. It is a figure which shows the hardware structural example of the control server in embodiment of this invention. It is a figure which shows the function structural example of the control server in embodiment of this invention. It is a flowchart for demonstrating the process sequence at the time of the patrol instruction | indication to the robot in a control server. It is a figure which shows the example of the obstruction management table which comprises obstruction management DB. It is a figure which shows the example of the detour route management table which comprises an obstruction management DB. It is a flowchart for demonstrating the process sequence at the time of patrol in a robot. It is a flowchart for demonstrating the process sequence at the time of the failure information reception in a control server. It is a figure which shows the example of the arrangement | positioning period table which comprises an obstruction management DB. It is a figure which shows the example of the rule table which comprises obstacle management DB. It is a flowchart for demonstrating the update process of the obstruction management table by an obstruction information registration part. It is a figure which shows the example of the patrol route area | region table which comprises an obstruction management DB. It is a figure which shows the example of the path | route A and the path | route B for demonstrating a movement area | region. 4 is a diagram for explaining a moving area of a route A. FIG. FIG. 6 is a diagram for explaining a movement area of a route B.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Data center 10 Control server 11 Traveling instruction | indication part 12 Data transmission part 13 Traveling route judgment part 14 Data receiving part 15 Obstacle information registration part 16 Image analysis part 17 Obstacle management DB
20 Wireless LAN device 30 Network 50 Robot 51 Wireless LAN device 52 Sensor 53 Camera 54 RFID reader 55 Position measuring device 56 Control unit 100 Drive device 101 Recording medium 102 Auxiliary storage device 103 Memory device 104 CPU
105 Interface device B bus

Claims (5)

A robot control system having a robot that makes a patrol route and a robot control device that can communicate with the robot,
The robot is
A detection unit for detecting an obstacle disposed on the patrol route;
An acquisition unit for acquiring arrangement deadline identification information for identifying the arrangement deadline of the obstacle from the obstacle;
A transmission unit that transmits the placement deadline identification information to the robot control device;
The robot controller is
Receiving said placement date identification information transmitted more to the robot, and a recording unit for recording the placement date identification information in the storage unit,
A route different from the cyclic route when the presence or absence of an obstacle is determined based on an arrangement deadline determined by the arrangement deadline identification information recorded in the storage unit and it is determined that there is an obstacle. A route determination unit that determines as a traveling route,
A robot control system comprising: a patrol instruction unit for instructing the robot to perform a patrol based on the patrol path determined by the path determination unit . The robot is
Obtaining influence route identification information for identifying a patrol route affected by the obstacle based on detection of the obstacle;
The transmission unit further transmits the influence route identification information,
The recording unit receives the impact path identification information and more is sent to the robot, recording the impact path identification information in the storage unit,
The route determination unit is configured to determine that there is no obstacle from a plurality of preset tour routes based on the influence route identification information and the placement deadline determined by the placement deadline identification information. The robot control system according to claim 1, wherein: The robot control system according to claim 1 , wherein the acquisition unit reads information indicating an arrangement deadline or an arrangement period of the obstacle from an IC tag attached to the obstacle . The acquisition unit images the obstacle,
The transmission unit transmits image data captured by the acquisition to the robot control device,
The robot controller is
An article determination unit that determines the type of article of the obstacle by analyzing the image data;
An arrangement deadline determination unit that determines the arrangement deadline of the obstacle based on the determined type of the article and the arrangement period storage unit in which the arrangement period is recorded according to the type of the article;
The robot control system according to claim 1, wherein the route determination unit determines a patrol route based on the arrangement deadline determined by the arrangement deadline determination unit . The robot is
It has a position measurement unit that measures the position of the robot,
The transmitter transmits information indicating the position;
The recording unit, the identification name of the patrol route that is determined to be the obstacle affects among the basis the position more sent to the robot to indicate to information, a plurality of preset patrol route Record as impact route identification information,
The robot control system according to claim 2 , wherein the route determination unit determines a tour route other than the tour route related to at least the recorded identification name.

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