WO2022050122A1

WO2022050122A1 - Information processing device, robot, and information processing method

Info

Publication number: WO2022050122A1
Application number: PCT/JP2021/030912
Authority: WO
Inventors: 篤之坂本; 利充坪井; 智子永仮; 裕之鈴木; 栄良笠井; 卓哉駒見; 智治原口; 寿光甲斐
Original assignee: ソニーグループ株式会社
Priority date: 2020-09-01
Filing date: 2021-08-24
Publication date: 2022-03-10
Also published as: JP2022041757A

Abstract

This information processing device (30) comprises: a first determination unit (321) that determines whether an article in a first area has been provisionally registered on the basis of the result of comparing article information (D30), which is obtained by sensing the characteristics of the article in the first area, to provisional registration information (D22) about an article that is provisionally registered in a second area different from the first area; and a processing unit (322) which, if it has been determined that the article in the first area is provisionally registered, executes a process for associating registration information (D21) about the article, said information being based on the provisional registration information (D22), with the first area and registering the same.

Description

Information processing equipment, robots and information processing methods

This disclosure relates to information processing devices, robots and information processing methods.

In the prior art, a technique for managing an article in a predetermined space is known. Patent Document 1 discloses an article management system capable of long-term management of an article by grasping the current position of the article by using a tag attached to the article.

Japanese Unexamined Patent Publication No. 2000-357251

In the above-mentioned conventional technique, all the articles to be managed must be tagged, which is suitable for large-scale article management, but not suitable for small-scale article management. For example, in an automatic vacuum cleaner or the like, it is desired that internal articles can be easily registered for each room to be cleaned.

Therefore, in this disclosure, we propose an information management device, a robot, and an information processing method that can easily register information on articles used in a predetermined area.

In order to solve the above-mentioned problems, the information processing apparatus according to the present disclosure has the article information obtained by sensing the characteristics of the article in the first region and the second region different from the first region. Based on the comparison result with the provisionally registered information of the provisionally registered article, the first determination unit for determining whether or not the article in the first region is provisionally registered, and the article in the first region When it is determined that the temporary registration is performed, the processing unit is provided with a processing unit that executes a process of registering the registration information of the article based on the temporary registration information in association with the first area.

Further, the robot of one form according to the present disclosure is a robot including a sensor unit for detecting the characteristics of the article and an information processing device for managing the article, and the information processing device is described in the first region. Based on the comparison result between the article information obtained by sensing the characteristics of the article and the provisional registration information of the article temporarily registered in the second region different from the first region, the article in the first region. The first determination unit for determining whether or not is provisionally registered, and when it is determined that the article in the first area is provisionally registered, the registration information of the article based on the provisional registration information is used as the first item. It includes a processing unit that executes a process of registering in association with one area.

Further, in one form of the information processing method according to the present disclosure, the article information obtained by the computer sensing the characteristics of the article in the first region and the article information obtained by sensing the characteristics of the article in the first region are provisionally registered in the second region different from the first region. Based on the comparison result with the provisional registration information of the article, it is determined whether or not the article in the first region is provisionally registered, and it is determined that the article in the first region is provisionally registered. If this is the case, the process of registering the registration information of the article based on the provisional registration information in association with the first area is included.

It is a figure which shows the schematic structure of the article management system which concerns on embodiment. It is a figure for demonstrating the registration example of the article in the article management system which concerns on embodiment. It is a figure for demonstrating an example of the robot which concerns on embodiment. It is a figure which shows the configuration example of the robot which concerns on embodiment. It is a flowchart which shows the processing procedure of article registration in the article management system which concerns on embodiment. It is a flowchart which shows an example of the article registration process executed by the information processing apparatus which concerns on embodiment. It is a figure for demonstrating another example of registration of article in the article management system which concerns on embodiment. It is a figure for demonstrating an example of the 2nd region which concerns on the modification (1) of embodiment. It is a figure for demonstrating the example in which the information processing apparatus which concerns on the modification (2) of embodiment deletes the registration of an article. It is a flowchart which shows the processing procedure of the information processing apparatus which concerns on the modification (2) of embodiment. It is a hardware block diagram which shows an example of the computer which realizes the function of an information processing apparatus.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are designated by the same reference numerals, so that overlapping description will be omitted.

(Embodiment)
[Overview of the article management system according to the embodiment]
FIG. 1 is a diagram showing a schematic configuration of an article management system according to an embodiment. The article management system 1 shown in FIG. 1 has a function of managing articles inside the first region 510. The article includes, for example, the belongings of a user who uses the first area 510, the items brought into the first area 510, and the like. The first area 510 includes, for example, an area such as a private room of a general household or a nursing facility used by a user, a personal hospital room, a conference room, or the like. The first area 510 is an area for storing the goods owned by the user. The first region 510 includes, for example, a three-dimensional region and a planar region.

The article management system 1 further has a function of temporarily registering articles brought into the second area 520. The second area 520 is provided adjacent to the first area 510, and is an area where an article to be registered is brought in by a user or the like. The second region 520 is a narrower region than the first region 510. The second area 520 includes, for example, an area inside the box, an area of the floor surface separated by tape, a string, or the like, an area of which the color of the floor surface is changed, and the like. The second region 520 may be provided as a partial region inside the first region 510, or may be provided so as to overlap the first region 510.

The article management system 1 includes a robot 100 capable of moving articles inside the first area 510, and an article management server 200 that manages articles for each of a plurality of first areas 510. The robot 100 has an information processing device 30 capable of registering an article inside the first region 510. The robot 100 is, for example, a robot provided with a cleaning unit, avoiding a collision with an obstacle, and cleaning the inside of the first region 510 while autonomously moving. The robot 100 has a hand 120 capable of lifting and holding an article. The hand 120 is an example of a holding portion. The article management server 200 is a so-called cloud server (Cloud Server), and is a server device that manages articles in the first region 510 in cooperation with the information processing apparatus 30. The information processing device 30 and the article management server 200 are configured to be capable of transmitting and receiving various information by wireless communication or the like.

The article management server 200 builds various information such as environmental information D10, registration information D21, and temporary registration information D22 in a database. The environmental information D10 includes, for example, information indicating a user who uses the first area 510, a map and a positional relationship between the first area 510 and the second area 520, a robot 100 for cleaning the first area 510, and the like. The registration information D21 includes information regarding the characteristics of the article registered in the first region 510. The characteristics of the article include, for example, shape, weight, and the like. The provisional registration information D22 includes information regarding the characteristics of the article provided in the second area 520 and used in the first area 510. Temporary registration information D22 is information for provisionally registering an article. The registration information D21 and the provisional registration information D22 include information that can identify the article. The article management server 200 has a function of providing various information such as registration information D21 and temporary registration information D22 to the information processing apparatus 30.

FIG. 2 is a diagram for explaining an example of registration of an article in the article management system 1 according to the embodiment. In the example shown in FIG. 2, the first area 510 is a room (private room) of the user 700 who uses the first area 510, and the second area 520 is provided beside the entrance outside the room. The information processing device 30 of the robot 100 can recognize the first region 510 and the second region 520 based on the environmental information D10 and the current position of the robot. The information processing apparatus 30 may recognize the first region 510 and the second region by using, for example, the global coordinates with respect to the real space acquired by the SLAM (Simultaneous Localization and Mapping) technology and the environment information D10.

In step S1 shown in FIG. 2, the user 700 arranges the article 600, which has not been registered in the article management system 1, inside the second area 520 in order to temporarily register the article 600.

After that, the robot 100 confirms the second area 520 at the timing of cleaning the first area 510. As shown by the arrow M1, the robot 100 holds the article 600 placed in the second region 520 with the hand 120, and senses the feature of the article 600 by the sensor unit to obtain the article information indicating the feature of the article 600. obtain. The article information includes, for example, information that can identify the shape and weight of the article 600, image information, and the like. In this case, the information processing apparatus 30 temporarily registers the temporary registration information D22 in which the article information is associated with the first region 510 corresponding to the second region 520 in the article management server 200. Temporary registration is a state in which it is uncertain whether or not to register, and is a pre-registration stage.

When the temporary registration is completed, the robot 100 invades the inside of the first region 510 and starts cleaning as shown by the arrow M2. When the cleaning is completed, the robot 100 exits from the first region 510. After the cleaning is completed, the user 700 brings the article 600 of the second region 520 to the first region 510 and arranges the article 600 at a desired place for registration.

In step S2, when the robot 100 detects the article 600 while moving in the first region 510 during the next cleaning of the first region 510, the robot 100 holds the article 600 with the hand 120 and holds the article 600. Goods information is obtained by sensing the features. When the information processing apparatus 30 acquires the article information, the information processing apparatus 30 compares the article information with the provisionally registered information of the article management server 200 temporarily registered in the first area 510. The information processing apparatus 30 determines whether or not the article 600 is provisionally registered based on the comparison result. In this situation, the article management server 200 manages the temporary registration information D22 of the article 600 in the first area 510. Therefore, the information processing apparatus 30 determines that the article 600 is provisionally registered, and registers the registration information D21 of the article 600 based on the provisional registration information D22 in association with the first region 510. Then, when the information processing apparatus 30 registers the registration information D21, the information processing apparatus 30 instructs the article management server 200 to delete the temporary registration information D22. Since the article 600 held by the robot 100 is arranged in the first region 510, the information processing apparatus 30 controls the robot 100 so as to return the article 600 to its original position.

As described above, the information processing apparatus 30 can register the article 600 in the article management server 200 when the article 600 temporarily registered in the second area 520 is subsequently moved to the first area 510. As a result, since the user 700 only needs to place the article 600 in the second area 520 and then return it to the first area 510, the information processing apparatus 30 does not need to be registered in the system and is used in the first area 510. Article 600 can be easily registered. In addition, it is easy for the user 700 to simply arrange the article 600 along with the daily cleaning work without being aware of the work of attaching the IC tag, the existence of the article management server 200, and the registration work using the UI of the system directly. It is possible to register in the article management system 1.

For example, when the information processing apparatus 30 acquires the article information, the article information is compared with the provisional registration information D22 of the article management server 200 temporarily registered in the first area 510, and the article 600 is based on the comparison result. It is assumed that it is determined that the temporary registration has not been performed. In this case, the information processing apparatus 30 determines that the article 600 held by the robot 100 is unnecessary in the first region 510, and controls the robot 100 so as to move it to the outside of the first region 510. You may.

Further, in the example shown in FIG. 2, the case where the information processing apparatus 30 is performed from the confirmation of the second region 520 has been described, but the present invention is not limited to this. When the information processing apparatus 30 detects an unregistered article that has not been provisionally registered in the first region 510, the information processing apparatus 30 moves the unregistered article to the outside of the first region 510 (for example, the second region 520), thereby not yet registering the unregistered article. It has a function to temporarily register registered items. An example of the function of the information processing apparatus 30 to temporarily register an unregistered article will be described later. The information processing apparatus 30 can be configured to start from the confirmation of the first area 510, not from the confirmation of the second area 520. That is, the information processing apparatus 30 may be configured to move the unregistered article in the first region 510 to the second region 520 and confirm the second region 520.

[Outline of the robot according to the embodiment]
FIG. 3 is a diagram for explaining an example of a robot according to an embodiment. As shown in FIG. 3, the robot 100 is, for example, a double-armed cleaning robot that imitates a humanoid shape. The robot 100 includes a main body 110. The main body 110 includes a base 111 as a base, a body 112 supported on the base 111, an arm 113 provided on the body 112, and a head 114 provided on the upper part of the body 112. A moving mechanism 115 provided on the lower side of the base portion 111 is provided. The base portion 111 includes, for example, a cleaning unit. The cleaning unit has, for example, a cleaning brush unit, a suction unit, and the like, and is configured to be capable of cleaning under the control of the information processing apparatus 30.

The head 114 is provided with an image pickup unit 11 that images the front of the main body unit 110. In the following, in the main body 110, the surface on which the image pickup unit 11 is provided is referred to as a front surface, and the surface facing the surface on which the image pickup unit 11 is provided is referred to as a rear surface, which is sandwiched between the front surface and the rear surface and is not in the vertical direction. The face is called the side. As the image pickup unit 11, an optical camera or the like can be exemplified. The image pickup unit 11 can be used for sensing the article 600 held by the arm 113.

The arm 113 is provided on the body portion 112. The number of arms 113 is arbitrary. In the example of the figure, the case where the two arms 113 are symmetrically provided on the two opposite side surfaces of the body portion 112 is shown. The arm 113 is, for example, a 7-degree-of-freedom arm. At the tip of the arm 113, a hand 120 capable of gripping a gripping object which is an object is provided. The hand 120 is made of a metal material, a resin material, or the like. The moving mechanism 115 is a means for moving the main body 110, and is composed of wheels, legs, or the like.

In this embodiment, the hand 120 of the robot 100 has a plurality of fingers 121. Each of the plurality of fingers 121 is configured to be movable by an actuator provided in the interphalangeal joint portion. The hand 120 has a configuration in which the article 600 can be pinched by a plurality of fingers 121, and the weight of the article 600 pinched by the plurality of fingers 121 can be measured by a load sensor or the like.

[Structure of robot according to embodiment]
FIG. 4 is a diagram showing a configuration example of the robot 100 according to the embodiment. As shown in FIG. 4, the robot 100 includes a sensor unit 10, a drive unit 20, an information processing device 30, and a communication unit 40. The information processing device 30 is an example of the control unit of the robot 100 described above. The information processing device 30 is connected to the sensor unit 10, the drive unit 20, and the communication unit 40 so as to be able to exchange data and signals. The information processing device 30 will be described, for example, as a unit for controlling at least one of transmission and recognition of transmission information in the robot 100, but may be provided outside the robot 100. The robot 100 may be configured not to include the communication unit 40.

The sensor unit 10 includes various sensors and the like that detect information used for processing of the robot 100. The sensor unit 10 supplies the detected information to the information processing device 30 and the like. In the present embodiment, the sensor unit 10 includes the image pickup unit 11 and the state sensor 12 described above. The sensor unit 10 supplies the information processing device 30 with sensor information indicating the image captured by the image pickup unit 11. The state sensor 12 includes, for example, a gyro sensor, an acceleration sensor, an ambient information detection sensor, and the like. The surrounding information detection sensor detects, for example, an article around the robot 100. Ambient information detection sensors include, for example, ultrasonic sensors, radars, LiDAR (Light Detection and Ringing, Laser Imaging Detection and Ringing), sonar, and the like. The sensor unit 10 supplies the information processing device 30 with sensor information indicating the detection result of the state sensor 12.

For example, the sensor unit 10 may include various sensors for detecting the current position of the robot 100. Specifically, for example, the sensor unit 10 may include a GPS (Global Positioning System) receiver, a GNSS receiver that receives a GNSS signal from a GNSS (Global Navigation Satellite System) satellite, and the like. For example, the sensor unit 10 may include a microphone that collects sounds around the robot 100.

The drive unit 20 includes various devices related to the drive system of the robot 100. The drive unit 20 includes, for example, a drive force generator for generating a drive force of a plurality of drive motors and the like. The drive motor operates, for example, the moving mechanism 115 of the robot 100. The movement mechanism 115 includes, for example, functions such as wheels and legs according to the movement mode of the robot 100. The drive unit 20 autonomously moves the robot 100 by rotating the drive motor based on control information including, for example, a command from the information processing device 30.

The drive unit 20 drives each driveable part of the robot 100. The drive unit 20 has an actuator for operating the hand 120 and the like. The drive unit 20 is electrically connected to the information processing device 30 and is controlled by the information processing device 30. The drive unit 20 drives the hand 120 of the robot 100 by driving the actuator.

The communication unit 40 communicates with the robot 100 with various external electronic devices, information processing servers, base stations, and the like. The communication unit 40 outputs various information received from the article management server 200 and the like to the information processing apparatus 30, and transmits various information from the information processing apparatus 30 to the article management server 200 and the like. The communication protocol supported by the communication unit 40 is not particularly limited, and the communication unit 40 may support a plurality of types of communication protocols.

The information processing device 30 controls the operation of the robot 100 so as to avoid a collision with an obstacle and clean while moving to a target point. The information processing device 30 is, for example, a dedicated or general-purpose computer. The information processing device 30 has a function of controlling the moving operation of the robot 100, the cleaning unit, and the like.

The information processing device 30 controls the drive unit 20 so as to move along the target path inside the first region 510 based on the operation command (target position) of the robot 100. The operation command includes, for example, instruction information for moving the robot 100 along a target path, instruction information for holding the article 600 by the arm 113 of the robot 100, instruction information for sensing the shape of the article 600, and the like. For example, the information processing apparatus 30 has a function of obtaining article information by sensing the shape of the article 600 and changing and replanning the subsequent action plan when the robot 100 cannot reach the destination due to an obstacle. Have.

The information processing device 30 includes a storage unit 31 and a control unit 32. The information processing device 30 may include at least one of the sensor unit 10 and the communication unit 40 in the configuration.

The storage unit 31 stores various data and programs. For example, the storage unit 31 is, for example, a RAM (Random Access Memory), a semiconductor memory element such as a flash memory, a hard disk, an optical disk, or the like. The storage unit 31 stores various information such as the above-mentioned registration information D21, provisional registration information D22, and article information D30. The storage unit 31 stores the article information D30 obtained by sensing the features of the article 600 by the sensor unit 10 in the first region 510 in chronological order. The article information D30 includes, for example, information indicating the shape, weight, color scheme, image, and the like of the article 600.

The control unit 32 includes a first determination unit 321, a processing unit 322, a temporary registration unit 323, a second determination unit 324, a third determination unit 325, a deletion unit 326, and an operation control unit 327. .. Each functional unit of the first determination unit 321, the processing unit 322, the temporary registration unit 323, the second determination unit 324, the third determination unit 325, the deletion unit 326, and the operation control unit 327 is a CPU (Central Processing Unit) or an MCU. (Micro Control Unit) or the like is realized by executing the program stored in the information processing device 30 with the RAM or the like as a work area. Further, each processing unit may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

The first determination unit 321 is based on the comparison result between the article information D30 and the provisional registration information D22 of the article 600 provisionally registered in the second region 520 different from the first region 510, and the article 600 in the first region 510 Is temporarily registered or not. The first determination unit 321 determines, for example, whether or not the article 600 is provisionally registered when the robot 100 detects the article 600 in the first region 510. The first determination unit 321 determines whether or not the article 600 is provisionally registered, for example, based on the provisional registration information D22 associated with the first region 510.

When it is determined that the article 600 in the first region 510 is provisionally registered, the processing unit 322 executes a process of associating the registration information D21 of the article 600 based on the provisional registration information D22 with the first region 510 and registering the article 600. .. Registering the registration information D21 in association with the first area 510 means, for example, adding or associating information that can identify the first area 510 with the registration information D21. The processing unit 322 has, for example, a function of creating the registration information D21 of the article 600 based on the temporary registration information D22. When the registration information D21 is registered in association with the first area 510, the processing unit 322 deletes the temporary registration information D22 used for the determination.

When the processing unit 322 determines that the article 600 in the first region 510 has not been provisionally registered, and when it is determined that the article 600 in the first region 510 has been registered, the processing unit 322 determines that the article 600 in the first region 510 has been registered. Execute the process to maintain. The process for maintaining the article 600 in the first region 510 includes, for example, in the first region 510, a process of returning the article 600 to its original position or arranging the article 600 in a new position.

When the processing unit 322 determines that the article 600 in the first region 510 is not provisionally registered, and when it is determined that the article 600 in the first region 510 is not registered, the processing unit 322 determines that the article 600 in the first region 510 is not registered. Is executed to move to the second region 520. The processing unit 322 calculates, for example, a movement route from the current position of the robot 100 in the first region 510 to the second region 520, and controls the movement of the robot 100 so as to move along the movement route. Then, when the robot 100 moves to the second region 520, the processing unit 322 controls the operations of the arm 113 and the hand 120 of the robot 100 so that the held article 600 is placed in the second region 520.

The temporary registration unit 323 enters the first region 510 corresponding to the second region 520 based on the article information D30 (second article information) obtained by sensing the characteristics of the article 600 provided in the second region 520. Temporarily register the temporary registration information D22 in association with each other. Temporary registration of the provisional registration information D22 includes, for example, provisional registration of the article 600. For example, the temporary registration unit 323 temporarily registers the temporary registration information D22 for temporarily registering the article 600 in the second area 520 in the article management server 200. The temporary registration unit 323 can temporarily register the temporary registration information D22 corresponding to each of the plurality of articles 600, for example.

When it is determined that the article 600 in the first region 510 is not provisionally registered, and when it is determined that the article 600 in the first region 510 is not registered, the provisional registration unit 323 provisionally determines based on the article information D30. Temporarily register the registration information D22 in association with the first area 510. As a result, the information processing apparatus 30 can temporarily register the article 600 in the first area 510 in the article management server 200 without the user 700 placing the article 600 in the second area 520.

The second determination unit 324 determines whether or not the article 600 in the first region 510 has been registered based on the comparison result between the article information D30 and the registration information D21. The second determination unit 324 determines, for example, whether or not the article 600 is registered when the robot 100 detects the article 600 in the first region 510. The second determination unit 324 is, for example, when the feature of the article 600 indicated by the registration information D21 associated with the first region 510 and the feature of the article 600 indicated by the article information D30 match or are similar to each other. Is determined to be registered.

The third determination unit 325 of the third region is based on the comparison result between the article information D30 (third article information) and the registration information D21 obtained by sensing the characteristics of the article 600 provided in the third region. It is determined whether or not the article 600 is registered. The third region is, for example, a region different from the first region 510 and the second region 520. The third region is, for example, an region for deleting the registered article 600 from the first region 510. The third area is an area where the user 700 puts an unnecessary article 600 in the first area 510.

The deletion unit 326 deletes the registration information D21 when it is determined that the article 600 in the third area has been registered. The deletion unit 326 deletes the registration information D21 corresponding to the article 600 in the third region, for example. The deletion unit 326 transmits, for example, an instruction to delete the registration information D21 corresponding to the article 600 in the third region to the article management server 200 via the communication unit 40.

The operation control unit 327 operates the robot 100 by controlling the drive unit 20 according to the processing of the processing unit 322. The motion control unit 327 controls the drive unit 20 so as to lift and hold the article 600 or place the article 600, for example. The motion control unit 327 controls the drive unit 20 so that the robot 100 moves according to the action plan. The motion control unit 327 controls the cleaning unit so as to clean according to the movement of the robot 100.

The functional configuration example of the robot 100 according to the present embodiment has been described above. The above configuration described with reference to FIG. 4 is merely an example, and the functional configuration of the robot 100 according to the present embodiment is not limited to such an example. The functional configuration of the robot 100 according to this embodiment can be flexibly modified according to specifications and operations.

[Processing procedure of the article management system according to the embodiment]
Next, an example of the processing procedure of the article registration in the article management system 1 according to the embodiment will be described. FIG. 5 is a flowchart showing a processing procedure of article registration in the article management system 1 according to the embodiment. FIG. 6 is a flowchart showing an example of the article registration process executed by the information processing apparatus 30 according to the embodiment. The processing procedure of FIGS. 5 and 6 is realized by the control unit 32 of the robot 100 executing the program.

As shown in FIG. 5, the user 700 arranges the article 600 to be registered in the second area 520 (step U10). The article 600 to be registered includes, for example, an article arranged in the area where the robot 100 cleans in the first area 510, an article which should not be disposed of by the robot 100, and the like. For example, when the article 600 to be registered exists, the user 700 arranges the article 600 in the second area 520 by the cleaning start time.

On the other hand, the control unit 32 of the information processing apparatus 30 moves the robot 100 to the second region 520 (step S11). For example, when a work command for instructing the robot 100 to clean the first area 510 is generated, the control unit 32 moves the robot 100 to the second area 520 provided near the entrance of the first area 510. The drive unit 20 is controlled.

The control unit 32 determines whether or not the article 600 exists in the second region 520 (step S12). For example, the control unit 32 recognizes the presence / absence of the article 600 in the second region 520 based on the information detected by the sensor unit 10. When the control unit 32 detects a change in the second region 520 and recognizes some article using an object recognition model or the like, the control unit 32 determines that the article 600 exists in the second region 520. When the control unit 32 determines that the article 600 does not exist in the second region 520 (No in step S12), the control unit 32 proceeds to step S16, which will be described later. Further, when the control unit 32 determines that the article 600 exists in the second region 520 (Yes in step S12), the control unit 32 advances the process to step S13.

The control unit 32 senses the article 600 in the second region 520 (step S13). For example, the control unit 32 controls the sensor unit 10 so as to sense the article 600 in the second region 520. For example, the control unit 32 controls the drive unit 20 so that the hand 120 holds the article 600 in the second region 520, and controls the sensor unit 10 so as to sense the article 600. When the process of step S13 is completed, the control unit 32 advances the process to step S14.

The control unit 32 acquires the article information D30 obtained by sensing the article 600 (step S14). For example, the control unit 32 acquires the article information D30 from the sensor unit 10 and stores it in the storage unit 31. For example, the control unit 32 may acquire the information sensed by the external sensor, the surveillance camera, or the like of the robot 100 as the article information D30 via the communication unit 40. When the process of step S14 is completed, the control unit 32 advances the process to step S15.

The control unit 32 temporarily registers the temporary registration information D22 based on the article information D30 (step S15). For example, the control unit 32 creates temporary registration information D22, which indicates the shape, weight, color scheme, image, etc. of the article 600, and is associated with information indicating the first region 510, based on the article information D30. Then, the control unit 32 temporarily registers the temporary registration information D22 by requesting the article management server 200 to temporarily register the temporary registration information D22 (article 600) via the communication unit 40. The control unit 32 functions as a temporary registration unit 323 for temporarily registering the article 600 in the second region 520 by executing the processes of steps S13 to S15. When the process of step S15 is completed, the control unit 32 advances the process to step S16.

The control unit 32 executes the article registration process of the first area 510 (step S16). For example, the control unit 32 performs processing such as registering the provisionally registered article 600 by executing the article registration processing program shown in FIG.

As shown in FIG. 6, the control unit 32 starts the cleaning work of the robot 100 (step S101). For example, the control unit 32 starts the cleaning work of the robot 100 by executing the cleaning program. The cleaning program includes, for example, a program for cleaning the inside of the first region 510 while moving it to the robot 100 or cleaning up the article 600 based on the work plan. When the process of step S101 is completed, the control unit 32 advances the process to step S102.

The control unit 32 determines whether or not the article 600 has been found (step S102). For example, the control unit 32 determines that the article 600 has been found when an obstacle exists in the cleaning target area of the first area 510 based on the sensing result of the sensor unit 10 of the robot 100 being cleaned. That is, the control unit 32 determines whether or not the article 600 has been found in the cleaning target area of the robot 100. When the control unit 32 determines that the article 600 has not been found (No in step S102), the control unit 32 proceeds to step S112, which will be described later. If the control unit 32 determines that the article 600 has been found (Yes in step S102), the control unit 32 advances the process to step S103.

The control unit 32 senses the article 600 in the first region 510 (step S103). For example, the control unit 32 controls the sensor unit 10 so as to sense the article 600 in the first region 510. For example, the control unit 32 controls the drive unit 20 so that the hand 120 holds the article 600 in the first region 510, and controls the sensor unit 10 so as to sense the article 600. When the process of step S103 is completed, the control unit 32 advances the process to step S104.

The control unit 32 acquires the article information D30 indicating the article 600 in the first region 510 (step S104). For example, the control unit 32 acquires the article information D30 obtained by sensing the article 600 in the first region 510 from the sensor unit 10 and stores it in the storage unit 31. For example, the control unit 32 may acquire the information sensed by the external sensor, the surveillance camera, or the like of the robot 100 as the article information D30 via the communication unit 40. When the process of step S104 is completed, the control unit 32 advances the process to step S105.

The control unit 32 determines whether or not the article is a provisionally registered article 600 (step S105). For example, the control unit 32 compares the acquired article information D30 with the provisional registration information D22, and if the characteristics of the article 600 match or are similar, the control unit 32 determines that the article 600 is the provisional registration. When the control unit 32 determines that the article 600 is provisionally registered (Yes in step 105), the process proceeds to step S106.

The control unit 32 registers the registration information D21 in association with the first area 510 (step S106). For example, the control unit 32 creates registration information D21 that indicates the shape, weight, color scheme, image, etc. of the article 600 and is associated with information indicating the first region 510, based on the temporary registration information D22. Then, the control unit 32 registers the registration information D21 by requesting the article management server 200 to register the registration information D21 via the communication unit 40. The control unit 32 may be configured to create the registration information D21 based on the article information D30. When the process of step S106 is completed, the control unit 32 advances the process to step S107.

The control unit 32 deletes the temporary registration information D22 (step S107). For example, the control unit 32 deletes the temporary registration information D22 by requesting the article management server 200 to delete the temporary registration information D22 of the article 600 indicated by the registered registration information D21. When the process of step S107 is completed, the control unit 32 advances the process to step S112, which will be described later.

If the control unit 32 determines that the article is not the provisionally registered article 600 (No in step S105), the process proceeds to step S108. The control unit 32 determines whether or not the article is a registered article 600 (step S108). For example, the control unit 32 compares the acquired article information D30 with the registration information D21, and if the characteristics of the article 600 match or are similar, the control unit 32 determines that the article 600 is a registered article 600. When the control unit 32 determines that the article is the registered article 600 (Yes in step S108), the control unit 32 advances the process to step S109.

The control unit 32 restarts cleaning without disposing of the article 600 (step S109). For example, when the hand 120 of the robot 100 holds the article 600, the control unit 32 controls the operation so as to return the article 600 to the original position, and then restarts the cleaning of the robot 100. For example, if the hand 120 of the robot 100 does not hold the article 600, the control unit 32 restarts the cleaning of the robot 100 so as to avoid the article 600. When the process of step S109 is completed, the control unit 32 advances the process to step S112, which will be described later.

If the control unit 32 determines that the article is not the registered article 600 (No in step S108), the process proceeds to step S110. The control unit 32 temporarily registers the temporary registration information D22 of the article 600 that has not been registered (step S110). For example, the control unit 32 creates temporary registration information D22 that indicates the shape, weight, color scheme, image, etc. of the unregistered article 600 and is associated with information indicating the first region 510, based on the article information D30. do. Then, the control unit 32 temporarily registers the temporary registration information D22 by requesting the article management server 200 to temporarily register the temporary registration information D22 via the communication unit 40. When the process of step S110 is completed, the control unit 32 advances the process to step S111.

The control unit 32 executes a process of moving the article 600 to the second region 520 (step S111). For example, the control unit 32 calculates a route from the current position of the first region 510 to the second region 520. Then, the control unit 32 controls the drive unit 20 so that the robot 100 holding the article 600 moves to the second region 520 based on the route. Then, the control unit 32 controls the drive unit 20 so that the robot 100 arriving at the second region 520 places the article 600 in the second region 520. Then, the control unit 32 restarts the cleaning of the robot 100 from the position of the interrupted first region 510. When the process of step S111 is completed, the control unit 32 advances the process to step S112.

The control unit 32 determines whether or not cleaning is completed (step S112). For example, the control unit 32 determines that the cleaning is completed when the robot 100 has executed all the cleaning action plans in the first region 510, the cleaning program has been completed, and the like. When the control unit 32 determines that the cleaning is not completed (No in step S112), the control unit 32 returns the process to step S102 already described and continues the process. Further, when the control unit 32 determines that the cleaning is completed (Yes in step S112), the process proceeds to step S113.

The control unit 32 finishes cleaning the robot 100 (step S113). For example, the control unit 32 controls the drive unit 20 so that the robot 100 exits from the first region 510 and the robot 100 moves toward the next destination. The control unit 32 is processed in step S113. When finished, the processing procedure shown in FIG. 6 is terminated, and the process returns to step S16 shown in FIG.

Returning to FIG. 5, after the robot 100 finishes cleaning the first area 510, the user 700 moves the article 600 of the second area 520 into the inside of the first area 510 (step U11). As a result, the user 700 can arrange the article 600 temporarily registered by the information processing apparatus 30 in the first area 510. Then, at the next cleaning of the robot 100, when the information processing apparatus 30 finds the provisionally registered article 600 inside the first region 510, the information processing apparatus 30 can register the registration information D21 of the article 600.

[Other examples of registration in the article management system according to the embodiment]
FIG. 7 is a diagram for explaining another example of registration of articles in the article management system 1 according to the embodiment. In the example shown in FIG. 7, the first area 510 is a room (private room) of the user 700 who uses the first area 510, and the second area 520 is provided beside the entrance outside the room.

In step S11 shown in FIG. 7, the robot 100 discovers the article 600 while cleaning the first region 510. In this case, the information processing apparatus 30 lifts and holds the article 600 placed in the first region 510 by the robot 100, and senses the characteristics of the article 600 by the sensor unit 10, so that the article information indicating the characteristics of the article 600 is shown. Get D30. The information processing apparatus 30 compares the characteristics of the provisional registration information D22 and the article information D30 acquired from the article management server 200, and recognizes that the article 600 is not provisionally registered. The information processing apparatus 30 temporarily registers the temporary registration information D22 in which the article information D30 is associated with the first region 510 in the article management server 200. The information processing apparatus 30 moves the robot 100 to the second area 520 in order to move the temporarily registered article 600 to the second area 520, and causes the held article 600 to be placed in the second area 520. The drive unit 20 is controlled. When the robot 100 places the article 600 in the second area 520, the information processing apparatus 30 causes the robot 100 to restart the cleaning of the first area 510. When the cleaning of the first area 510 is completed, the information processing apparatus 30 causes the robot 100 to leave the first area 510.

In step S12, the article 600 that is not scheduled to be disposed of was placed in the second area 520, so that the user 700 returns the article 600 to the inside of the first area 510 as shown by the arrow M12. The article management server 200 manages the temporary registration information D22 of the article 600.

In step S13, when the robot 100 detects the article 600 while moving in the first region 510 at the time of the next cleaning, the article 600 is held by the hand 120 and the characteristics of the held article 600 are sensed. To obtain the article information D30. When the information processing apparatus 30 acquires the article information D30, the information processing apparatus 30 compares the article information D30 with the temporary registration information D22 of the article management server 200 temporarily registered in the first area 510. The information processing apparatus 30 determines whether or not the article 600 is provisionally registered based on the comparison result. In this situation, the article management server 200 manages the temporary registration information D22 of the article 600 in the first area 510. Therefore, the information processing apparatus 30 determines that the article 600 is provisionally registered, and registers the registration information D21 of the article 600 based on the provisional registration information D22 in association with the first region 510. Then, when the information processing apparatus 30 registers the registration information D21, the information processing apparatus 30 instructs the article management server 200 to delete the temporary registration information D22. Since the article 600 held by the robot 100 is arranged in the first region 510, the information processing apparatus 30 controls the robot 100 so as to return the article 600 to its original position. The information processing apparatus 30 causes the robot 100 to restart the cleaning of the first region 510.

As described above, the information processing apparatus 30 can register the article 600 in the article management server 200 when the article 600 temporarily registered in the first area 510 is subsequently moved to the first area 510. As a result, even if the user 700 misplaces the article 600 to be registered in the second area 520, the information processing apparatus 30 only needs to return the article 600 moved to the second area 520 to the first area 510. The article 600 used in one area 510 can be easily registered.

The above embodiment shows an example, and various changes and applications are possible.

[Modified example of embodiment (1)]
The information processing apparatus 30 according to the modification (1) of the embodiment can change the form of the second region 520. The second region 520 may be any region that can be recognized by the information processing apparatus 30. FIG. 8 is a diagram for explaining an example of the second region 520 according to the modified example (1) of the embodiment.

As shown in FIG. 8, the information processing apparatus 30 can recognize the first region 510 and the second region 520. As described above, the first area 510 is an area for storing the article 600 owned by the user 700. For the second region 520, for example, a box, an enclosure, or the like can be used.

In the example shown in FIG. 8, the second region 520 uses a box with an open upper surface portion. By having the side wall, the second region 520 can keep the article 600 inside the region even if the article 600 is rolling. As a result, the second region 520 does not need to fix the article 600 and can prevent the article 600 from moving to the outside. Further, by realizing the second area 520 with a box, it becomes easy to move the installation place, and the convenience of the user 700 can be improved.

The second region 520 is arranged near the entrance of the first region 510 and inside the first region 510. For example, the user 700 may hesitate to place the private article 600 outside the first area 510. Therefore, the privacy of the user 700 can be protected by providing the second region 520 inside the first region 510.

For example, when the article management system 1 is used in a nursing facility, a hospital, or the like, it is conceivable that a staff member other than the user 700 confirms and collects the article 600 in the second area 520. In this case, the second area 520 may be provided as an area corresponding to each of the plurality of first areas 510 in a plaza, a room dedicated to collection, or the like. As a result, the information processing apparatus 30 can involve the user 700 and its related parties in the registration of the article 600, so that the convenience of registration can be improved.

By arranging the second region 520 in the imaging range of the camera 400 that captures the first region 510, the information processing apparatus 30 can use the image information captured by the camera 400 as the article information D30. Therefore, the information processing apparatus 30 can acquire the article information D30 indicating the characteristics of the article 600 by configuring the information processing apparatus 30 so that the image information of the camera 400 can be acquired via the communication unit 40, so that the introduction cost can be suppressed. Moreover, the versatility can be improved. Further, since the information processing apparatus 30 does not need to move the robot 100 to the second region 520, it can contribute to the efficiency of the cleaning work.

[Modified example of embodiment (2)]
The information processing apparatus 30 according to the modification (2) of the embodiment can use the third region 530 for deleting the registered article 600. FIG. 9 is a diagram for explaining an example in which the information processing apparatus 30 according to the modified example (2) of the embodiment deletes the registration of the article 600.

As shown in FIG. 9, the information processing apparatus 30 can manage the first region 510, the second region 520, and the third region 530. The third area 530 is an area for deleting the registration of the article 600. In the example shown in FIG. 9, the third region 530 is provided on the side of the external entrance of the first region 510, like the second region 520, but is not limited thereto. The third region 530 may be provided inside the first region 510 or may be provided adjacent to the second region 520.

In step S21 shown in FIG. 9, the user 700 moves the article 600 registered in the article management system 1 from the first region 510 to the third region 530 and places it inside the third region 530 in order to dispose of the article 600. ing.

After that, the robot 100 confirms the third area 530 at the timing of cleaning the first area 510. As shown by the arrow M31, the robot 100 holds the article 600 placed in the third region 530 with the hand 120, and senses the feature of the article 600 by the sensor unit 10, so that the article information indicating the feature of the article 600 is shown. Get D30. In this case, the information processing apparatus 30 compares the article information D30 with the registration information D21 of the article management server 200 registered in the first area 510. The information processing apparatus 30 determines whether or not the article 600 is registered based on the comparison result. In this situation, the article management server 200 manages the registration information D21 of the article 600 in the first area 510. Therefore, the information processing apparatus 30 determines that the article 600 is registered, and instructs the article management server 200 to delete the registration information D21.

Thereby, the information processing apparatus 30 can delete the registration information D21 of the article 600 in the third area 530. The information processing apparatus 30 may be configured to control the robot 100 to move the article 600 to a garbage collection place, or may be configured to instruct the disposal of the article 600 in the third region 530.

[Processing procedure of the information processing apparatus according to the modified example (2) of the embodiment]
Next, an example of a processing procedure for deleting the registered article 600 in the information processing apparatus 30 according to the modified example (2) of the embodiment will be described. FIG. 10 is a flowchart showing a processing procedure of the information processing apparatus 30 according to the modified example (2) of the embodiment. The processing procedure of FIG. 10 is realized by the control unit 32 of the information processing apparatus 30 executing a program.

As shown in FIG. 10, the user 700 moves the article 600 in the first region 510 to the third region 530 (step U20). For example, the user 700 moves the disposal target and the registered article 600 into the third area 530.

On the other hand, the control unit 32 of the information processing apparatus 30 moves the robot 100 to the third region 530 (step S21). For example, when a work command for instructing the robot 100 to clean the first area 510 is generated, the control unit 32 moves the robot 100 to the third area 530 provided near the entrance of the first area 510. The drive unit 20 is controlled.

The control unit 32 determines whether or not the article 600 exists in the third region 530 (step S22). For example, the control unit 32 recognizes the presence / absence of the article 600 in the third region 530 based on the information detected by the sensor unit 10. When the control unit 32 detects a change in the third region 530 and recognizes some object using an object recognition model or the like, the control unit 32 determines that the article 600 exists in the third region 530. When the control unit 32 determines that the article 600 does not exist in the third region 530 (No in step S22), the control unit 32 proceeds to the above-mentioned step S11. Then, the control unit 32 executes the processing related to the provisional registration and registration of the article 600 by executing the processing procedure after step S11 shown in FIG.

Further, when the control unit 32 determines that the article 600 exists in the third region 530 (Yes in step S22), the control unit 32 proceeds to the process in step S23. The control unit 32 senses the article 600 in the third region 530 (step S23). For example, the control unit 32 controls the sensor unit 10 so as to sense the article 600 in the third region 530. For example, the control unit 32 controls the drive unit 20 so that the hand 120 holds the article 600 in the third region 530, and controls the sensor unit 10 so as to sense the article 600. When the process of step S23 is completed, the control unit 32 advances the process to step S24.

The control unit 32 acquires the article information D30 obtained by sensing the article 600 (step S24). For example, the control unit 32 acquires the article information D30 from the sensor unit 10 and stores it in the storage unit 31. For example, the control unit 32 may acquire the information sensed by the external sensor, the surveillance camera, or the like of the robot 100 as the article information D30 via the communication unit 40. When the process of step S24 is completed, the control unit 32 advances the process to step S25.

The control unit 32 determines whether or not the article is a registered article 600 (step S25). For example, the control unit 32 compares the acquired article information D30 with the registration information D21, and if the characteristics of the article 600 match or are similar, the control unit 32 determines that the article 600 is a registered article 600. When the control unit 32 determines that the article is the registered article 600 (Yes in step S25), the control unit 32 advances the process to step S26.

The control unit 32 deletes the registration information D21 (step S26). For example, the control unit 32 instructs the article management server 200 to delete the registration information D21 of the article 600 determined to be registered in the third area 530 via the communication unit 40. For example, the control unit 32 deletes the corresponding registration information D21 from the storage unit 31. When the process of step S26 is completed, the control unit 32 advances the process to step S11 described above. Then, the control unit 32 executes the processing related to the provisional registration and registration of the article 600 by executing the processing procedure after step S11 shown in FIG.

Further, when the control unit 32 determines that the article is not the registered article 600 (No in step S25), the process proceeds to step S11 described above. Then, the control unit 32 executes the processing related to the provisional registration and registration of the article 600 by executing the processing procedure after step S11 shown in FIG. If the control unit 32 determines that the article 600 is not a registered article 600, the control unit 32 may control the robot 100 to carry the article 600 in the third region 530 to the disposal site before executing the process of step S11. You may perform a process such as instructing the disposal of the article 600.

In this way, the information processing apparatus 30 can delete the registration information D21 of the article 600 only by placing the registered article 600 in the third area 530. As a result, the information processing apparatus 30 can cancel the registration by a simple operation in which the user 700 moves the registered article 600 to the third area 530, so that the convenience can be improved.

The above-described embodiment, modification (1) and modification (2) can be combined as appropriate.

[Hardware configuration]
The information processing apparatus 30 and the article management server 200 according to the above-described embodiment may be realized by, for example, a computer 1000 having a configuration as shown in FIG. Hereinafter, the information processing apparatus 30 according to the embodiment will be described as an example. FIG. 11 is a hardware configuration diagram showing an example of a computer 1000 that realizes the functions of the information processing apparatus 30. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. Each part of the computer 1000 is connected by a bus 1050.

The CPU 1100 operates based on the program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands the program stored in the ROM 1300 or the HDD 1400 into the RAM 1200, and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, a program depending on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100 and data used by such a program. Specifically, the HDD 1400 is a recording medium for recording an information processing program according to the present disclosure, which is an example of program data 1450.

The communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits data generated by the CPU 1100 to another device via the communication interface 1500.

The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or mouse via the input / output interface 1600. Further, the CPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. Further, the input / output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media). The media is, for example, an optical recording medium such as a DVD (Digital Versaille Disc), a magneto-optical recording medium such as MO (Magnet-Optical disk), a tape medium, a magnetic recording medium, a semiconductor memory, or the like.

For example, when the computer 1000 functions as the information processing apparatus 30 according to the embodiment, the CPU 1100 of the computer 1000 executes the program loaded on the RAM 1200, thereby executing the first determination unit 321 and the processing unit 322, and the temporary registration unit. Functions such as 323, the second determination unit 324, the third determination unit 325, the deletion unit 326, and the operation control unit 327 are realized. Further, the HDD 1400 stores the program related to the present disclosure and the data in the storage unit 31. The CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program, but as another example, these programs may be acquired from another device via the external network 1550.

Although the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that anyone with ordinary knowledge in the technical field of the present disclosure may come up with various modifications or modifications within the scope of the technical ideas set forth in the claims. Is, of course, understood to belong to the technical scope of the present disclosure.

Further, the effects described in the present specification are merely explanatory or exemplary and are not limited. That is, the technique according to the present disclosure may exert other effects apparent to those skilled in the art from the description of the present specification, in addition to or in place of the above effects.

Further, it is possible to create a program for making the hardware such as the CPU, ROM, and RAM built in the computer exhibit the same function as the configuration of the information processing apparatus 30, and the program is recorded and read by the computer. Possible recording media may also be provided.

Further, each step related to the processing of the information processing apparatus 30 of the present specification does not necessarily have to be processed in chronological order in the order described in the flowchart. For example, each step related to the processing of the information processing apparatus 30 may be processed in an order different from the order described in the flowchart, or may be processed in parallel.

In the above-described embodiment, the case where the information processing apparatus 30 manages the article 600 in cooperation with the article management server 200 has been described, but the present invention is not limited to this. For example, the information processing apparatus 30 may be configured to manage the article 600 by itself by incorporating the function of the article management server 200.

In the above-described embodiment, the case where the information processing device 30 is a device for controlling the robot 100 has been described, but the present invention is not limited to this. For example, the information processing apparatus 30 may be incorporated as a part of a monitoring system that monitors the first region 510.

(effect)
The information processing apparatus 30 has the article information D30 obtained by sensing the characteristics of the article 600 in the first region 510, and the provisional registration information D22 of the article 600 provisionally registered in the second region 520 different from the first region 510. Based on the comparison result with, it was determined that the first determination unit 321 for determining whether or not the article 600 in the first region 510 is provisionally registered and the article 600 in the first region 510 are provisionally registered. In this case, a processing unit 322 for executing a process of associating the registration information D21 of the article 600 based on the temporary registration information D22 with the first region 510 and registering the article 600 is provided.

Thereby, the information processing apparatus 30 can register the article 600 temporarily registered in the second area 520 in association with the first area 510 when the article 600 is placed in the first area 510. As a result, the information processing apparatus 30 only needs to return the article 600 to the first area 510 after the user 700 places the article 600 in the second area 520 and temporarily registers the article 600, so that the user 700 work for registering the article 600 is unnecessary. Therefore, the article 600 used in the first region 510 can be easily registered.

In the information processing apparatus 30, when the processing unit 322 registers the registration information D21 in association with the first area 510, the temporary registration information D22 is deleted.

Thereby, the information processing apparatus 30 can automatically delete the temporary registration information D22 that the user 700 has temporarily registered by placing the article 600 in the second area 520 according to the registration of the article 600. As a result, the information processing apparatus 30 can suppress the work load of the user 700 who registers the article 600, and thus can contribute to the improvement of the registration rate of the article 600 in the first region 510.

The information processing apparatus 30 enters the first region 510 corresponding to the second region 520 based on the article information D30 (second article information) obtained by sensing the characteristics of the article 600 provided in the second region 520. Further, a temporary registration unit 323 for temporarily registering the associated temporary registration information D22 is further provided, and the first determination unit 321 has the article information D30 obtained by sensing the characteristics of the article 600 in the first region 510, and the first region 510. Based on the comparison result with the provisional registration information D22 associated with, it is determined whether or not the article 600 in the first region 510 is provisionally registered.

As a result, the information processing apparatus 30 temporarily registers the temporary registration information D22 based on the characteristics of the article 600 in the second region 520, and compares the temporary registration information D22 with the article information D30 obtained in the first region 510. Based on this, the provisional registration of the article 600 can be determined. As a result, the information processing apparatus 30 can determine the provisional registration based on the characteristics of the sensed article 600 without adding identification information such as a tag to the article 600, so that the cost can be suppressed and the article 600 can be managed. It can be realized.

The information processing apparatus 30 further includes a second determination unit 324 for determining whether or not the article 600 in the first region 510 is registered based on the comparison result between the article information D30 and the registration information D21, and is a processing unit. 322 maintains the article in the first region 510 when it is determined that the article 600 in the first region 510 is not provisionally registered and when it is determined that the article 600 in the first region 510 is registered. To execute the processing for.

Thereby, the information processing apparatus 30 can maintain the article 600 in the first region 510 when the article in the first region 510 is not provisionally registered and is already registered. That is, the information processing apparatus 30 can leave the article 600 in a state so as not to discard the article 600 in the first region 510. As a result, the information processing apparatus 30 can prevent the article 600 required in the first region 510 from being discarded by temporarily registering the article 600 and managing the registration step by step.

In the information processing apparatus 30, when the temporary registration unit 323 determines that the article 600 in the first region 510 is not provisionally registered, and when it is determined that the article 600 in the first region 510 is not registered, the provisional registration unit 323 determines that the article 600 is not registered. Temporary registration information D22 based on the article information D30 is provisionally registered in association with the first area 510.

Thereby, the information processing apparatus 30 can temporarily register the temporary registration information D22 of the article 600 when the article 600 in the first region 510 is not temporarily registered and is not registered. As a result, even if the user 700 forgets to place the article 600 in the second area 520, the information processing apparatus 30 can proceed with the registration process without making the user 700 aware of the registration work, so that the user 700 can proceed with the registration process. Convenience can be improved.

In the information processing apparatus 30, when the processing unit 322 determines that the article 600 in the first region 510 is not temporarily registered, and when it is determined that the article 600 in the first region 510 is not registered, the first A process for moving the article 600 in the 1st region 510 to the 2nd region 520 is executed.

As a result, when the article 600 in the first area 510 is not temporarily registered and is not registered, the information processing apparatus 30 temporarily registers the temporary registration information D22 of the article 600 and sets the article 600 in the first area 510. The robot, the manager, and the like can be instructed to move from the second area 520 to the second area 520. As a result, the information processing apparatus 30 can register the article 600 by the user 700 moving the article 600 in the second area 520 to the first area 510, so that the user 700 is made aware of the registration work. Since the registration process can be proceeded without any problem, the convenience of the user 700 can be improved.

In the information processing apparatus 30, the article information D30 includes at least one information of a shape, a weight, a color scheme, and an image as features of the article 600.

Thereby, the information processing apparatus 30 can determine the provisional registration of the article 600 based on the article information D30 such as the shape, weight, color scheme, and image of the article 600. As a result, since the information processing apparatus 30 can accurately recognize the characteristics of the article 600 from the article information D30, it is possible to suppress the cost and realize the management of the article 600 without giving the identification information to the article 600. ..

In the information processing apparatus 30, the second area 520 is an area provided so as to be adjacent to the first area 510 or to be an area defined inside the first area 510.

Thereby, the information processing apparatus 30 can suppress the burden on the user 700 related to the movement of the article 600 by making the second region 520 adjacent to the first region 510. By defining the second area 520 inside the first area 510, the information processing apparatus 30 can eliminate the operation of the user 700 to move the article 600 to the outside of the first area 510. As a result, the information processing apparatus 30 can arrange the second area 520 according to the usage pattern, so that the convenience of the user 700 and the applicability of the second area 520 can be improved.

The information processing apparatus 30 is based on the comparison result between the article information D30 (third article information) and the registration information D21 obtained by sensing the characteristics of the article 600 provided in the third region 530, and the third region 530. A third determination unit 325 for determining whether or not the article 600 in the third region 530 is registered, and a deletion unit 326 for deleting the registration information D21 when it is determined that the article 600 in the third area 530 is registered. Further prepare.

Thereby, when the article 600 in the third area 530 is registered, the information processing apparatus 30 can delete the registration information D21 of the article 600. As a result, the information processing apparatus 30 can delete the registration information D21 only by moving the article 600 to be discarded by the user 700 to the third area 530, so that the convenience of the user 700 can be improved.

The robot 100 includes a sensor unit 10 for detecting the characteristics of the article 600, and an information processing device 30 for managing the article 600. The information processing device 30 of the robot 100 temporarily registers the article information D30 obtained by sensing the characteristics of the article 600 in the first region 510 and the article 600 temporarily registered in the second region 520 different from the first region 510. Based on the comparison result with the registration information D22, it is determined that the first determination unit 321 for determining whether or not the article 600 in the first region 510 is provisionally registered and the article 600 in the first region 510 are provisionally registered. When it is determined, the processing unit 322 that executes the process of registering the registration information D21 of the article 600 based on the provisional registration information D22 in association with the first region 510 is provided.

Thereby, the robot 100 can register the article 600 temporarily registered in the second area 520 in association with the first area 510 when the article 600 is placed in the first area 510. As a result, the robot 100 only needs to return the article 600 to the first area 510 after the user 700 places the article 600 in the second area 520 and temporarily registers the article 600, so that the user 700 work for registering the article 600 becomes unnecessary. The article 600 used in the first region 510 can be easily registered.

The robot 100 further includes a drive unit 20 that operates a holding unit capable of holding the article 600. The information processing device 30 of the robot 100 further includes an operation control unit 327 that controls the operation of the drive unit 20.

Thereby, the robot 100 can hold the article 600 in the first region 510 and the second region 520 by the holding unit. As a result, since the robot 100 can perform sensing while holding the article 600, the characteristics of the article 600 can be accurately recognized, and the registration system of the article 600 can be improved.

In the robot 100, the drive unit 20 operates the movement mechanism so as to move the article 600, and the motion control unit 327 moves the drive unit 20 so as to move the article 600 in the first region 510 to the second region 520. Control.

Thereby, the robot 100 can move the article 600 in the first region 510 to the second region 520 when the article 600 in the first region 510 is not provisionally registered and is not registered. As a result, if the user 700 forgets to place the article 600 in the second area 520, the robot 100 can register the article 600 simply by moving the article 600 to the first area 510, which is convenient. The sex can be further improved.

The information processing method is as follows: the article information D30 obtained by the computer sensing the characteristics of the article 600 in the first region 510, and the provisional registration of the article 600 temporarily registered in the second region 520 different from the first region 510. Based on the comparison result with the information D22, it is determined whether or not the article 600 in the first region 510 is provisionally registered, and when it is determined that the article 600 in the first region 510 is provisionally registered, it is provisionally registered. Includes performing a process of associating and registering the registration information D21 of the article 600 based on the registration information D22 with the first region 510.

Thereby, the information processing method can associate the article 600 temporarily registered in the second area 520 with the first area 510 and register the article 600 in the computer when the article 600 is placed in the first area 510. .. As a result, as the information processing method, the user 700 only needs to place the article 600 in the second area 520 and temporarily register it, and then return it to the first area 510, so that the user 700 work for registering the article 600 becomes unnecessary. , The article 600 used in the first region 510 can be easily registered.

The following configurations also belong to the technical scope of the present disclosure.
(1)
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first A first determination unit that determines whether or not the article in the area is provisionally registered, and
When it is determined that the article in the first area is provisionally registered, a processing unit that executes a process of registering the registration information of the article based on the provisional registration information in association with the first area.
Information processing device equipped with.
(2)
The information processing apparatus according to (1), wherein the processing unit deletes the temporary registration information when the registration information is registered in association with the first area.
(3)
Temporary registration for provisionally registering temporary registration information associated with the first region corresponding to the second region based on the second article information obtained by sensing the characteristics of the article provided in the second region. With more parts,
The first determination unit is based on a comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information associated with the first region. The information processing apparatus according to (1) or (2) above, which determines whether or not the article in the area is provisionally registered.
(4)
Further, a second determination unit for determining whether or not the article in the first region is registered based on the comparison result between the article information and the registration information is provided.
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is registered, the processing unit determines that the article in the first region is registered. The information processing apparatus according to (3) above, which executes a process for maintaining the above.
(5)
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is not registered, the provisional registration unit is based on the article information. The information processing apparatus according to (3) or (4) above, wherein the temporary registration information is temporarily registered in association with the first area.
(6)
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is not registered, the processing unit determines that the article in the first region is not registered. The information processing apparatus according to (5) above, which executes a process for moving the information processing device to the second area.
(7)
The information processing apparatus according to any one of (1) to (6) above, wherein the article information includes at least one information of a shape, a weight, a color scheme, and an image as features of the article.
(8)
The second region is any of the above (1) to (7), which is a region provided so as to be adjacent to the first region or to be a region defined inside the first region. Information processing device described in.
(9)
Based on the comparison result between the third article information obtained by sensing the characteristics of the article provided in the third region and the registration information, whether or not the article in the third region has been registered is determined. The third judgment unit for judgment and
When it is determined that the article in the third area has been registered, a deletion unit for deleting the registration information and a deletion unit.
The information processing apparatus according to any one of (1) to (8) above.
(10)
A sensor unit that detects the characteristics of the article and
An information processing device that manages the article and
Is a robot equipped with
The information processing device is
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first A first determination unit for determining whether or not the article in one area is provisionally registered, and
When it is determined that the article in the first area is provisionally registered, a processing unit that executes a process of registering the registration information of the article based on the provisional registration information in association with the first area.
A robot equipped with.
(11)
Further provided with a drive unit for operating the holding unit capable of holding the article,
The robot according to (10) above, wherein the information processing device further includes an operation control unit that controls the operation of the drive unit.
(12)
The drive unit operates a movement mechanism so as to move the article.
The robot according to (10) or (11), wherein the motion control unit controls the drive unit so as to move the article in the first region to the second region.
(13)
The computer
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first Determining whether the article in the area is provisionally registered,
When it is determined that the article in the first area is provisionally registered, the process of registering the registration information of the article based on the provisional registration information in association with the first area is executed.
Information processing methods including.
(14)
On the computer
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first Determining whether the article in the area is provisionally registered,
When it is determined that the article in the first area is provisionally registered, the process of registering the registration information of the article based on the provisional registration information in association with the first area is executed.
Information processing program to execute.
(15)
Information processing equipment installed in the robot and
A server that manages multiple items in the first area,
It is an article management system equipped with
The information processing device is
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first A first determination unit for determining whether or not the article in one area is provisionally registered, and
When it is determined that the article in the first area is provisionally registered, a processing unit that executes a process of registering the registration information of the article based on the provisional registration information in association with the first area.
Goods management system.

1 Goods management system 10 Sensor unit 11 Imaging unit 12 Status sensor 20 Drive unit 30 Information processing device 31 Storage unit 32 Control unit 40 Communication unit 100 Robot 120 Hand 321 1st judgment unit 322 Processing unit 323 Temporary registration unit 324 2nd judgment unit 325 Third judgment unit 326 Deletion unit 327 Operation control unit D21 Registration information D22 Temporary registration information D30 Goods information

Claims

Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first A first determination unit that determines whether or not the article in the area is provisionally registered, and
When it is determined that the article in the first area is provisionally registered, a processing unit that executes a process of registering the registration information of the article based on the provisional registration information in association with the first area.
Information processing device equipped with.
The information processing device according to claim 1, wherein the processing unit deletes the temporary registration information when the registration information is registered in association with the first area.
Temporary registration for provisionally registering temporary registration information associated with the first region corresponding to the second region based on the second article information obtained by sensing the characteristics of the article provided in the second region. With more parts,
The first determination unit is based on a comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information associated with the first region. The information processing apparatus according to claim 2, wherein it is determined whether or not the article in the area is provisionally registered.
Further, a second determination unit for determining whether or not the article in the first region is registered based on the comparison result between the article information and the registration information is provided.
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is registered, the processing unit determines that the article in the first region is registered. The information processing apparatus according to claim 3, wherein the processing for maintaining the information processing is performed.
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is not registered, the provisional registration unit is based on the article information. The information processing apparatus according to claim 4, wherein the temporary registration information is temporarily registered in association with the first area.
When it is determined that the article in the first region is not provisionally registered, and when it is determined that the article in the first region is not registered, the processing unit determines that the article in the first region is not registered. The information processing apparatus according to claim 5, wherein the information processing apparatus for executing the process for moving the second region to the second region is executed.
The information processing apparatus according to claim 3, wherein the article information includes at least one information of a shape, a weight, a color scheme, and an image as features of the article.
The information processing apparatus according to claim 7, wherein the second region is a region provided so as to be adjacent to the first region or to be a region defined inside the first region.
Based on the comparison result between the third article information obtained by sensing the characteristics of the article provided in the third region and the registration information, whether or not the article in the third region has been registered is determined. The third judgment unit for judgment and
When it is determined that the article in the third area has been registered, a deletion unit for deleting the registration information and a deletion unit.
The information processing apparatus according to claim 1.
A sensor unit that detects the characteristics of the article and
An information processing device that manages the article and
Is a robot equipped with
The information processing device is
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first A first determination unit for determining whether or not the article in one area is provisionally registered, and
When it is determined that the article in the first area is provisionally registered, a processing unit that executes a process of registering the registration information of the article based on the provisional registration information in association with the first area.
A robot equipped with.
Further provided with a drive unit for operating the holding unit capable of holding the article,
The robot according to claim 10, wherein the information processing device further includes an operation control unit that controls the operation of the drive unit.
The drive unit operates a movement mechanism so as to move the article.
The robot according to claim 11, wherein the motion control unit controls the drive unit so as to move the article in the first region to the second region.
The computer
Based on the comparison result between the article information obtained by sensing the characteristics of the article in the first region and the provisional registration information of the article temporarily registered in the second region different from the first region, the first Determining whether the article in the area is provisionally registered,
When it is determined that the article in the first area is provisionally registered, the process of registering the registration information of the article based on the provisional registration information in association with the first area is executed.
Information processing methods including.