JP7499226B2 - Control device - Google Patents

Description

The present invention relates to a control device suitable for operating a robot in a specified area, such as within a facility.

In recent years, buildings and facilities have been providing services by operating various autonomous robots for cleaning, security, guidance, transportation, delivery, and other purposes. In general, service users use a robot operation system to use the service (see, for example, Patent Document 1). After receiving reservation and operation information from the user from the robot operation system, the robot uses its on-board sensors to sense the environment around the robot itself, judges the situation, plans a route, and autonomously travels to the destination. Because sensing information is limited, it is not necessarily the case that a robot can act autonomously in all facility environments.

When operating a robot within a facility, the robot manufacturer (robot provider) takes into consideration the specific facility environment (meaning the environment including movable routes, restricted areas, etc.; hereinafter, this environment may simply be referred to as the "static environment") and takes appropriate measures such as setting the robot's travelable routes in advance, restricting the travel range, and adjusting the speed and other conditions (see, for example, Patent Document 2). This allows the robot to operate smoothly in a normal facility environment.

JP 2021-113917 A JP 2019-3602 A

However, when there is an unexpected facility environment (such as a temporary restriction on movement routes, or a temporary restriction or relaxation of entry restrictions, hereinafter referred to simply as a "dynamic environment") due to a specific event that is different from normal or an emergency, the robot may not be able to autonomously grasp the situation using only the on-board sensors and may not be able to act. A temporary solution to this problem is for the manufacturer to reconfigure the robot, but this is time-consuming. Another solution is to equip the robot with an automatic facility environment information collection function, advanced route search, and driving control function, as in the above-mentioned conventional Patent Document 2. However, robots equipped with such functions are not easily available, and even if they are available, they are expensive. As a result, there are cases where the robot must be operated under the risk of being unable to act, or the operation of the robot must be stopped. Therefore, a control device that can operate various robots in a dynamic environment, including not only high-function and expensive robots, but also low-function and inexpensive robots, is desired.

The present invention has been made in consideration of the above, and aims to provide a control device that can reliably operate various robots even if the environment of a specified area temporarily changes.

In order to solve the above problems and achieve the objective, the control device according to the present invention is a control device for operating an autonomous robot in a specified area, and is characterized in that it generates tasks to be performed by the robot in the area and a schedule for performing the tasks based on information about the environment of the area and information about the robot, and causes the robot to perform the tasks in accordance with the generated schedule.

In addition, another control device according to the present invention is characterized in that, in the above-mentioned invention, it comprises a reservation operation unit operated by a user to reserve the use of the robot, an information aggregation unit that aggregates information about the environment of the area and information about the robot, and a task processing unit that generates the task for realizing a robot operation that is suitable for the environment of the area and corresponds to the reservation information input to the reservation operation unit based on the information about the environment in the facility aggregated in the information aggregation unit and the information about the robot, and the schedule for executing the task, and causes the robot to execute the task according to the schedule.

In addition, another control device according to the present invention is characterized in that in the above-mentioned invention, the task processing unit sets the robot to be used based on the usage reservation information input to the reservation operation unit.

In addition, another control device according to the present invention is characterized in that in the above-mentioned invention, the task processing unit has a reservation processing unit that performs a predetermined reservation process based on the usage reservation information, a task creation unit that refers to the information collection unit to analyze the robot movement required by the environment of the area and creates the schedule for the task to realize the predetermined robot movement suitable for the environment of the area based on the analysis result, and a task execution unit that causes the robot to execute the task in accordance with the schedule while referring to information about the environment of the area collected in the information collection unit and information about the robot.

The control device according to the present invention is a control device for operating an autonomous robot in a specified area, and generates tasks to be performed by the robot in the area and a schedule for performing the tasks based on information about the environment of the area and information about the robot, and has the robot perform the tasks according to the generated schedule, thereby achieving the effect of being able to reliably operate various robots even if the environment of the area temporarily changes.

In addition, another control device according to the present invention includes a reservation operation unit operated by a user to reserve the use of the robot, an information aggregation unit that aggregates information about the environment of the area and information about the robot, and a task processing unit that generates the tasks for realizing robot operations that correspond to the reservation information input to the reservation operation unit and are suitable for the environment of the area based on the information about the environment of the facility aggregated in the information aggregation unit and the information about the robot, and the schedule for executing the tasks, and has the robot execute the tasks according to the schedule, thereby providing the effect that the user can use the robot efficiently while taking into account the facility environment.

In addition, according to another control device of the present invention, the task processing unit sets the robot to be used based on the usage reservation information input to the reservation operation unit, thereby achieving the effect of being able to use a robot according to the usage reservation information.

In addition, according to another control device of the present invention, the task processing unit has a reservation processing unit that performs a predetermined reservation process based on the usage reservation information, a task creation unit that refers to the information collection unit to analyze the robot operation required for the environment of the area and creates the schedule for the task to realize the predetermined robot operation suitable for the environment of the area based on the analysis result, and a task execution unit that causes the robot to execute the task according to the schedule while referring to information about the environment of the area collected in the information collection unit and information about the robot. Therefore, for example, by stopping and resuming a task according to information about the environment of the area and information about the robot, it is possible to achieve the effect of realizing optimal operation of the robot.

FIG. 1 is a block diagram showing an embodiment of a control device according to the present invention. FIG. 2 is a configuration diagram of a robot operating system applied to this embodiment. FIG. 3 is a process flow diagram corresponding to an embodiment of the control device according to the present invention. FIG. 4 is a schematic plan view corresponding to an embodiment of a control device according to the present invention. FIG. 5 is a diagram showing a schedule of a comparative example. FIG. 6 is a diagram showing a schedule of an embodiment of the present invention.

Below, an embodiment of a control device according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to this embodiment.

As shown in FIG. 1, a control device 10 according to an embodiment of the present invention is for operating an autonomous robot in a specified area such as within a facility, and is provided between multiple users P (service users) and a robot R provided for service use. This control device 10 automatically and systematically assigns detailed actions required by the robot, taking into account the facility environment, to a series of action tasks, and manages and executes these tasks according to a schedule, allowing the robot to act in accordance with different environments within the facility (area). This control device 10 is composed of a reservation operation unit 12, an information aggregation unit 14, a task processing unit 16, and an operation command unit 18.

Here, the facility environment refers to a static environment such as possible travel routes and restricted access areas, or a dynamic environment such as temporary travel route restrictions, temporary access restrictions or relaxations, and congestion. The robot's actions refer to operations such as planning travel routes and waypoints, determining travel timing, starting and ending travel, adjusting speed, pausing, and restarting. In addition, the robot performs a series of actions by executing tasks according to a schedule.

In this embodiment, the robot R controls the drive of the robot R itself. That is, in this embodiment, a known robot R is used. As shown in FIG. 2, the existing robot R has a reservation operation unit 22 with functions to command operations such as driving to a target destination (reservation dispatch), switching map information showing a target location, starting and ending driving, adjusting speed, pausing and restarting, and an information unit 24 with functions to acquire information such as the real-time status of the robot R and distribute it to the outside. The reservation operation unit 22 and the information unit 24 are generally provided as functions of the robot R. Operation control from the reservation operation unit 22 to the robot drive control unit 20 is performed through a network communication line. The robot drive control unit 20 can autonomously drive to a destination by estimating its own position and determining the situation while sensing the environment around the main body with an on-board sensor, and planning a route based on map information within the facility.

The reservation operation unit 12 of the control device 10 is operated by the user P to reserve the use of the robot R, and replaces the reservation operation unit 22 of the robot R. The user P can use the robot utilization service by reserving the use of the robot R and operating the robot R via this reservation operation unit 12.

The information aggregation unit 14 collects and organizes information about the facility environment, such as related events within the facility, usage rules, congestion status, and equipment information. The information includes information obtained from sensors and monitoring systems installed within the facility, information about the environment within the facility, such as facility usage rules determined according to the actual conditions of facility operation (movement routes, waypoints, waiting locations, and waiting times that are suitable for the dynamic environment of the facility), and information from the robot R about the status of the robot R itself. By referring to the information aggregation unit 14, the user P can grasp the overall facility status, the robot status, and the movement routes, waypoints, and movement timings that are suitable for the actual conditions of the facility.

The task processing unit 16 has a reservation processing unit 16A, a task creation unit 16B, and a task execution unit 16C.

The reservation processing unit 16A performs reservation processing based on usage reservation information such as reservation operations from the user P, for example, registering this information in a database, selecting (setting) available robots R from the database, and starting the usage timing.

The task creation unit 16B refers to the information aggregation unit 14 and the reservation processing unit 16A to analyze the necessary actions (robot operations) of the target robot R required for the facility environment, and creates a schedule for tasks to realize actions suitable for the facility environment based on the analysis results. More specifically, based on the analysis results, actions such as traveling operations to subdivided travel routes and waypoints, and the timing to start traveling are assigned to tasks, and a schedule is created by prioritizing each task, and the created schedule is registered in a database.

The task execution unit 16C executes tasks according to the schedule registered in the database. In processing within a task, the robot R executes the task according to the schedule while referring to facility environment information and robot status information from the information aggregation unit 14. The related operation tasks of the robot R are performed via the operation command unit 18 and the reservation operation unit 22 of the robot R.

The operation command unit 18 is connected to the reservation operation unit 22 of the robot R via a network communication line, and operates the robot R by sending an operation command (robot operation command) to the robot drive control unit 20 via the reservation operation unit 22. The operation command sent from the operation command unit 18 is set corresponding to the task in the task execution unit 16C of the task processing unit 16.

(Processing flow example)
Next, an example of a process flow of the control device 10 according to the present embodiment will be described.
As shown in Fig. 3, first, a user P uses an application for a robot utilization service on a computer terminal to input utilization reservation information such as utilization of the service and driving of the robot to a destination point (step S1). The input utilization reservation information is transmitted to the task processing unit 16 through the reservation operation unit 22. The transmitted utilization reservation information is registered in a reservation list of a database by the reservation processing unit 16A of the task processing unit 16 (step S2), and processing such as selecting a target robot R that can be used from a list of robots registered in the database based on this utilization reservation information is performed (step S3). Once the target robot R has been selected (Yes in step S3), the process proceeds to the next step.

Next, the task creation unit 16B of the task processing unit 16 analyzes the behavior of the selected target robot R suited to the facility environment while referring to the facility information and robot status of the information aggregation unit 14 (step S4), assigns the waypoints, driving route, and driving timing and actions (starting and ending driving, speed adjustment, pausing and restarting) to a series of behavioral tasks (step S5), creates a schedule consisting of the series of behavioral tasks, and registers and manages the created schedule in a database (step S6).

Next, the task execution unit 16C of the task processing unit 16 starts the series of tasks according to the registered schedule (step S7), and automatically repeats task execution of each of steps S8 to S10 until the series of tasks shown in the schedule is completed (step S11). In the usage timing determination task of step S8, the usage start timing is determined for the user P via the reservation operation unit 12. In the facility status determination task of step S9, the state of the facility environment is determined by referring to the information aggregation unit 14. In the robot operation command task of step S10, an operation command is sent to the robot drive control unit 20 via the operation command unit 18. When the schedule is completed (Yes in step S11), the use of the target robot R is terminated (step S12), and the use of the user P is terminated (step S13).

The control device 10 configured as described above allows the user to operate the robot R through the reservation operation unit 12 of the control device 10, and to check the robot status as well as facility information, etc. through the information aggregation unit 14. In other words, the status of the robot R is delivered to the information aggregation unit 14 via the information unit 24 of the robot R.

According to this embodiment, the reservation operation unit 22 of the robot R operates the robot drive control unit 20 via the operation command unit 18 by executing the task of the task processing unit 16. More specifically, the control device 10 centrally manages the robot R by creating tasks according to the facility environment in the task creation unit 16B of the task processing unit 16, and sequentially sending operation commands to the robot drive control unit 20 via the operation command unit 18. In this way, a schedule consisting of a waypoint movement task, a situation determination task, a behavior control task, etc. is created in consideration of the facility environment in addition to the use reservation information of the user P and the robot status information, and dynamic route planning is made possible, making it possible to run smoothly within the facility. Since the operation of the robot is managed by the schedule, it is possible to stop or resume each task according to information on the environment in the facility and information on the robot. In this way, optimal operation of the robot can be realized.

Therefore, according to this embodiment, the robot can be operated reliably even if the environment within the facility changes temporarily. This allows the robot to be used continuously without worry even if the facility usage rules change due to a specific incident, event, or emergency. Furthermore, users can use the robot efficiently by taking into account the facility environment. By introducing this control device 10, facility managers can determine convenient waypoints, the timing for the robot to start traveling, and so on, depending on the various actual circumstances of facility operation.

The present invention is not limited to the above embodiment, and any robot may be used as long as the framework of detailed actions and schedule execution can be applied, such as a self-propelled robot for mobility or equipment.

(Example)
Next, an embodiment of the present invention will be described.
As shown in Fig. 4, this embodiment assumes a scenario in which a robot moving along a hallway in a building performs delivery service from point N0 to destination point N1. The travel route is appropriate as the facility usage rules, and the robot travels in compliance with the usage rules. As a comparative example, a case is set in which the robot autonomously travels from point N0 to destination point N1 along the shortest route indicated by a dotted line.

In the comparative example, since there are no restrictions on the facility environment, a schedule such as that shown in Figure 5 is generated. Then, the robot is delivered to the destination point N1 by executing tasks according to the generated schedule. In this case, the schedule is first started (step T0), a service start reception is executed to confirm the timing of the user and the facility situation (step T1), and then the robot is driven to the destination point N1 (step T2), after which the schedule is ended (step T3).

Now, let us assume that an event occurs in which a road is closed due to facility construction in Zone A on the shortest route. In this case, as a first response, it is necessary to set a route that does not pass through Zone A as a temporary usage rule for the facility environment, and to take a detour. As a second response, since Zone B on the detour route may become congested at certain times of the day and the robot may not be able to pass through, it is necessary to determine the congested state of Zone B and adjust the travel timing and route accordingly. Furthermore, as a third response, it is necessary to change the destination point N1 to a different adjacent destination point N2, taking into consideration the possibility that the destination point N1 may be occupied by another event just before arrival.

In conventional approaches, the first response would be to limit the robot's travel range so that it would not pass through Zone A, and the robot itself would search for a roundabout route. The second response would involve determining the congestion level in Zone B and changing the route accordingly. The third response would involve adding a function to determine whether the destination point is accessible and then change the destination. In this way, conventionally, even temporary changes to the facility environment required a lot of response on the robot's side.

In contrast, in this embodiment, not only road closure information in zone A, but also congestion information in zone B and information on whether or not entry to point N1 is permitted are collected in the information collection unit 14. From this information, necessary intermediate points and travel timing are determined, and behavioral tasks for the robot, such as operation commands and travel commands, are created. The created schedule for this embodiment is shown in Figure 6.

As shown in FIG. 6, this embodiment consists of tasks of steps U0 to U7. In this embodiment, tasks of issuing a movement command to waypoints M1 and M2 (steps U2 and U3) are added to the comparative example. In addition, a task of determining the congestion status of zone B (step U4), a task of moving to destination point N1 or adjacent point N2 based on the result (step U5), or a task of issuing a movement command to waypoint M3 (step U61), and then a task of moving to destination point N1 or adjacent point N2 (step U62) are added. Step U0 corresponds to step T0 of the comparative example, step U1 corresponds to step T1 of the comparative example, and step U7 corresponds to step T3 of the comparative example. In the tasks of steps U5 and U62, the information aggregation unit 14 refers to the facility status within the task to determine whether or not the destination point N1 can be entered, and based on the result, a movement command is issued to change the destination to adjacent point N2 and move to the changed adjacent point N2.

By executing tasks according to this schedule, the robot can be delivered to its destination. In this way, it is possible to avoid having to stop using the robot or add new functions to the robot, as was the case with conventional systems.

As described above, the control device according to the present invention is a control device for operating an autonomous robot in a specified area, and generates tasks to be performed by the robot in the area and a schedule for performing the tasks based on information about the environment of the area and information about the robot, and has the robot perform the tasks in accordance with the generated schedule, so that various robots can be operated reliably even if the environment of the area temporarily changes.

In addition, another control device according to the present invention includes a reservation operation unit operated by a user to reserve use of the robot, an information aggregation unit that aggregates information about the environment of the area and information about the robot, and a task processing unit that generates the tasks for realizing robot operations that correspond to the reservation information input to the reservation operation unit and are suitable for the environment of the area based on the information about the environment in the facility aggregated in the information aggregation unit and the information about the robot, and the schedule for executing the tasks, and has the robot execute the tasks according to the schedule, so that the user can use the robot efficiently while taking into account the facility environment.

In addition, according to another control device of the present invention, the task processing unit sets the robot to be used based on the usage reservation information input to the reservation operation unit, so that a robot according to the usage reservation information can be used.

According to another control device of the present invention, the task processing unit includes a reservation processing unit that performs a predetermined reservation process based on the usage reservation information, a task creation unit that refers to the information collection unit to analyze the robot operation required for the environment of the area and creates the schedule for the task to realize the predetermined robot operation suitable for the environment of the area based on the analysis result, and a task execution unit that causes the robot to execute the task in accordance with the schedule while referring to information about the environment of the area collected in the information collection unit and information about the robot. Therefore, for example, by stopping and resuming a task depending on the information about the environment of the area and the information about the robot, optimal operation of the robot can be realized.

As described above, the control device according to the present invention is useful for operating an autonomous robot in a facility environment such as inside a building, and is particularly suitable for reliably operating the robot even when the facility environment changes temporarily.

REFERENCE SIGNS LIST 10 Control device 12, 22 Reservation operation unit 14 Information collection unit 16 Task processing unit 16A Reservation processing unit 16B Task creation unit 16C Task execution unit 18 Operation command unit 20 Robot drive control unit 24 Information unit P User R Robot

Claims (1)

A control device for operating a plurality of autonomously traveling robots in a predetermined area,
an information aggregation unit that aggregates information about the environment of the area and information about the robot;
a reservation processing unit that sets information on the available robot and information on the timing of use based on reservation information input by a user;
a task creation unit that analyzes the robot motion required for the environment of the area based on the information regarding the environment of the area and the information regarding the robot collected by the information collection unit and the information set by the reservation processing unit, and creates a schedule for tasks for realizing a predetermined robot motion suitable for the environment of the area based on the analysis result;
a task execution unit that causes the robot to execute the task according to the schedule created by the task creation unit while referring to information about the environment of the area and information about the robot,
The control device is characterized in that the task creation unit determines the waypoints and driving timings necessary to achieve specified robot operations suitable for the environment of the area from road closure information, congestion information, and entry permission information contained in the information about the environment of the area aggregated in the information aggregation unit, and from the robot information, and creates the schedule based on the results of this determination .

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