JP7603530B2 - Autonomous mobile object operating system and autonomous mobile object operating method - Google Patents

Description

This disclosure relates to an autonomous mobile object operating system and an autonomous mobile object operating method.

Autonomous mobile objects, such as unmanned or remotely controlled mobile robots, are now being used in many fields. However, because they are designed and manufactured for specific purposes, the specifications of each autonomous mobile object are different, and different operation methods must be planned depending on the model of the autonomous mobile object.
In response to this, a technique has been proposed that makes it possible to apply map data indicating an area in which an autonomous moving body can move to each different autonomous moving body (see, for example, Patent Document 1).

International Publication No. 2019/171916

Meanwhile, autonomous mobile bodies are designed to detect obstacles within a work area that impede the performance of work, and to carry out work while avoiding such obstacles or to take appropriate action to avoid danger, but the types and range of obstacles that can be detected vary depending on the autonomous mobile body. For example, while there are autonomous mobile bodies that can appropriately detect the approach of a person nearby and take action to avoid danger, there are also autonomous mobile bodies that cannot necessarily detect the approach of a person in all cases.

In other words, an autonomous mobile body with high obstacle detection capabilities and the ability to appropriately take danger avoidance actions will have a wider operational range and greater freedom of operation. On the other hand, an autonomous mobile body with insufficient obstacle detection capabilities will need to limit operation in areas or during times when people are present. In this way, when operating autonomous mobile bodies using conventional technology, the specifications and functions of the autonomous mobile bodies are different and therefore the same operation cannot be performed, resulting in an increase in the frequency of use of autonomous mobile bodies with wide operational ranges. As a result, for example, the risk of breakdown of autonomous mobile bodies with wide operational ranges increases, and maintenance becomes more difficult, making it difficult to operate autonomous mobile bodies efficiently and appropriately.

The present disclosure has been made to solve the above problems, and its purpose is to provide an autonomous mobile object operation system and an autonomous mobile object operation method that can operate an autonomous mobile object efficiently and appropriately.

In order to solve the above problem, one aspect of the present disclosure is an autonomous mobile body operation system that includes: a plurality of types of autonomous mobile bodies that perform a predetermined task involving movement, the plurality of types of autonomous mobile bodies having different methods for detecting obstacles that hinder the predetermined task; and a control server that, when an obstacle is detected within a work area based on information detected by sensors installed in the work area of the plurality of types of autonomous mobile bodies, transmits danger avoidance instruction information to the autonomous mobile bodies in the work area to cause the autonomous mobile bodies to avoid the danger from the obstacle, and causes the autonomous mobile bodies to avoid the danger, and each of the plurality of types of autonomous mobile bodies is an autonomous mobile body operation system that, in response to the danger avoidance instruction information, executes, as a preset danger avoidance process, one of a first danger avoidance process based on the obstacle detected by the autonomous mobile body itself, a second danger avoidance process based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information .

Moreover, one aspect of the present disclosure is an autonomous mobile body operation method for operating a plurality of types of autonomous mobile bodies that perform a predetermined task involving movement, the plurality of types of autonomous mobile bodies having different methods for detecting obstacles that hinder the predetermined task, wherein, when a control server detects an obstacle within a work area based on information detected by sensors installed in the work area of the plurality of types of autonomous mobile bodies, the control server transmits danger avoidance instruction information to the autonomous mobile bodies within the work area to cause the autonomous mobile bodies to avoid the danger from the obstacle, and each of the plurality of types of autonomous mobile bodies executes, in response to the danger avoidance instruction information, one of a first danger avoidance process based on the obstacle detected by the autonomous mobile body itself, a second danger avoidance process based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, as a preset danger avoidance process .

This disclosure allows autonomous moving bodies to be operated efficiently and appropriately.

1 is a system configuration diagram showing a configuration example of an autonomous mobile operation system according to a first embodiment. 4 is a conceptual diagram illustrating an example of the relationship between a work section and a section sensor according to the first embodiment. FIG. FIG. 1 is a functional block diagram illustrating an example of an autonomous mobile operation system according to a first embodiment. 5 is a flowchart illustrating an example of an operation of the control server in the first embodiment. FIG. 11 is a conceptual diagram illustrating an example of an autonomous mobile operation system according to a second embodiment. 13 is a flowchart showing an example of an operation of a control server regarding movement of an autonomous moving body by an elevator in the second embodiment.

Below, an autonomous mobile operation system and an autonomous mobile operation method according to one embodiment of the present disclosure will be described with reference to the drawings.

[First embodiment]
FIG. 1 is a system configuration diagram showing an example of the configuration of an autonomous mobile object operation system 1 according to the first embodiment.
1, the autonomous mobile object operation system 1 includes different types of autonomous mobile objects (10, 20), a control server 40, and zone sensors (31, 32, ...). The autonomous mobile object operation system 1 executes various processes required to implement an operation plan for the autonomous mobile objects (10, 20) and to control the autonomous mobile objects (10, 20).

The autonomous mobile body 10 (an example of a first autonomous mobile body) is, for example, a mobile robot, and performs a predetermined task that involves autonomous movement. The autonomous mobile body 10 is equipped with, for example, a camera 11 (see FIG. 3 described later) that captures images in front or diagonally forward, and is capable of detecting obstacles and the like in front.

The autonomous mobile body 20 (an example of a second autonomous mobile body) is, for example, a mobile robot, and performs a predetermined task involving autonomous movement. The autonomous mobile body 20 has, for example, an approximately rectangular shape in the horizontal direction, with wheels arranged at the four corners of the approximately rectangular shape, and above that, a sensor unit 21 (see FIG. 3 described later) such as a pyroelectric human sensor or sonar. Although the autonomous mobile body 20 can detect the distance to an object using the sensor unit 21, it does not have an obstacle recognition function like the autonomous mobile body 10, which can identify a wide range of obstacles using the camera 11. In other words, the autonomous mobile body 20 differs from the autonomous mobile body 10 in the method of detecting obstacles that hinder the predetermined task. The autonomous mobile body 10 and the autonomous mobile body 20 differ in the type and range of obstacles that can be detected.

The configurations of the autonomous moving body 10 and the autonomous moving body 20 will be described in detail later with reference to FIG. 3 .
Furthermore, the autonomous moving body 10 and the autonomous moving body 20 are examples of multiple types of autonomous moving bodies that have different methods for detecting obstacles that hinder a specified task.

In this embodiment, the autonomous mobile body 10, the autonomous mobile body 20, and the control server 40 can be connected to a communication network NW1, and the autonomous mobile body 10, the autonomous mobile body 20, and the control server 40 perform various communications via the communication network NW1.
The communication network NW1 is, for example, a wireless network such as a wireless LAN (Local Area Network), and enables the transmission and reception of information between the autonomous mobile bodies (10, 20) controlled by the control server 40.

The section sensors 31 and 32 are, for example, cameras that are placed near the ceiling of the work section and installed so as to capture moving images of the work section near the ceiling. The section sensors 31 and 32 are examples of sensors installed in the work section (working area) of the autonomous mobile body 10 and the autonomous mobile body 20. Here, an example of the relationship between the work section and the section sensors (31, 32) will be described with reference to FIG. 2.

FIG. 2 is a conceptual diagram illustrating an example of the relationship between the work section AR1 and the section sensors (31, 32) according to this embodiment.
2, the zone sensors 31 and 32 capture images of the same work zone AR1 from different positions, and the viewing angles of the cameras of the zone sensors 31 and 32 can be used to stereoscopically view objects in the work zone AR1. The zone sensors 31 and 32 are arranged so that the size and position of objects in the work zone AR1 can be extracted from the sensor information, which is a moving image, using images from their respective viewing angles.

In this embodiment, the section sensor 31 and the section sensor 32 have the same configuration, and when referring to any section sensor equipped in the autonomous mobile operation system 1 or when no distinction is made, they are described as section sensor 30. The autonomous mobile operation system 1 may be equipped with multiple section sensors 30 corresponding to multiple work sections.

The area sensors 30 (31, 32, ...) and the control server 40 can be connected to a communication network NW2, and the area sensors 30 (31, 32, ...) and the control server 40 perform various communications via the communication network NW2. The communication network NW2 is, for example, a sensor network installed as a dedicated network for the area sensors 30.

Returning to the explanation of FIG. 1, the control server 40 is a server device that controls the movement of multiple types of autonomous mobile bodies (10, 20) within a work area and the performance of specified tasks. The control server 40 is connected to a communication network NW1, and can be connected to the autonomous mobile bodies 10 and 20 via the communication network NW1. The control server 40 is also connected to a communication network NW2, and can be connected to the area sensor 31 and the area sensor 32 via the communication network NW2.

The control server 40 detects obstacles in the work area AR1 based on information detected by area sensors 30 (sensors) installed in the work area AR1 (working area) of multiple types of autonomous moving bodies (10, 20). Obstacles here include people and equipment in the work area, other autonomous moving bodies (10, 20), etc.

When the control server 40 detects an obstacle, it transmits danger avoidance instruction information to the autonomous mobile bodies (10, 20) in the work area AR1 to avoid the danger from the obstacle, causing the autonomous mobile bodies (10, 20) to avoid the danger. The detailed configuration of the control server 40 will be described later with reference to FIG. 3.

Next, a detailed configuration of the autonomous mobile operation system 1 will be described with reference to FIG.
FIG. 3 is a functional block diagram showing an example of an autonomous mobile operation system 1 according to this embodiment.
As shown in FIG. 3, the autonomous mobile object operation system 1 includes an autonomous mobile object 10, an autonomous mobile object 20, a control server 40, and a plurality of zone sensors 30 (31, 32, . . . ).

The autonomous moving body 10 includes a camera 11 , a sensor unit 12 , a NW (network) communication unit 13 , a moving mechanism 14 , a moving body control unit 15 , and a moving body memory unit 16 .
The camera 11 (an example of a first detection unit) captures an image in front of or diagonally in front of the autonomous moving body 10. The camera 11 has, for example, a plurality of imaging units, and is capable of detecting the size and distance of an object in front of the autonomous moving body 10.

The sensor unit 12 is, for example, a pyroelectric motion sensor, a sonar, or the like. The sensor unit 12 detects, for example, an object such as a person approaching the autonomous moving body 10.
The NW communication unit 13 is connected to the communication network NW1 by wireless communication such as a wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 13 performs various communications with the control server 40 via the communication network NW1.

The movement mechanism 14 is a drive mechanism such as wheels and a motor that allows the autonomous mobile body 10 to move autonomously. The movement mechanism 14 is controlled by the mobile body control unit 15, which will be described later, and is used when moving within a work area or when moving to perform a specified task.

The mobile body memory unit 16 stores various information used by the autonomous mobile body 10. For example, the mobile body memory unit 16 stores map information including work areas and movement routes acquired from the control server 40, the contents of the specified work (work contents), and response processing information for obstacles that hinder the specified work.

The mobile unit control unit 15 is, for example, a processor including a CPU (Central Processing Unit), and performs overall control of the autonomous mobile unit 10. The mobile unit control unit 15 controls, for example, various communications with the control server 40 via the NW communication unit 13, and controls the autonomous movement of the autonomous mobile unit 10 and the execution of predetermined tasks based on information stored in the mobile unit memory unit 16.

The mobile unit control unit 15 controls the movement mechanism 14 based on, for example, map information and task information stored in the mobile unit memory unit 16 to move the autonomous mobile unit 10 autonomously and perform a specified task. The mobile unit control unit 15 also detects obstacles that hinder the specified task based on, for example, images captured by the camera 11 and detection information detected by the sensor unit 12, and performs an avoidance process (hazard avoidance process) for the detected obstacle.

When the mobile control unit 15 receives danger avoidance instruction information (described later) from the control server 40 via the NW communication unit 13, the mobile control unit 15 executes a preset danger avoidance process in accordance with the danger avoidance instruction information. Specifically, the mobile control unit 15 executes the following danger avoidance processes (1) to (3) that are pre-stored in the mobile storage unit 16 in accordance with the danger avoidance instruction information. Note that the danger avoidance instruction information includes, for example, information such as the type, size, and position of a hazard (obstacle) in the work area detected by the control server 40 based on the detection data of the area sensor 30.

(1) The mobile body control unit 15 executes a danger avoidance process (first danger avoidance process) based on an obstacle detected by itself (autonomous mobile body 10). In this case, the mobile body control unit 15 executes an avoidance process for an obstacle detected by the camera 11 and the sensor unit 12 in response to danger avoidance instruction information. Here, the avoidance process is, for example, a process of stopping at that location and waiting for the obstacle to move, a process of moving along a different route to avoid the obstacle, a process of retreating to avoid the obstacle, etc.

(2) The mobile unit control unit 15 corrects the received danger avoidance instruction information based on an obstacle detected by itself (autonomous mobile unit 10), and executes danger avoidance processing (second danger avoidance processing) based on the corrected danger avoidance instruction information. In this case, the mobile unit control unit 15 corrects information such as the type, size, and position of the dangerous object (obstacle) included in the danger avoidance instruction information using the position information of the obstacle detected by the camera 11 and the sensor unit 12, and executes obstacle avoidance processing based on the accurate information. Note that the avoidance processing is the same as that described above in (1).

(3) The mobile object control unit 15 executes a danger avoidance process (third danger avoidance process) based on the received danger avoidance instruction information. In this case, the mobile object control unit 15 executes an avoidance process for the obstacle based on information such as the type, size, and position of the dangerous object (obstacle) included in the danger avoidance instruction information. The avoidance process is the same as that described above in (1).

The mobile object memory unit 16 may have one of the above-mentioned danger avoidance processes (1) to (3) fixedly stored in advance, or may be changeable to set one of the danger avoidance processes (1) to (3) upon instruction from the control server 40.
In addition, the mobile object memory unit 16 may be configured to set different danger avoidance processes among the above-mentioned (1) to (3) depending on, for example, the type of obstacle or the type of target work area.

The autonomous moving body 20 includes a sensor unit 21 , a NW communication unit 22 , a moving mechanism 23 , a moving body control unit 24 , and a moving body memory unit 25 .
The sensor unit 21 is, for example, a sensor such as a pyroelectric human sensor or a sonar. The sensor unit 21 detects, for example, an object such as a person approaching the autonomous moving body 20.

The NW communication unit 22 connects to the communication network NW1 by wireless communication such as a wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 13 performs various communications with the control server 40 via the communication network NW1.

The movement mechanism 23 is a drive mechanism such as wheels and a motor that allows the autonomous mobile body 20 to move autonomously. The movement mechanism 23 is controlled by the mobile body control unit 24, which will be described later, and is used when moving within a work area or when moving to perform a specified task.

The mobile body memory unit 25 stores various information used by the autonomous mobile body 20. For example, the mobile body memory unit 25 stores map information including work areas and movement routes acquired from the control server 40, the contents of the specified work, and response processing information for obstacles that hinder the specified work.

The mobile unit control unit 24 is, for example, a processor including a CPU, and performs overall control of the autonomous mobile unit 20. The mobile unit control unit 24 controls, for example, various communications with the management server 40 via the NW communication unit 22, and controls the autonomous movement of the autonomous mobile unit 20 and the execution of predetermined tasks based on information stored in the mobile unit memory unit 25.

The mobile unit control unit 24 controls the movement mechanism 23 based on, for example, map information and task information stored in the mobile unit memory unit 25 to move the autonomous mobile unit 20 autonomously and perform a predetermined task. The mobile unit control unit 24 also detects obstacles that hinder the predetermined task based on, for example, detection information detected by the sensor unit 21, and performs an avoidance process (hazard avoidance process) for the detected obstacle.

When the mobile control unit 24 receives danger avoidance instruction information (described later) from the control server 40 via the NW communication unit 22, the mobile control unit 24 executes a preset danger avoidance process in accordance with the danger avoidance instruction information. Specifically, the mobile control unit 24 executes a danger avoidance process that is pre-stored in the mobile storage unit 25 in accordance with the danger avoidance instruction information.

The danger avoidance processing stored in advance in the mobile unit memory unit 25 is, for example, similar to the danger avoidance processing such as (1) to (3) described above. In addition, the danger avoidance instruction information includes, for example, information such as the type, size, and position of a hazard (obstacle) in the work area detected by the control server 40 based on the detection data of the area sensor 30.

The control server 40 includes a network communication unit 41 , a sensor communication unit 42 , a control control unit 43 , and a server storage unit 44 .
The NW communication unit 41 is connected to the communication network NW1 by wireless communication such as a wireless LAN, and performs information communication via the communication network NW1. The NW communication unit 41 performs various communications with the autonomous mobile body 10 or the autonomous mobile body 20 via the communication network NW1.

The sensor communication unit 42 connects to the communication network NW2 by wireless communication, such as a wireless LAN or low-power wide area wireless, and performs information communication via the communication network NW2. The sensor communication unit 42 performs various communications with the section sensors 30 (31, 32, ...) via the communication network NW2.

The server storage unit 44 stores various information used by the control server 40. The server storage unit 44 includes, for example, a work information storage unit 441 and a section information storage unit 442.
The work information storage unit 441 stores an operation plan file indicating an operation plan for the autonomous mobile body 10 and the autonomous mobile body 20. Here, the operation plan file includes, for example, a mobile body identifier, a work section identifier, work content such as a start time and period (each day, day of the week, day of the month, date of the year, etc.), and information necessary for grasping the activity status of each of the autonomous mobile body 10 and the autonomous mobile body 20. In addition, the mobile body identifier indicates an identifier that identifies the autonomous mobile body 10 or the autonomous mobile body 20, and the work section identifier indicates an identifier that identifies the work section.

The area information storage unit 442 stores, for example, information indicating work areas and travel routes, such as map information indicating work areas. The map information stored in the area information storage unit 442 is used when determining the work areas and travel routes of the autonomous mobile body 10 and the autonomous mobile body 20.

The control control unit 43 is, for example, a processor including a CPU, and performs overall control of the control server 40. The control control unit 43 acquires, for example, information (e.g., captured images) detected by the section sensors 30 (31, 32, ...) from each section sensor 30 (31, 32, ...) via the sensor communication unit 42, and detects obstacles (hazardous objects) in each work section based on the acquired information.

The control unit 43, for example, acquires an operation plan file stored in the work information storage unit 441 and acquires map information stored in the area information storage unit 442. The control unit 43 determines the work area and travel route corresponding to each autonomous moving body (10, 20) from the acquired operation plan file and map information. The control unit 43 acquires information (captured images) detected by the area sensor 30 (31, 32) corresponding to the determined work area and travel route.

The control unit 43 detects obstacles within the work area based on information (captured images) detected by multiple area sensors 30 (31, 32) installed at different locations within the work area, as shown in FIG. 2, for example.

In addition, when the control control unit 43 detects an obstacle in a work area, for example, the control control unit 43 transmits danger avoidance instruction information to the autonomous moving bodies (10, 20) in the work area to avoid the danger from the detected obstacle, causing the autonomous moving bodies (10, 20) to avoid the danger. When the control control unit 43 detects an obstacle in a work area, the control control unit 43 transmits danger avoidance instruction information including information such as the type, size, and position of the detected obstacle, for example, to each of the autonomous moving bodies 10 and 20 present in the work area via the NW communication unit 41.

Next, the operation of the autonomous mobile object operation system 1 according to this embodiment will be described with reference to the drawings.
FIG. 4 is a flowchart showing an example of the operation of the control server 40 in this embodiment.

As shown in FIG. 4, the control server 40 first acquires work information for the autonomous moving bodies (10, 20) (step S101). The control control unit 43 of the control server 40 acquires the work information for the autonomous moving bodies (10, 20) from the operation plan file stored in the work information storage unit 441.

Next, the control unit 43 identifies a work area or an area that will be a travel route from the work information (step S102). The control unit 43 further acquires map information from the area information storage unit 442, and identifies an area that will be a work area or a travel route (work area) as a target area from the acquired work information and map information.

Next, the control unit 43 acquires sensor information from the zone sensor 30 of the zone that is the work zone or the movement route (step S103). That is, the control unit 43 acquires sensor information (captured image) detected by the zone sensor 30 corresponding to the target zone via the sensor communication unit 42 and the communication network NW2.

Next, the control control unit 43 determines whether or not there is an obstacle in the work area (step S104). The control control unit 43 determines whether or not there is an obstacle in the work area (target area) by detecting an obstacle in the target area based on sensor information acquired from the area sensor 30. If there is an obstacle in the work area (step S104: YES), the control control unit 43 proceeds to step S105. If there is no obstacle in the work area (step S104: NO), the control control unit 43 proceeds to step S107.

In step S105, the control unit 43 transmits danger avoidance instruction information to the autonomous moving bodies (10, 20). The control unit 43 transmits danger avoidance instruction information, including, for example, the type, size, and position of the detected obstacle, to all of the autonomous moving bodies (10 and 20) present in the target area. Here, the control unit 43 transmits the danger avoidance instruction information to each of the autonomous moving bodies 10 and 20 via the NW communication unit 41 and the communication network NW1.

Next, the control control unit 43 waits for a predetermined period of time (step S106). That is, the control control unit 43 waits for a predetermined period of time during which each of the autonomous mobile bodies 10 and 20 that transmitted the danger avoidance instruction information can execute the danger avoidance process. After the process of step S106, the control control unit 43 returns the process to step S103.

In addition, in step S107, the control control unit 43 cancels the danger avoidance instruction for the autonomous mobile bodies (10, 20). The control control unit 43 transmits a danger avoidance cancellation instruction to each of the autonomous mobile bodies 10 and 20 via the NW communication unit 41 and the communication network NW1. After processing in step S107, the control control unit 43 returns the processing to step S101.

In the example shown in FIG. 4, in step S107, the control unit 43 executes the process of canceling the danger avoidance instruction for the autonomous moving body (10, 20) every time, but the process of canceling the danger avoidance instruction may be executed only when the danger avoidance instruction information is transmitted.

Furthermore, in step S105, each of the autonomous moving bodies 10 and 20 to which the danger avoidance instruction information has been transmitted executes a predetermined danger avoidance process.
For example, when the autonomous mobile body 20 receives danger avoidance instruction information from the control server 40, the autonomous mobile body 20 performs danger avoidance action, i.e., temporarily suspends movement while maintaining a certain distance from the position of an obstacle included in the danger avoidance instruction information.

On the other hand, since the autonomous mobile body 10 is capable of detecting obstacles by itself, in response to the danger avoidance instruction information, it executes, for example, one of the previously set danger avoidance processes (1) to (3) described above.

In this way, in the autonomous mobile unit operation system 1 according to this embodiment, the control server 40 can simplify operation by transmitting danger avoidance instruction information regardless of the model of the autonomous mobile unit (10, 20).

As described above, the autonomous mobile operation system 1 according to this embodiment includes multiple types of autonomous mobile bodies (10, 20) and a control server 40. The multiple types of autonomous mobile bodies (10, 20) are multiple types of autonomous mobile bodies (10, 20) that perform predetermined tasks involving movement, and are mobile bodies that have different methods for detecting obstacles that hinder the predetermined tasks. When the control server 40 detects an obstacle in a work area based on information (sensor information) detected by a section sensor 30 (sensor) installed in a work area (working region, for example, work area AR1 in FIG. 2) of the multiple types of autonomous mobile bodies (10, 20), the control server 40 transmits danger avoidance instruction information to the autonomous mobile bodies (10, 20) in the work area to cause the autonomous mobile bodies (10, 20) to avoid danger. Here, the danger avoidance instruction information is information that causes the autonomous mobile bodies (10, 20) to avoid danger from the obstacle.

As a result, in the autonomous mobile body operation system 1 according to this embodiment, when the control server 40 detects an obstacle within a work area, the same danger avoidance instruction information is transmitted to each of the autonomous mobile bodies (10, 20) that have different obstacle detection methods, thereby allowing the autonomous mobile bodies (10, 20) to avoid the danger from the obstacle. Therefore, the autonomous mobile body operation system 1 according to this embodiment can perform the same operation for autonomous mobile bodies (10, 20) that have different specifications and functions, for example.

In other words, the autonomous mobile object operation system 1 according to this embodiment can reduce the hassle of changing the operation method for each model. Furthermore, the autonomous mobile object operation system 1 according to this embodiment can combine information from the section sensor 30 installed in the work section to detect obstacles and perform appropriate obstacle avoidance operations, even for an autonomous mobile object 20 with low obstacle detection capabilities, thereby expanding the operational range.

As a result, the autonomous mobile object operating system 1 according to this embodiment does not increase the frequency of use of some types of autonomous mobile objects 10 that have a wide operating range, and does not increase the maintenance effort. Therefore, the autonomous mobile object operating system 1 according to this embodiment can operate the autonomous mobile objects (10, 20) efficiently and appropriately.

In addition, in this embodiment, the multiple types of autonomous moving bodies (10, 20) include an autonomous moving body 10 (first autonomous moving body) and an autonomous moving body 20 (second autonomous moving body). The autonomous moving body 10 includes a camera 11 (first detection unit) that detects an obstacle using a detection method (first detection method) that captures an image. Furthermore, the autonomous moving body 20 includes a sensor unit 21 (second detection unit) that detects an obstacle using a detection method (second detection method) that uses a pyroelectric human sensor. Each of the autonomous moving body 10 and the autonomous moving body 20 executes a preset danger avoidance process in response to the danger avoidance instruction information.

As a result, in the autonomous mobile body operation system 1 according to this embodiment, the autonomous mobile body 10 and the autonomous mobile body 20 each execute a pre-set danger avoidance process in response to the danger avoidance instruction information, so that even if the obstacle detection methods are different, the autonomous mobile body operation system 1 can appropriately respond to an obstacle detected by the control server 40.

In addition, in this embodiment, each of the autonomous mobile body 10 and the autonomous mobile body 20 executes one of the above-mentioned danger avoidance processes (1) to (3) as a preset danger avoidance process in response to the danger avoidance instruction information. Here, the danger avoidance process (1) is a first danger avoidance process based on an obstacle detected by the autonomous mobile body itself, and the danger avoidance process (2) is a second danger avoidance process based on the corrected danger avoidance instruction information by correcting the received danger avoidance instruction information based on the obstacle detected by the autonomous mobile body itself. Furthermore, the danger avoidance process (3) is a third danger avoidance process based on the received danger avoidance instruction information.

As a result, in the autonomous mobile body operation system 1 according to this embodiment, the autonomous mobile body 10 and the autonomous mobile body 20 can each appropriately avoid danger through a preset danger avoidance process.

In addition, in this embodiment, the zone sensor 30 includes multiple zone sensors 30 (e.g., zone sensor 31 and zone sensor 32 shown in FIG. 2) installed at different locations in the work zone. The control server 40 detects obstacles in the work zone based on information detected by the multiple zone sensors 30 (31, 32) installed at different locations.

As a result, in the autonomous mobile operation system 1 according to this embodiment, the multiple area sensors 30 can detect obstacles within the work area with even greater accuracy.

The autonomous mobile body operation method according to this embodiment is an autonomous mobile body operation method for operating multiple types of autonomous mobile bodies (10, 20) that have different methods for detecting obstacles that hinder the above-mentioned specified work. In the autonomous mobile body operation method according to this embodiment, when the control server 40 detects an obstacle in a work area based on information detected by an area sensor 30 installed in the work area of the multiple types of autonomous mobile bodies (10, 20), the control server 40 transmits risk avoidance instruction information for avoiding the danger of the obstacle to the autonomous mobile bodies (10, 20) in the work area, thereby causing the autonomous mobile bodies (10, 20) to avoid the danger.

As a result, the autonomous mobile unit operation method according to this embodiment has the same effect as the autonomous mobile unit operation system 1 described above, and can operate the autonomous mobile units (10, 20) efficiently and appropriately.

Second Embodiment
Next, an autonomous mobile object operation system 1a according to a second embodiment will be described with reference to the drawings. The autonomous mobile object operation system 1a according to the second embodiment is a modified example corresponding to a case where an autonomous mobile object (10, 20) moves in a work area by an elevator.

FIG. 5 is a conceptual diagram showing an example of an autonomous mobile object operation system 1a according to the second embodiment.
As shown in FIG. 5, the autonomous mobile object operation system 1a is equipped with an elevator 50, and this embodiment is an application example in which autonomous mobile objects (10, 20) performing work in work sections on different floors (floors) are controlled.

The elevator 50 is a lift that allows the autonomous mobile body (10, 20) or a person to move between work areas on different floors. The elevator 50 is, for example, an elevator that can be used for both people and luggage. Here, it is assumed that each floor that can be reached by the elevator 50 has an elevator hall. In this embodiment, the elevator hall is an example of a work area.

In the example shown in FIG. 5, for example, in an elevator hall EH1, section sensor 31 and section sensor 32 are installed at different positions, and the position and size of an object (including a person) present in the elevator hall EH1 can be detected using the viewing angles of both.

The configuration of the autonomous mobile object operation system 1a according to this embodiment is similar to that of the autonomous mobile object operation system 1 according to the first embodiment shown in Fig. 3, and therefore the description thereof will be omitted here. In the autonomous mobile object operation system 1a according to the first embodiment, the same components as those of the autonomous mobile object operation system 1 according to the first embodiment are given the same reference numerals, and the description thereof will be omitted.
This embodiment differs from the first embodiment in that processing related to an elevator 50 is added to the processing of the control control unit 43 of the control server 40, and the processing related to the elevator 50 will be described here.

In this embodiment, the control control unit 43 performs processing related to the elevator 50 by transmitting danger avoidance instruction information to the autonomous moving body (10, 20) when the autonomous moving body (10, 20) uses the elevator 50 to move through a work section (within a work area) and the section sensor 30 (section sensor 31 and section sensor 32) installed in the destination elevator hall EH1 detects the occurrence of an obstacle. In this case, the control control unit 43 transmits danger avoidance instruction information related to the ascent and descent of the elevator 50 to the autonomous moving body (10, 20) using the elevator 50 before getting off the elevator 50.

In addition, it is desirable for the control unit 43 to transmit danger avoidance instruction information to the autonomous moving body (10, 20) before the autonomous moving body (10, 20) boards the elevator 50 or before arriving at the destination floor, which is the timing before the autonomous moving body gets off the elevator 50.
The danger avoidance instruction information regarding the ascent and descent of the elevator 50 includes, for example, instruction information to stop the ascent and descent of the elevator 50.

Next, the operation of the autonomous mobile object operation system 1a according to this embodiment will be described with reference to the drawings.
Here, the operation of the control server 40 regarding the movement of the autonomous mobile operation system 1a according to this embodiment by the elevator 50 will be described with reference to Fig. 6. Note that the operation regarding the normal work section in the autonomous mobile operation system 1a according to this embodiment is similar to that in the first embodiment described above, and therefore the description thereof will be omitted here.

Figure 6 is a flowchart showing an example of the operation of the control server 40 regarding the movement of the autonomous moving body (10, 20) by the elevator 50 in this embodiment. Note that here, the process when the autonomous moving body (10, 20) moves from the elevator hall EH2 in Figure 5 to the elevator hall EH1 is described.

As shown in FIG. 6, the control control unit 43 of the control server 40 first determines whether the autonomous moving body (10, 20) moves by the elevator 50 (step S201). The control control unit 43 determines whether the autonomous moving body (10, 20) moves by the elevator 50, for example, based on the work information in the operation plan file stored in the work information storage unit 441. If the autonomous moving body (10, 20) moves by the elevator 50 (step S201: YES), the control control unit 43 advances the process to step S202. If the autonomous moving body (10, 20) does not move by the elevator 50 (step S201: NO), the control control unit 43 returns the process to step S201.

In step S202, the control unit 43 acquires sensor information from the section sensors 30 (31, 32) in the destination elevator hall EH1. The control unit 43 acquires the sensor information (captured images) detected by the section sensors 30 corresponding to the elevator hall EH1 via the sensor communication unit 42 and the communication network NW2.

Next, the control control unit 43 determines whether or not there is an obstacle in the destination elevator hall EH1 (destination work area) (step S203). The control control unit 43 determines whether or not there is an obstacle in the elevator hall EH1 by detecting an obstacle in the elevator hall EH1 based on sensor information acquired from the partition sensor 30. If there is an obstacle in the elevator hall EH1 (step S203: YES), the control control unit 43 proceeds to step S204. If there is no obstacle in the elevator hall EH1 (step S203: NO), the control control unit 43 proceeds to step S206.

In step S204, the control unit 43 transmits danger avoidance instruction information to the autonomous moving bodies (10, 20). The control unit 43 transmits danger avoidance instruction information, including, for example, the type, size, and position of the detected obstacle, to each of the autonomous moving bodies 10 and 20 moving to the elevator hall EH1. Here, the control unit 43 transmits the danger avoidance instruction information to each of the autonomous moving bodies 10 and 20 via the NW communication unit 41 and the communication network NW1.

Next, the control control unit 43 waits for a predetermined period of time (step S205). That is, the control control unit 43 waits for a predetermined period of time during which each of the autonomous mobile bodies 10 and 20 that transmitted the danger avoidance instruction information can execute the danger avoidance process. After the process of step S205, the control control unit 43 returns the process to step S202.

In addition, in step S206, the control control unit 43 cancels the danger avoidance instruction for the autonomous mobile bodies (10, 20). The control control unit 43 transmits a danger avoidance cancellation instruction to each of the autonomous mobile bodies 10 and 20 via the NW communication unit 41 and the communication network NW1. After processing in step S206, the control control unit 43 returns the processing to step S201.

In the process of step S206, the control unit 43 executes the process of canceling the danger avoidance instruction for the autonomous moving body (10, 20) every time, but the process of canceling the danger avoidance instruction may be executed only when the danger avoidance instruction information is transmitted.

As described above, in the autonomous mobile operation system 1a according to this embodiment, the autonomous mobile units (10, 20) can move through the work area using the elevator 50 (elevator). The area sensor 30 (e.g., area sensor 31 and area sensor 32) is installed to monitor the area (elevator hall EH1) that the autonomous mobile units pass through immediately after getting off the elevator 50 as a work area (working area). When the autonomous mobile units (10, 20) move through the elevator hall (EH1, EH2, etc.) using the elevator 50, if the area sensor 30 installed in the destination elevator hall EH1 detects the occurrence of an obstacle (e.g., an obstacle), the control server 40 transmits risk avoidance instruction information regarding the ascent and descent of the elevator 50 to the autonomous mobile units (10, 20) using the elevator 50 before getting off the elevator 50.

As a result, the autonomous mobile body operation system 1a according to this embodiment can improve safety while expanding the operating range of the autonomous mobile body (10, 20). That is, in the autonomous mobile body operation system 1a according to this embodiment, the obstacle detection function on the autonomous mobile body (10, 20) side is unable to detect an obstacle in the elevator hall until the autonomous mobile body (10, 20) arrives at the destination elevator hall on a different floor. In contrast, the autonomous mobile body operation system 1a according to this embodiment can detect an obstacle in the destination elevator hall using the partition sensor 30 before the autonomous mobile body (10, 20) arrives at the destination elevator hall, thereby improving safety while expanding the operating range of the autonomous mobile body (10, 20).

In addition, in this embodiment, the danger avoidance instruction information regarding the ascent and descent of the elevator 50 includes instruction information to stop the ascent and descent of the elevator 50.
As a result, in the autonomous mobile body operation system 1a according to this embodiment, if there is an obstacle in the elevator hall at the destination, the autonomous mobile body (10, 20) will stop ascending or descending the elevator 50, thereby more reliably avoiding the danger of obstacles in the elevator hall.

The present disclosure is not limited to the above-described embodiments, and can be modified without departing from the spirit and scope of the present disclosure.
For example, in each of the above embodiments, the control server 40 is connected to two communication networks, the communication network NW1 and the communication network NW2, but this is not limited to this. The communication network NW1 and the communication network NW2 may be configured as, for example, a single communication network. That is, in each of the above embodiments, the communication network NW2 is installed as a dedicated network for the section sensor 30, but this is not limited to this, and the communication network NW2 may be shared with the communication network NW1.

In addition, in each of the above embodiments, the section sensor 30 is described as a camera (such as a surveillance camera) capable of capturing moving images, but this is not limited thereto. For example, the section sensor 30 may be configured by arranging sensors such as pyroelectric motion sensors or sonar sensors in an array.

In addition, in each of the above embodiments, an example has been described in which the control server 40 includes a server storage unit 44 having a work information storage unit 441 and a section information storage unit 442, but this is not limited to this. The control server 40 may have a part or all of the server storage unit 44 in an external file server, etc. In addition, if the work information stored in the work information storage unit 441 includes map information of the work section and the movement route, the autonomous mobile operation system 1 (1a) may be in a form that does not include the section information storage unit 442.

In addition, in each of the above embodiments, the control server 40 is described as being configured as a single server device, but this is not limited thereto, and the control server 40 may be configured as a plurality of server devices.

In addition, in each of the above embodiments, as an example of different types of autonomous mobile bodies, an example has been described in which the autonomous mobile body operation system 1 (1a) includes an autonomous mobile body 10 including a camera 11 and a sensor unit 12, and an autonomous mobile body 20 including a sensor unit 21, but this is not limited to this. The different types of autonomous mobile bodies may also be autonomous mobile bodies that detect obstacles using other detection methods.

In addition, in the second embodiment described above, an elevator 50 is used as an example of an elevator, but this is not limited thereto, and other elevators, such as escalators, may be used.

Each component of the autonomous mobile operation system 1 (1a) described above has an internal computer system. A program for realizing the functions of each component of the autonomous mobile operation system 1 (1a) described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing in each component of the autonomous mobile operation system 1 (1a) described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing a program into a computer system. The "computer system" referred to here includes hardware such as an OS and peripheral devices.

A "computer system" may also include multiple computer devices connected via a network, including the Internet or communication lines such as a WAN, LAN, or dedicated line. A "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. In this way, the recording medium that stores the program may be a non-transitory recording medium such as a CD-ROM.

The recording medium also includes a recording medium installed inside or outside and accessible from a distribution server to distribute the program. The program may be divided into multiple parts, downloaded at different times, and then combined by each component of the autonomous mobile operation system 1 (1a), or each divided program may be distributed by a different distribution server. Furthermore, the "computer-readable recording medium" also includes a recording medium that holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted over a network. The program may also be a recording medium for realizing part of the above-mentioned functions. Furthermore, the program may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1, 1a...Autonomous mobile operation system, 10, 20...Autonomous mobile, 11...Camera, 12, 21...Sensor unit, 13, 22, 41...NW communication unit, 14, 23...Mobile mechanism, 15, 24...Mobile control unit, 16, 25...Mobile memory unit, 31, 32...Division sensor, 40...Control server, 42...Sensor communication unit, 43...Control control unit, 44...Server memory unit, 50...Elevator, 441...Work information memory unit, 442...Division information memory unit, NW1, NW2...Communication network

Claims (7)

A plurality of types of autonomous moving bodies performing a predetermined task involving movement, the plurality of types of autonomous moving bodies having different methods for detecting an obstacle that hinders the predetermined task;
a control server that, when detecting an obstacle in a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, transmits danger avoidance instruction information to the autonomous moving bodies in the working area to avoid the danger from the obstacle, thereby causing the autonomous moving bodies to avoid the danger ;
Each of the plurality of types of autonomous moving bodies executes, in response to the danger avoidance instruction information, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process that corrects the received danger avoidance instruction information based on the obstacle detected by itself and is based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, as a preset danger avoidance process.
Autonomous mobile operation system. the plurality of types of autonomous moving bodies include a first autonomous moving body having a first detection unit that detects the obstacle by a first detection method, and a second autonomous moving body having a second detection unit that detects the obstacle by a second detection method different from the first detection method;
The autonomous mobile object operation system according to claim 1 , wherein each of the first autonomous mobile object and the second autonomous mobile object executes a preset danger avoidance process in response to the danger avoidance instruction information. the sensor includes a plurality of sensors positioned at different locations in the work area;
The autonomous mobile operation system according to claim 1 or 2 , wherein the control server detects an obstacle within the working area based on information detected by the plurality of sensors installed at different locations. A plurality of types of autonomous moving bodies performing a predetermined task involving movement, the plurality of types of autonomous moving bodies having different methods for detecting an obstacle that hinders the predetermined task;
a control server that, when detecting an obstacle within a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, transmits danger avoidance instruction information for causing the autonomous moving bodies within the working area to avoid danger from the obstacle, thereby causing the autonomous moving bodies to avoid the danger;
Equipped with
each of the plurality of types of autonomous moving bodies is capable of moving within the working area using an elevator;
The sensor is installed to monitor an area through which the person passes immediately after getting off the elevator as the working area,
When the autonomous mobile body moves through the work area using the elevator, if the sensor installed in the work area of the destination detects the occurrence of the obstacle, the control server transmits the danger avoidance instruction information regarding the ascent and descent of the elevator to the autonomous mobile body using the elevator before the autonomous mobile body gets off the elevator.
Autonomous mobile operation system. The autonomous mobile operation system according to claim 4 , wherein the danger avoidance instruction information regarding the ascent and descent of the elevator includes instruction information to stop the ascent and descent of the elevator. An autonomous mobile object operation method for operating a plurality of types of autonomous mobile objects that perform a predetermined task involving movement, the plurality of types of autonomous mobile objects having different detection methods for detecting an obstacle that hinders the predetermined task,
when a control server detects an obstacle in a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, the control server transmits danger avoidance instruction information to the autonomous moving body in the working area to avoid a danger from the obstacle, thereby causing the autonomous moving body to avoid the danger ;
Each of the plurality of types of autonomous moving bodies executes, in response to the danger avoidance instruction information, one of a first danger avoidance process based on the obstacle detected by itself, a second danger avoidance process that corrects the received danger avoidance instruction information based on the obstacle detected by itself and is based on the corrected danger avoidance instruction information, and a third danger avoidance process based on the received danger avoidance instruction information, as a preset danger avoidance process.
Autonomous mobile operation method. An autonomous mobile object operation method for operating a plurality of types of autonomous mobile objects that perform a predetermined task involving movement, the plurality of types of autonomous mobile objects having different detection methods for detecting an obstacle that hinders the predetermined task,
when a control server detects an obstacle in a working area based on information detected by sensors installed in the working areas of the plurality of types of autonomous moving bodies, the control server transmits danger avoidance instruction information to the autonomous moving body in the working area to avoid a danger from the obstacle, thereby causing the autonomous moving body to avoid the danger;
each of the plurality of types of autonomous moving bodies is capable of moving within the working area using an elevator;
The sensor is installed to monitor an area through which the person passes immediately after getting off the elevator as the working area,
When the autonomous mobile body moves through the work area using the elevator, if the sensor installed in the work area of the destination detects the occurrence of the obstacle, the control server transmits the danger avoidance instruction information regarding the ascent and descent of the elevator to the autonomous mobile body using the elevator before the autonomous mobile body gets off the elevator.
Autonomous mobile operation method.

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