JP7229884B2 - Control device and device control method - Google Patents

Description

The present invention relates to a control device and a device control method.

Internet of Things (IoT) technology, which connects all devices to the Internet and provides various services, is becoming widespread. With the rapid increase in the number of devices connected to the Internet, technological development of robot systems that provide various services to humans using communication is underway. Although the robot has a movement function by means of motors, actuators, etc., there are restrictions on the devices that can be mounted on the robot due to restrictions on the size, shape, etc. of the robot. In addition to robots, due to equipment size and performance issues, information processing equipment with the minimum information processing capacity is installed at the service providing base, and services are provided while communicating with a server installed far away. can be considered. In such a service mode, multiple devices are connected to the server and share the server's CPU, memory, or network resources. Therefore, it is necessary to control the resources so that multiple devices consume resources at the same time and do not deplete the resources. There is

In Patent Literature 1, a state acquisition unit that acquires information representing the state when a virtual machine is operating acquires the session state of a user using the virtual machine and identifies the virtual machine as a source or destination. A monitoring means that acquires information about communication packets that are sent to the virtual machine, monitors whether or not a failure has occurred in a plurality of host machines on which virtual machines operate, and notifies the detected failure when a failure is detected. , the first score obtained based on the state of the session, and the second score obtained based on the information about the communication packet, and based on the dependency relationship between the virtual machines, the first and second scores of the dependent sources are calculated. , and the first and second scores of the dependents are added to determine the priority at which restoration is required.

JP 2015-176168 A

By using the technology described in Patent Document 1, when a failure occurs in a control device connected to a plurality of devices, the priority is determined and the service is restored, thereby reducing consumption of resources and performing failure recovery. It becomes possible to However, there is a possibility that a failure may occur due to the restored service, and it is necessary to know in advance whether restoring the service will affect resources.

It is an object of the present invention to provide a control device and a device control method capable of ascertaining in advance whether resources will be affected by restoration of service.

A control device according to an aspect of the present invention is a control device that controls the information processing device in a control system that includes an information processing device including one or more autonomously movable devices, wherein the information processing device is a service device. and a resource monitoring unit that calculates the amount of resources of the control system used when providing the service, and the amount of resources used by the information processing device when providing the service is the amount of resources that the control system can provide. and a service monitoring unit that determines whether or not it is within the range.

According to one aspect of the present invention, it is possible to ascertain in advance whether resources will be affected by restoring services.

It is a figure which shows the example of a structure of the robot control system of a present Example. It is a figure which shows the example of a structure of an operation management server. 3 is a block diagram showing the structure of data managed by an operation management server; FIG. 8 is a flowchart illustrating an example of communication monitoring processing; 8 is a flowchart illustrating an example of service monitoring processing; 6 is a flowchart illustrating an example of failure determination processing; 6 is a flowchart illustrating an example of service start processing; 8 is a flowchart illustrating an example of resource monitoring processing; It is a figure which shows the example of a structure of an information processing apparatus. 4 is a block diagram showing the structure of data managed by information processing; FIG. 8 is a flowchart illustrating an example of communication monitoring processing; 8 is a flowchart illustrating an example of service monitoring processing; 4 is a flowchart showing an example of information processing device control processing; 6 is a flowchart illustrating an example of failure recovery processing; FIG. 4 is a sequence diagram showing an example of service control by an operation management server; 4 is a sequence diagram showing an example of service control by an information processing device; FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

In addition, in the following examples, when necessary for convenience of explanation, the explanation will be divided into a plurality of sections or examples, but unless otherwise specified, they are not independent of each other. There is a relationship of part or all of the modification, details, supplementary explanation, etc. of the other.

In addition, in the following examples, when referring to the number of elements (including the number, numerical value, amount, range, etc.), unless otherwise specified or clearly limited to a specific number in principle , is not limited to the specific number, and may be greater than or less than the specific number.

Furthermore, in the following examples, the constituent elements (including element steps, etc.) are not necessarily essential unless otherwise specified or clearly considered essential in principle. stomach.

FIG. 1 is a diagram showing an example of the configuration of an information device control system 1000 of this embodiment. The information device control system 1000 of this embodiment includes an operation management server 10 that performs operation management of the entire system, a service control server 20 that controls services by information processing devices including robots, and external devices that control devices other than robots. An operation management center 100 in which a control server 30 is arranged, an information processing device 70 including a robot that is an information processing device capable of autonomous movement as a mobile device, and an external device 80 that is a device other than the robot 70 are arranged. It is configured with a service base 110 that Here, the information processing device 70 will be described as an information processing device 70 including a robot that is an information processing device capable of autonomous movement. It also includes devices such as robots, tablets, and personal computers that do not have access. In addition, the information device control system 1000 uses servers such as the operation management server 10, the service control server 20, and the external device control server 30 as main bodies for controlling the information processing device 70, but it is not always necessary to use servers. , any control device capable of controlling the information processing device 70, including various computers and devices. Also, the functions executed by each server do not necessarily have to be executed by each server, and one or more functions of a certain server may be executed by one or more other servers.

The operation management center 100 and the service base 110 are connected by a network 50 . Further, the inside of the service base 110 is connected by a local LAN (Local Area Network) 60 . The connection method of the premises LAN is, for example, a wired LAN, a wireless LAN, or a short-range wireless connection, and a plurality of connection methods may be used together.

FIG. 2 is a diagram showing an example of the configuration of the operation management server 10. As shown in FIG. The content that is the subject of the processing executed by the operation management server 10 is stored in the form of a program (software) in an auxiliary storage device 104 of a general computer, and a CPU (Central Processing Unit) 102 receives data from the auxiliary storage device 104. The read program is expanded on the memory 101 and executed. The operation management server 10 communicates with information processing devices 70 such as other servers, service devices, and robots via the network I/F 105 .

An I/O (input/output interface) 103 is a user interface for a user to input instructions to the operation management server 10 and present program execution results and the like to the user. Input/output devices (eg, keyboard, mouse, touch panel, display, printer, etc.) are connected to the I/O 103 . A user interface provided by a management terminal connected via a network may be connected to the I/O 103 .

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

Specifically, the memory 101 stores a communication monitoring program 111 , a service monitoring program 112 , a failure determination program 113 , a service start program 114 and a resource monitoring program 115 .

The communication monitoring program 111 is a program for executing communication monitoring processing (see FIG. 4). The service monitoring program 112 is a program for executing service monitoring processing (see FIG. 5). The failure determination program 113 is a program for executing failure determination processing (see FIG. 6). The service start program 114 is a program for executing service start processing (see FIG. 7). The resource monitoring program 115 is a program for executing resource monitoring processing (see FIG. 8).

The memory 101 also stores an information processing device information DB 121 (see FIG. 3), a service status information DB 122 (see FIG. 3), an external device information DB 123 (see FIG. 3), a resource information DB 124 (see FIG. 3), and a service information DB 125. (see FIG. 3) is stored.

The auxiliary storage device 104 is, for example, 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). In addition, the auxiliary storage device 104 stores programs executed by the CPU 102 and data used when the programs are executed. That is, the program is read from the auxiliary storage device 104, loaded into the memory 101, and executed by the CPU 102. FIG.

The operation management server 10 is a computer system configured on one physical computer or on a plurality of logical or physical computers. It may operate on a separate thread, or it may operate on a virtual computer constructed on a plurality of physical computer resources. Also, the operation management server 10 and other devices may be accommodated in one physical or logical computer. All or part of the processing realized by executing the program may be realized by hardware (for example, FPGA: Field-Programmable Gate Array).

FIG. 3 shows the structure of various databases existing in the memory 101 of the operation management server 10. As shown in FIG. The information processing device information DB 121 is a database for managing information about the state of the information processing device 70, and includes an information processing device identifier indicating the identifier of the information processing device 70, a site identifier of the service site 110 where the information processing device 70 is installed, It includes a base map, X and Y coordinates in the map of the information processing device 70, and robot parameters 1-N. Although FIG. 3 shows information about robots as an example of the information processing device information DB 121, the service devices described above are also stored in the same way.

A site identifier is an identifier that uniquely identifies a site, and is simply designated by the name of the site or a character string set according to the naming rules of the system. The location map is information about the physical structure of the location, such as the shape, size, and floor plan of the service location 110, and is initialized when the information processing device 70 is installed. If the information processing device 70 is a mobile robot, it has a self-position estimation function, and by measuring the distance between itself and the surrounding walls using a laser range finder or the like, it can determine its position within the service base 90 ( X coordinate, Y coordinate) can be determined. A robot parameter is a parameter indicating the function or performance of a robot, and is a parameter indicating whether the robot can move or not, whether or not it can interact, and performance such as movement speed or processing performance.

The service status information DB 122 is a database for managing information on services being provided by the information processing apparatus 70. One record includes a service identifier that uniquely identifies a service, and service parameters that define elements to be determined when providing a service. , a service state parameter for managing the state of the running service, a robot identifier for uniquely identifying the robot, and a uniquely identifying external device if the robot is performing a service that uses an external device contains the external device identifier of

The external device information DB 123 is a database that manages information on the external device 80, and includes a device identifier that uniquely identifies the external device 80, a device type that indicates the type of device, and information on the location where the external device is installed within the service base 110. It includes X coordinates and Y coordinates, and a list of parameters (device control parameter 1 to device control parameter N) that can be used to control the external device 80 . The content of the device control parameter changes depending on the type of the target external device 80 . For example, if the external device is an output device such as a digital signage, the device control parameters include screen on/off, content identifiers to be displayed on the screen, and display locations in the content (number of pages, URL, etc.). . If the external device is a camera, the angle (pan/tilt) of the camera can be set as the device control parameter. If the external device is an elevator, the device control parameter may be a request to move to the elevator and designation of the number of floors.

The resource information DB 124 is a database that manages the overall resources of the system, and includes communication resource information representing communication resources between devices, CPU resource information representing the amount of CPU resources of devices, and memory resources representing the amount of memory resources of devices. information, including I/O resource information representing the amount of I/O resources of the device.

The service information DB 125 is a database for managing information on services that can be executed by the information processing apparatus 70. The service information DB 125 includes a service identifier that uniquely identifies a service, a priority of the service for determining the order of starting the service, and It includes service parameters representing parameters such as the functions and performance of the robot, the number of CPUs and memories of the device, and alternative function identifiers indicating alternative functions corresponding to the service. For the priority, for example, the higher the priority for each service, the smaller the value (for example, "1") is stored. Service is predominately provided.

Note that the priority may be determined in advance by an administrator or the like, or may be determined, for example, according to the position information of the information processing device 70 (the X coordinate and the Y coordinate of the information processing device information DB 121). For example, if the information processing device 70 is an autonomously mobile robot placed at the event site, the service provided by the robot placed near the entrance of the event site is more convenient than the service provided inside the event site. The above value is determined so that As a result, it is possible to give priority to services for people who enter the event site over services provided inside the event site, so that visitors can enter the event site relatively smoothly.

FIG. 4 is a flowchart illustrating an example of communication monitoring processing. The communication monitoring process is performed by the CPU 102 of the operation management server 10 executing the communication monitoring program 111 . The communication monitoring program 111 is a process performed by the operation management server 10 periodically or by obtaining status information from the operation management server 10 .

The communication monitoring program 111 transmits a communication monitoring message from the operation management server 10 to the information processing device 70 (S401), and determines whether or not there is a response from the information processing device 70 (S402). When the communication monitoring program 111 determines that there is no response from the information processing device 70 (S402; No), the communication monitoring program 111 executes failure determination processing (see FIG. 6) and ends the processing. On the other hand, when the communication monitoring program 111 determines that there is a response from the information processing device 70 (S402; Yes), the communication monitoring program 111 measures the response time and the amount of communication from transmission of the communication monitoring message to receipt of the response ( S403), and it is determined whether or not the response time is below threshold 1 (S404). When the communication monitoring program 111 determines that the response time does not fall below the threshold 1 (S404; No), it executes the failure determination process (see FIG. 6) and ends the process. On the other hand, when the communication monitoring program 111 determines that the response time is less than the threshold 1 (S404; Yes), it compares the traffic with the threshold 2 and determines whether the traffic is less than the threshold 2 (S405). ). When the communication monitoring program 111 determines that the communication traffic does not fall below the threshold value 2 (S405; No), the communication monitoring program 111 executes the fault determination process (see FIG. 6) and terminates the process. On the other hand, when the communication monitoring program 111 determines that the traffic is below the threshold 2 (S405; Yes), the process ends.

FIG. 5 is a flowchart illustrating an example of service monitoring processing. The service monitoring process is performed by the CPU 102 of the operation management server 10 executing the service monitoring program 112 . The service monitoring program 112 is a process executed by the operation management server 10 periodically or when service status information is acquired from the information processing device.

First, the service monitoring program 112 acquires service status information from the information processing device 70 (S501), and updates the service status information DB 122 (S502). The service monitoring program 112 compares the elapsed time of the service described in FIG. 12 with the standard elapsed time of the service included in the service parameters of the service status information DB 122, and It is determined whether or not the elapsed time is exceeded (S503). When the service monitoring program 112 determines that the elapsed time of the service exceeds the standard elapsed time of the service (S503; Yes), the service monitoring program 112 executes failure determination processing (see FIG. 6) and terminates the processing. On the other hand, when the service monitoring program 112 determines that the elapsed time of the service does not exceed the standard elapsed time of the service (S503; No), it determines whether the service parameters are normal (S504). Whether the service parameters are normal or not depends on the predetermined criteria for providing the service (for example, the functions and performance of the robot required for the service, the number of CPUs and the number of memories of the device, etc.). It is determined by whether or not the standard values of the CPU frequency and memory capacity specified in the specification) are satisfied. If the service monitoring program 112 determines that the service parameters are normal, that is, meet predetermined criteria, it determines that it is appropriate to provide the service.

When the service monitoring program 112 determines that the service parameter is not normal (S504; No), it executes the failure determination process (see FIG. 6) (S505) and terminates the process. On the other hand, when the service monitoring program 112 determines that the service parameters are normal (S504; Yes), the process ends without doing anything.

FIG. 6 is a flowchart illustrating an example of failure determination processing. The failure determination process is performed by the CPU of the operation management server 10 executing the failure determination program 113 .

The failure determination program 113 first executes resource monitoring processing (see FIG. 8) (S601), compares the remaining resource amount with the resource amount required for the service to be executed, and determines that the resource amount required for the service is the remaining resource amount. (S602). If the fault determination program 113 determines that the resource amount required for the service does not exceed the remaining resource amount (S602; No), it continues the service and terminates the process. On the other hand, when the fault judgment program 113 judges that the resource amount required for the service exceeds the remaining resource amount (S602; Yes), it stops the service (S603) and executes service start processing (see FIG. 7). (S604), and the process ends.

FIG. 7 is a flowchart illustrating an example of service start processing. The service start process is a process performed by the CPU of the operation management server 10 executing the service start program 114 .

The service start program 114 first acquires information on a service to be started from the service information DB (S701), and executes resource determination processing (see FIG. 8) (S702). The service initiation program 114 then compares the amount of resources required for the service and the amount of remaining resources, and determines whether the amount of resources required for the service is less than the amount of remaining resources (S703). When the service start program 114 determines that the resource amount required for the service is less than the remaining resource amount (S703; Yes), the service start program 114 transmits a service start message to the information processing device 70 and ends the process. On the other hand, when the service start program 114 determines that the resource amount required for the service does not fall below the remaining resource amount (S703; No), the service start program 114 transmits a service waiting message to the information processing device 70, and starts processing. finish. Note that the service start processing shown in FIG. 7 may be executed by other programs such as the service management program 112 and the resource monitoring program 115 .

FIG. 8 is a flowchart illustrating an example of resource monitoring processing. The resource monitoring process is a process performed by the CPU of the operation management server 10 executing the resource monitoring program 115 .

The resource monitoring program 115 first acquires the resource amount of the entire system from the resource information DB 124 (S801), and calculates the total resource amount of all the services being executed from the service state information DB 122 (S802). The resource monitoring program 115 calculates the remaining resource amount from the difference between the resource amount of the entire system and the resource amount of all the services being executed (S803), and ends the process.

FIG. 9 is a diagram showing an example of the configuration of the information processing device 70. As shown in FIG. The content that is the subject of the processing executed by the information processing device 70 is stored in the form of a program (software) in an auxiliary storage device 704 of a general computer. Expand and run. The information processing device 70 communicates with other devices via the LAN I/F 705 . Further, the information processing device 70 includes a mechanical part 706 which is a mechanical part of the robot such as the head, arms, and legs, a mechanism control part 707 which controls the mechanical parts, a speaker 708 which emits voice, a microphone 709 which collects voice, and a sensor 720 for position measurement, such as a camera or laser range finder.

An I/O (input/output interface) 703 is a user interface for the user to input instructions to the information processing apparatus 70 and to present program execution results and the like to the user. Input/output devices (eg, keyboard, mouse, touch panel, display, printer, etc.) are connected to the I/O 703 . A user interface provided by a management terminal connected via a network may be connected to the I/O 703 .

The CPU 702 is a processor that executes programs stored in the memory 701 . The memory 701 includes ROM, which is a nonvolatile storage element, and RAM, which is a volatile storage element. The ROM stores immutable programs (eg, BIOS) and the like. A RAM is a high-speed and volatile memory element like a DRAM, and temporarily stores programs stored in the auxiliary storage device 702 and data used when the programs are executed.

Specifically, the memory 701 stores a communication monitoring program 711 , a service monitoring program 712 , an information processing device control program 713 , and a failure recovery program 714 .

The communication monitoring program 711 is a program for executing communication monitoring processing (see FIG. 11). The service monitoring program 712 is a program for executing service monitoring processing (see FIG. 12). The information processing device control program 713 is a program for executing the information processing device control process (see FIG. 13). The fault recovery program 714 is a program for executing fault recovery processing (see FIG. 14).

The memory 701 also stores an information processing device state information DB 721 (see FIG. 10), an information processing device information DB 722 (see FIG. 10), and an operation information DB 723 (see FIG. 10) at failure.

The auxiliary storage device 704 is, for example, a large-capacity, non-volatile storage device such as a magnetic storage device (HDD) or flash memory (SSD). In addition, the auxiliary storage device 704 stores programs executed by the CPU 702 and data used when the programs are executed. That is, the program is read from the auxiliary storage device 704 , loaded into the memory 701 and executed by the CPU 702 .

The computer system of the information processing device 70 is a computer system configured on one physical computer or on a plurality of logical or physical computers, and the programs stored in the memory 701 are the same computer. It may run on separate threads on a computer, or it may run on a virtual computer constructed on a plurality of physical computer resources. All or part of the processing realized by executing the program may be realized by hardware (for example, FPGA).

FIG. 10 shows structures of various databases existing in the memory 701 of the information processing device 70 .

The information processing device state information DB 721 is a database for managing the state of the information processing device 70, and includes a robot identifier that uniquely identifies the information processing device 70, a base identifier that uniquely identifies the service base 110 where the robot is installed, a service A base map showing map information of the base 110, an X coordinate and a Y coordinate indicating a position in the base map of the information processing device, a running service identifier uniquely identifying the service being executed by the information processing device 70, and service state information. contains a service state that indicates Although FIG. 10 shows information about robots as an example of the information processing device state information DB 721, the service devices described above are also stored in the same way.

The information processing device information DB 722 is a database that manages information on the information processing device 70, and includes a robot identifier that uniquely identifies the information processing device 70 and a robot identifier for operating when control information for the information processing device 70 is received. Contains a list of parameters (control action 1 to control action N). Although FIG. 10 shows information about robots as an example of the information processing device information DB 722, the service devices described above are also stored in the same way.

The failure action DB 723 is a database for managing the failure action of the information processing device 70, and includes an action-against-failure identifier that uniquely identifies an action upon failure, a list of actions upon failure (action-on-failure 1 to action-on-failure N). ), failure operation parameters, which are parameters for executing the failure operation, and failure operation priority, which is the priority of the operation to be performed in the event of a failure.

FIG. 11 is a flowchart illustrating an example of communication monitoring processing. The communication monitoring process is performed by the CPU 702 of the information processing apparatus 70 executing the communication monitoring program 711 . The communication monitoring program 711 is a process performed by the information processing device 70 periodically or by transmitting status information to the operation management server 10 .

The communication monitoring program 711 transmits a communication monitoring message from the information processing device 70 to the operation management server 10 (S1101), and determines whether or not there is a response from the operation management server 10 (S1102). When the communication monitoring program 711 determines that there is no response from the operation management server 10 (S1102; No), it executes the information processing device control process (see FIG. 13) (S1106) and terminates the process. On the other hand, when the communication monitoring program 711 determines that there is a response from the operation management server 10 (S1102; Yes), the communication monitoring program 711 measures the response time and the amount of communication from the transmission of the communication monitoring message to the response ( S1103), and it is determined whether or not the response time is below threshold 1 (S1104). When the communication monitoring program 711 determines that the response time does not fall below the threshold 1 (S1104; No), it executes the information processing apparatus control process (see FIG. 13) (S1106), and terminates the process.

On the other hand, when the communication monitoring program 711 determines that the response time is less than the threshold 1 (S1104; Yes), it compares the traffic with the threshold 2 and determines whether the traffic is less than the threshold 2 (S1105). ). When the communication monitoring program 711 determines that the communication traffic does not fall below the threshold 2 (S1105; No), it executes the information processing apparatus control process (see FIG. 13) (S1106), and terminates the process. On the other hand, when the communication monitoring program 711 determines that the traffic is below the threshold 2 (S1105; Yes), the process ends.

FIG. 12 is a flowchart illustrating an example of service monitoring processing. The service monitoring process is a process performed by the CPU 702 of the information processing device 70 executing the service monitoring program 712 . The service monitoring program 712 is a process executed by the information processing device 70 periodically or when service status information is acquired from the operation management server 10 .

First, the service monitoring program 712 acquires robot status information from the information processing device status information DB 721 (S1201), and compares the elapsed time of the service included in the service status of the robot status information with the standard elapsed time of the service. and determines whether or not the elapsed time of the service is shorter than the standard elapsed time of the service (S1202). When the service monitoring program 712 determines that the elapsed time of the service does not fall below the standard elapsed time of the service (S1202; No), it executes the information processing device control process (see FIG. 13) (S1204) and terminates the process. finish.

On the other hand, when the service monitoring program 712 determines that the elapsed time of the service is less than the standard elapsed time of the service (S1202; Yes), it determines whether the service parameters are normal (S1203). When the service monitoring program 712 determines that the service parameter is not normal (S1203; No), it executes the information processing device control process (see FIG. 13) (S1204), and terminates the process. On the other hand, when the service monitoring program 712 determines that the service parameters are normal (S1203; Yes), the process ends without doing anything.

FIG. 13 is a flowchart illustrating an example of information processing device control processing. The information processing device control processing is processing performed by the information processing device control program 713 being executed by the CPU 702 of the information processing device 70 . The information processing device control program 713 is a process called when the information processing device 70 executes control of the information processing device.

First, the information processing device control program 713 acquires a trigger for calling the information processing device control process (S1301). The information processing device control program 713 determines whether or not the information processing device control processing has been called from the communication monitoring processing or the service monitoring processing (S1302). If so (S1302; Yes), fault recovery processing (see FIG. 14) is executed, and the processing ends. On the other hand, when the information processing device control program 713 determines that the information processing device control processing has not been called from the communication monitoring processing or the service monitoring processing, that is, has been called from processing other than these (S1302; No), the service is called. A start message is sent to the operation management server 10, and the process ends.

FIG. 14 is a flowchart illustrating an example of failure recovery processing. The failure recovery process is a process performed by the CPU 702 of the robot 70 executing the failure recovery program 714 . The fault recovery program 714 is a process executed when the information processing device 70 determines that the operation management server 10 has a fault in communication or service.

First, the failure recovery program 714 refers to the failure operation information DB 723 (S1401), selects the failure operation to be executed according to the failure operation execution parameter and failure operation priority, and executes the failure operation ( S1402). Next, the fault recovery program 714 sends a fault recovery message to the operation management server 10 (S1403). The failure recovery program 714 determines whether or not there is a response from the operation management server 10 (S1404), and if it determines that there is no response from the operation management server 10 (S1404; NO), returns to S1402 and performs the failure operation. to run. On the other hand, when the fault recovery program 714 determines that there is a response from the operation management server 10 (S1404; Yes), it determines that there is a response to restart the service from the operation management server 10, and starts the service (S1405). .

FIG. 15 is a sequence diagram showing an example of processing when the operation management server 10 executes service monitoring. The operation management server 10 executes the communication monitoring program 111 and monitors the communication status (S1501). Next, the operation management server 10 executes the service monitoring program 112 and monitors the service status (S1502). Next, the operation management server 10 executes the failure determination program 113, and determines whether or not there is a failure in the system from the execution results of the communication monitoring program 111 and the service monitoring program 112 (S1503). When the operation management server 10 determines to restart the service due to a failure (S505 in FIG. 5, S604 in FIG. 6), it executes the resource monitoring program 115 (S702 in FIG. 7, S702 in FIG. 8) and acquires the resources of the entire system (S1504). ). If the operation management server 10 determines that there is no problem in resuming the service, it executes the failure determination program 113 and transmits a failure recovery request to the information processing device 70 (S604 in FIG. 6, S704 in FIG. 7, S1505 in FIG. 7).

The information processing device 70 executes the failure recovery program 714 in response to the failure recovery request, and executes the operation at failure (S1303 in FIG. 13, FIG. 14, S1506). The information processing device 70 transmits a response message to the operation management server 10 when executing the failure operation (S1403, S1507 in FIG. 14). The operation management server 10 executes the service monitoring program 112 and transmits a service start request message to the service control server 20 (S1509). 70 (S1510, S1511), and the information processing device 70 starts the service by executing the information processing device control program 713 (S1512).

FIG. 16 is a sequence diagram showing an example of processing when the information processing device 70 executes service monitoring and control. The information processing device 70 executes the communication monitoring program 711 (S1601) to monitor the communication status, and the service monitoring program 712 (S1602) to monitor the service status. Determine if there is a fault. If there is a failure, the information processing device control program 713 is executed, and a failure recovery request (S1604) is sent to the operation management server 10. FIG.

When the operation management server 10 receives the failure recovery request, it executes the resource monitoring program 115 and determines whether or not there are resources necessary for starting the service (S1605). If the operation management server 10 can start the service, it executes the failure determination program 113 (S1606) and transmits a request to start the service to the service control server 20 (S1607). The service control server 20 executes the service control program (S1608), transmits a fault recovery response to the information processing device 70 (S1609), and the information processing device 70 executes the fault recovery program 714 to start the service (S1610). ).

As described above, according to this embodiment, in the information device control system 1000 having the information processing device 70 including one or more autonomously movable devices (for example, robots), the control device ( For example, in the operation management server 10), as shown in S702 of FIG. 7, FIG. 8, S1504 of FIG. A service monitoring unit (for example, the service management program 112) calculates the resource amount of the information device control system 1000 to be used when the information device control system 1000 uses the information device control Since it is determined whether or not the system 1000 is within the range of the amount of resources that can be provided, it is possible to ascertain in advance whether the resources will be affected by restoring the service.

Further, as shown in S1508 and the like in FIG. 15, the service monitoring unit causes the information processing device 70 to provide the service when determining that the resource amount is within the range of the resource amount that can be provided. Therefore, services that use the amount of resources that the information device control system 1000 can provide can be reliably provided.

In addition, when the information processing device provides the services, if it is necessary to provide a plurality of services at the same time, the service monitoring unit, based on the priority of the services (for example, the priority of the service information DB 125), Since the start order of the services to be provided is changed, the services can be provided to the user in descending order of priority. Further, since the service monitoring unit determines the priority of the service using the position information of the information processing device 70, according to the position information (for example, the position of the robot in the service base 90), the priority can provide services.

That is, in a system in which a robot or an information processing device including a robot is connected to a control device, a service is started according to the information processing device and the control device, or the resources of the control device, and the service content performed by the information processing device. You can change the order of tasks and manage equipment and network resources.

Further, as shown in S1503 and S1504 in FIG. 15, a failure determination unit (for example, failure determination program 113) that determines whether or not a failure has occurred in the information device control system 1000 is provided. Since the resource amount of the information device control system 1000 is calculated when it is determined that a failure has occurred in the device control system 1000, the resource amount of the entire system at the time of failure can be grasped.

The failure determination unit determines that the response time and the traffic volume for the information processing device 70 meet predetermined conditions (for example, the response time is less than the threshold value 1 shown in FIG. 4 and the traffic volume is less than the threshold value 2 shown in FIG. 4). condition) is not satisfied, or the service provided by the information processing device does not satisfy a predetermined provision criterion (for example, the condition that the elapsed time of the service shown in FIG. 5 is within the standard time and the service status parameter is normal) ) is not satisfied, it is determined that a failure has occurred in the information device control system 1000, so only services that satisfy the predetermined criteria can be provided to the user.

Further, as shown in S1504, S1505, and S1508 in FIG. 15, the service monitoring unit instructs the information processing device 70 to perform fault recovery processing when the fault determination unit determines that a fault has occurred in the information device control system 1000. is executed to restart the provision of the service. Therefore, even if a failure occurs in the information device control system 1000, the service can be automatically continued thereafter.

1000 Information equipment control system 10 Operation management server 20 Service control server 30 External device control server 50 Network 60 Local LAN
70 robot 80 external device 90 sensor 100 operation management center 110 service base

Claims (7)

A control device for controlling an information processing device in a control system having an information processing device including one or more autonomously movable devices,
a resource monitoring unit that calculates the amount of resources of the control system that the information processing device uses when providing a service;
a service monitoring unit that determines whether the amount of resources used by the information processing device when providing the service is within the range of the amount of resources that can be provided by the control system;
A failure determination unit that determines whether or not a failure has occurred in the control system,
The resource monitoring unit calculates the resource amount of the control system when it is determined that a failure has occurred in the control system.
A control device characterized by: The control device according to claim 1,
When the service monitoring unit determines that the resource amount is within the range of the resource amount that can be provided, the service monitoring unit causes the information processing device to provide the service.
A control device characterized by: The control device according to claim 1,
When the information processing device provides the service, if it is necessary to provide a plurality of services at the same time, the service monitoring unit changes the starting order of the services to be provided based on the priority of the service.
A control device characterized by: The control device according to claim 3,
The service monitoring unit determines the priority of the service using the location information of the information processing device;
A control device characterized by: The control device according to claim 1 ,
The failure determination unit determines whether the control system fails when the response time and communication volume for the information processing device do not satisfy predetermined conditions, or when the service provided by the information processing device does not satisfy predetermined provision standards. determine that has occurred,
A control device characterized by: The control device according to claim 1 ,
When the failure determination unit determines that a failure has occurred in the control system, the service monitoring unit causes the information processing device to perform failure recovery processing and restarts the provision of the service.
A control device characterized by: A device control method performed by a control device for controlling the information processing device in a control system having an information processing device including one or more autonomously movable devices, comprising:
calculating the amount of resources of the control system that the information processing device uses when providing the service;
When determining whether or not the amount of resources used by the information processing device to provide the service is within the range of the amount of resources that can be provided by the control system, whether a failure has occurred in the control system determining whether or not, and if it is determined that a failure has occurred in the control system, calculating the resource amount of the control system;
A device control method characterized by:

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