WO2024089883A1 - Information processing device, service provision system, control method, and control program - Google Patents

Information processing device, service provision system, control method, and control program Download PDF

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Publication number
WO2024089883A1
WO2024089883A1 PCT/JP2022/040416 JP2022040416W WO2024089883A1 WO 2024089883 A1 WO2024089883 A1 WO 2024089883A1 JP 2022040416 W JP2022040416 W JP 2022040416W WO 2024089883 A1 WO2024089883 A1 WO 2024089883A1
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WIPO (PCT)
Prior art keywords
processing device
delivery
information processing
control unit
luggage
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PCT/JP2022/040416
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French (fr)
Japanese (ja)
Inventor
英明 寺島
良枝 今井
隼也 大澤
祥幹 三井
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2022/040416 priority Critical patent/WO2024089883A1/en
Publication of WO2024089883A1 publication Critical patent/WO2024089883A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • This disclosure relates to an information processing device, a service providing system, a control method, and a control program.
  • Patent Document 1 A technology has been proposed in which the mobile object delivers and collects luggage under the control of a device (see Patent Document 1).
  • the mobile object management device in Patent Document 1 acquires a delivery request for luggage loaded onto the mobile object and a request to collect the luggage using the mobile object, and provides instructions to the mobile object for moving to a location specified in the delivery request and collection request.
  • the purpose of this disclosure is to make users aware of the service.
  • the information processing device has an acquisition unit that acquires route information indicating a route, and a control unit that controls the mobile body, which is a mobile body that provides at least one of collection and delivery services based on the route information, has lockers, and is capable of automatic driving, so that the mobile body travels along the route.
  • This disclosure makes it possible to make users aware of the service.
  • FIG. 1 is a diagram showing a service providing system according to a first embodiment.
  • FIG. 13 is a diagram showing a case where the information processing device of the first embodiment exists inside an AMR.
  • FIG. 13 is a diagram showing an example of a tour in the first embodiment;
  • FIG. 2 is a diagram illustrating hardware included in an information processing device according to a first embodiment. 2 is a block diagram showing functions of the information processing device according to the first embodiment;
  • 1 is a flowchart (part 1) illustrating an example of processing executed by the information processing device of the first embodiment.
  • 11 is a flowchart (part 2) illustrating an example of processing executed by the information processing device according to the first embodiment.
  • 11 is a flowchart (part 3) illustrating an example of processing executed by the information processing device according to the first embodiment.
  • FIG. 4 is a flowchart (part 4) illustrating an example of processing executed by the information processing device of the first embodiment.
  • 11 is a flowchart (part 1) illustrating an example of a storage determination process according to the first embodiment.
  • FIG. 4 is a diagram illustrating an example of a management table according to the first embodiment;
  • 11 is a flowchart (part 2) illustrating an example of the storage determination process according to the first embodiment.
  • 1A and 1B are diagrams showing a specific example (part 1) of delivery in the first embodiment.
  • 13A and 13B are diagrams showing a specific example (part 2) of delivery in the first embodiment.
  • 1 is a flowchart (part 1) showing an example of collection and delivery processing in the first embodiment.
  • FIG. 11 is a flowchart (part 2) showing an example of the collection and delivery process of the first embodiment.
  • FIG. 13 is a diagram showing a specific example of the second embodiment. 13 is a flowchart illustrating an example of a process executed by an information processing device according to a second embodiment.
  • Embodiment 1. 1 is a diagram showing a service providing system according to a first embodiment.
  • the service providing system includes an information processing device 100 and an AMR 200.
  • the service providing system may include a terminal device 300.
  • the information processing device 100, the AMR 200, and the terminal device 300 communicate with each other via a network.
  • the network is a wireless network.
  • the information processing device 100 is a device that executes the control method, and is, for example, a server.
  • the AMR (Autonomous Mobile Robot) 200 is an example of a mobile body capable of autonomous driving.
  • the AMR 200 has lockers 201 to 203.
  • the lockers 201 to 203 can store users' luggage.
  • the number of lockers that the AMR 200 has may be one.
  • the AMR 200 is a mobile body that provides at least one service of collection and delivery.
  • the terminal device 300 is a device used by a user.
  • the terminal device 300 is a smartphone, a tablet terminal, or the like.
  • FIG. 1 shows a case where the information processing device 100 exists outside the AMR 200.
  • the information processing device 100 may also exist inside the AMR 200.
  • FIG. 2 is a diagram showing a case where the information processing device of the first embodiment exists inside an AMR.
  • the AMR 200 performs a cyclic operation.
  • FIG. 3 is a diagram showing an example of a tour in the first embodiment.
  • FIG. 3 shows a tour stop position and a tour restart position.
  • AMR200 tours based on tour route information including the tour stop position and the tour restart position.
  • AMR200 stops at the tour stop position.
  • the tour restart position will be explained later.
  • the information processing apparatus 100 includes a processor 101, a volatile storage device 102, and a non-volatile storage device 103.
  • the processor 101 controls the entire information processing device 100.
  • the processor 101 is a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), etc.
  • the processor 101 may be a multiprocessor.
  • the information processing device 100 may also have a processing circuit.
  • the volatile memory device 102 is the main memory device of the information processing device 100.
  • the volatile memory device 102 is a RAM (Random Access Memory).
  • the non-volatile memory device 103 is an auxiliary memory device of the information processing device 100.
  • the non-volatile memory device 103 is a HDD (Hard Disk Drive) or an SSD (Solid State Drive).
  • the information processing device 100 includes a storage unit 110, an acquisition unit 120, and a control unit 130.
  • the storage unit 110 may be realized as a storage area secured in the volatile storage device 102 or the non-volatile storage device 103 .
  • a part or all of the acquisition unit 120 and the control unit 130 may be realized by a processing circuit.
  • a part or all of the acquisition unit 120 and the control unit 130 may be realized as a module of a program executed by the processor 101.
  • the program executed by the processor 101 is also called a control program.
  • the control program is recorded on a recording medium.
  • the acquisition unit 120 acquires patrol route information indicating a patrol route.
  • the acquisition unit 120 acquires the patrol route information from the storage unit 110.
  • the acquisition unit 120 acquires the patrol route information from an external device that can be connected to the information processing device 100.
  • the external device is a cloud server. Note that the external device is omitted from the diagram.
  • the control unit 130 controls the AMR 200 to travel along the patrol route based on the patrol route information. For example, the control unit 130 instructs the AMR 200 to move to the next patrol stop position each time the AMR 200 stops at a patrol stop position. Also, for example, the control unit 130 transmits patrol route information to the AMR 200 and instructs the AMR 200 to move based on the patrol route information.
  • AMR200 makes its rounds.
  • the user recognizes that at least one of collection and delivery services is available.
  • the user recognizes the service provided by AMR200.
  • the information processing device 100 can make the user aware of the service.
  • FIG. 6 is a flowchart (part 1) illustrating an example of processing executed by the information processing device according to the first embodiment.
  • Step S11 The acquisition unit 120 acquires information indicating that the stop button has been pressed.
  • Step S12 The control unit 130 issues an instruction to display a screen for inputting a delivery place and a delivery time on the display of the AMR 200.
  • AMR200 displays this screen on the display.
  • the user inputs the delivery location and delivery time into AMR200.
  • Step S13 The acquisition unit 120 acquires, via the AMR 200, the delivery location and delivery time input by the user.
  • Step S14 The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location and delivery time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
  • Step S15 The control unit 130 determines whether or not to store luggage. If luggage is to be stored, the process proceeds to step S16. If luggage is not to be stored, the process proceeds to step S20.
  • Step S16 The control unit 130 instructs the AMR 200 to display a screen indicating that luggage can be stored on its display.
  • the AMR200 displays this screen on the display. This lets the user know that luggage can be stored.
  • Step S17 The control unit 130 instructs the AMR 200 to unlock the empty lockers.
  • AMR200 unlocks an empty locker. The user stores their luggage in the locker. The user locks the locker. AMR200 transmits information indicating that the locker has been locked to the information processing device 100.
  • Step S18 The acquisition unit 120 acquires information indicating that the locker is locked.
  • the control unit 130 registers the delivery location and delivery time in a record corresponding to the locker in a management table described later.
  • Step S19 The control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
  • Step S20 The control unit 130 instructs the AMR 200 to display a screen on its display indicating that the luggage cannot be stored.
  • the AMR 200 displays this screen on the display, thereby letting the user know that the luggage cannot be stored. In this manner, the information processing device 100 can control the AMR 200 to store the user's luggage in the locker.
  • the AMR 200 may also transmit information indicating that the locker is locked and information indicating the weight of the locker to the information processing device 100.
  • the weight is measured by a weight sensor included in the AMR 200. If the weight is equal to or greater than a predetermined threshold, the control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. This allows the information processing device 100 to prevent the AMR 200 from moving when no luggage is stored in the locker.
  • FIG. 7 is a flowchart (part 2) illustrating an example of the process executed by the information processing device according to the first embodiment.
  • the user finds a patrolling AMR 200 or a stopped AMR 200.
  • the user inputs the delivery location and delivery time into the terminal device 300.
  • the terminal device 300 transmits the delivery location and delivery time to the information processing device 100.
  • Step S21 The acquisition unit 120 acquires the delivery location and the delivery time from the terminal device 300.
  • Step S22 The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location and delivery time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
  • Step S23 The control unit 130 determines whether or not to store luggage. If the luggage is to be stored, the process proceeds to step S24. If the luggage is not to be stored, the process proceeds to step S28.
  • Step S24 The control unit 130 transmits information indicating that the luggage can be stored and a stop button of the AMR 200 to the terminal device 300.
  • the terminal device 300 displays this information. This allows the user to recognize that luggage can be stored.
  • the terminal device 300 also displays a stop button for the AMR 200. The user presses the stop button.
  • the terminal device 300 transmits an instruction to stop the AMR 200 to the information processing device 100.
  • Step S25 Based on the stop instruction, the control unit 130 sends a stop instruction to the AMR 200.
  • the control unit 130 also instructs the AMR 200 to unlock the empty lockers.
  • AMR200 stops. Then, AMR200 unlocks an empty locker. A user approaches AMR200 and stores their luggage in the locker. The user locks the locker. AMR200 transmits information indicating that the locker is locked to information processing device 100.
  • Step S26 The acquisition unit 120 acquires information indicating that the locker is locked.
  • the control unit 130 registers the delivery location and delivery time in a record corresponding to the locker in a management table described later.
  • Step S27 The control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
  • Step S28 The control unit 130 transmits information indicating that the luggage cannot be stored to the terminal device 300.
  • the terminal device 300 displays the information. This allows the user to recognize that the luggage cannot be stored.
  • the information processing device 100 can control the AMR 200 to store the user's luggage in a locker.
  • FIG. 8 is a flowchart (part 3) illustrating an example of the process executed by the information processing device according to the first embodiment.
  • the user inputs the delivery location, delivery time, collection location, and collection time into the terminal device 300.
  • the terminal device 300 transmits the delivery location, delivery time, collection location, and collection time to the information processing device 100.
  • Step S31 The acquisition unit 120 acquires the delivery location, the delivery time, the collection location, and the collection time from the terminal device 300.
  • Step S32 The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location, delivery time, collection location, and collection time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
  • Step S33 The control unit 130 determines whether or not to store luggage. If luggage is to be stored, the process proceeds to step S34. If luggage is not to be stored, the process proceeds to step S47.
  • Step S34 The control unit 130 transmits information indicating the AMR 200 to the terminal device 300.
  • the terminal device 300 displays the information, so that the user recognizes that the moving object storing the package is the AMR 200.
  • the control unit 130 may transmit the current location of the AMR 200 to the terminal device 300. Furthermore, when there are multiple AMRs capable of storing luggage, the control unit 130 may allow the user to select an AMR.
  • Step S35 The control unit 130 registers the delivery location, delivery time, collection location, and collection time in a management table, which will be described later.
  • FIG. 9 is a flowchart (part 4) illustrating an example of the process executed by the information processing device according to the first embodiment.
  • the control unit 130 controls the AMR 200 so that the AMR 200 arrives at the collection location at the collection time. As a result, the AMR 200 arrives at the collection location at the collection time. Note that the AMR 200 may leave the traveling route when moving to the collection location.
  • the AMR 200 When the AMR 200 arrives at the collection location, it sends an arrival notification to the information processing device 100.
  • Step S42 The acquisition unit 120 acquires the arrival notification.
  • Step S43 The control unit 130 transmits, to the terminal device 300, information indicating that the AMR 200 has arrived.
  • Step S44 The control unit 130 instructs the AMR 200 to unlock the empty lockers.
  • AMR200 unlocks an empty locker.
  • a user approaches AMR200 and stores their luggage in the locker. The user locks the locker.
  • AMR200 transmits information indicating that the locker is locked to information processing device 100.
  • Step S45 The acquisition unit 120 acquires information indicating that the locker is locked.
  • Step S46 The control unit 130 performs control so that the AMR 200 moves to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position.
  • Step S47 The control unit 130 transmits information indicating that collection and delivery cannot be performed to the terminal device 300.
  • the terminal device 300 displays the information. This allows the user to recognize that collection and delivery cannot be performed.
  • the information processing device 100 can have the AMR 200 collect the user's luggage.
  • FIGS. 10 is a flowchart (part 1) showing an example of the storage determination process according to the embodiment 1.
  • the processes in FIGS. (Step S51)
  • the acquiring unit 120 acquires a management table from the storage unit 110 or an external device. An example of the management table is shown below.
  • FIG. 11 is a diagram showing an example of a management table in embodiment 1.
  • management table 111 is stored in memory unit 110.
  • Management table 111 is also referred to as management information.
  • Management table 111 is management information for lockers.
  • Management table 111 has fields for locker, delivery location, delivery time, collection location, and collection time.
  • Step S52 The control unit 130 determines whether or not all lockers are in use based on the management table 111. If all lockers are in use, the process proceeds to step S64. If none of the lockers are in use, the process proceeds to step S53.
  • the acquisition unit 120 acquires map information, the speed of the AMR 200, and current location information of the AMR 200. For example, the acquisition unit 120 acquires the map information and the speed of the AMR 200 from the storage unit 110 or an external device. Also, for example, the acquisition unit 120 acquires the current location information of the AMR 200 from the AMR 200.
  • Step S54 The control unit 130 determines whether or not to perform a delivery determination. If a delivery determination is to be performed, the process proceeds to step S55. If collection and delivery determination is to be performed, the process proceeds to step S61.
  • Step S55 The control unit 130 generates a schedule based on the management table 111, the acquired delivery location, and the acquired delivery time. Note that the acquired delivery location and the acquired delivery time are the delivery location and delivery time acquired in step S13 or step S21.
  • control unit 130 generates a schedule based on the delivery locations X1, X2, and X3, the delivery times T1, T2, and T3, the collection location Y3, the collection time T13, the delivery location acquired in step S13, and the delivery time acquired in step S13.
  • Step S56 The control unit 130 uses the map information, the speed of the AMR 200, and the current location information of the AMR 200 to determine whether the AMR 200 can execute the schedule from its current location. If the schedule can be executed, the process proceeds to step S63. If the schedule cannot be executed, the process proceeds to step S64.
  • FIG. 12 is a flowchart (part 2) illustrating an example of the storage determination process according to the first embodiment.
  • the control unit 130 generates a schedule based on the management table 111, the acquired delivery location, the acquired delivery time, the acquired collection location, and the acquired collection time. Note that the acquired delivery location, the acquired delivery time, the acquired collection location, and the acquired collection time are the delivery location, the delivery time, the collection location, and the acquired collection time acquired in step S31.
  • Step S62 The control unit 130 uses the map information, the speed of the AMR 200, and the current position information of the AMR 200 to determine whether the AMR 200 can execute the schedule from the current position. If the schedule can be executed, the process proceeds to step S63. If the schedule cannot be executed, the process proceeds to step S64. (Step S63) The control unit 130 determines to store the luggage. (Step S64) The control unit 130 determines not to store the luggage.
  • the information processing device 100 performs a storage determination process.
  • the information processing device 100 can prevent a situation in which delivery is not possible due to the storage determination process. Furthermore, the information processing device 100 can prevent a situation in which collection and delivery are not possible due to the storage determination process.
  • the information processing device 100 also determines whether all lockers are in use. Based on this determination, the information processing device 100 can quickly determine whether or not to store luggage.
  • the acquisition unit 120 may acquire information indicating the weight or size of the luggage. For example, the acquisition unit 120 acquires the information from the terminal device 300. If the weight of the luggage is heavier than the weight specified for the locker, the control unit 130 determines not to store the luggage in the AMR 200. This allows the information processing device 100 to prevent luggage that is heavier than the specified weight from being stored in a locker. Furthermore, if the size of the luggage is larger than the size specified for the locker, the control unit 130 determines not to store the luggage in the AMR 200. This allows the information processing device 100 to prevent luggage that is larger than the specified size from being stored in a locker.
  • FIG. 13A and 13B are diagrams showing a specific example (part 1) of delivery in the first embodiment.
  • FIG. 13A shows that the AMR 200 travels along a route.
  • the delivery location does not have to be on the route.
  • the information processing device 100 determines whether or not the package can be delivered at the delivery time.
  • FIG. 13(B) shows the delivery route 10.
  • the information processing device 100 controls the AMR 200 so that it arrives at the delivery location at the delivery time.
  • the information processing device 100 may also detect the shortest route and control the AMR 200 to move along the shortest route.
  • Figures 14 (A) and (B) are diagrams showing a specific example (part 2) of delivery in embodiment 1.
  • Figure 14 (A) shows that AMR 200 has arrived at the delivery location. When AMR 200 has arrived at the delivery location, information processing device 100 controls AMR 200 to move to the tour restart position.
  • Figure 14 (B) shows that AMR 200 has arrived at the tour restart position. When AMR 200 has arrived at the tour restart position, information processing device 100 controls AMR 200 based on the tour route information.
  • FIGS. 15 is a flowchart (part 1) showing an example of the collection and delivery process of embodiment 1. For example, when the AMR 200 performs collection, the process of FIGS.
  • Step S71 The acquisition unit 120 acquires, from the AMR 200, information indicating that the AMR 200 has arrived at a patrol stop position.
  • Step S72 The acquisition unit 120 acquires the time closest to the current time from the management table 111. The acquired time is the collection time or the delivery time. The acquisition unit 120 acquires the location corresponding to the acquired time. If a collection time is acquired, the acquisition unit 120 acquires the collection location corresponding to the collection time. If a delivery time is acquired, the acquisition unit 120 acquires the delivery location corresponding to the delivery time. The acquisition unit 120 acquires map information and the speed of the AMR 200.
  • Step S73 The control unit 130 calculates the time when the AMR 200 will arrive at the location acquired in step S72 from the current position, using the map information and the speed of the AMR 200. The calculated time is referred to as time A.
  • Step S74 The control unit 130 calculates a difference D1 between the time acquired in step S72 and the time A.
  • Step S75 The control unit 130 calculates the time at which the AMR 200 will arrive at the location acquired in step S72 from the next patrol stop position, using the map information and the speed of the AMR 200. The calculated time is referred to as time B.
  • Step S76 The control unit 130 calculates a difference D2 between the time acquired in step S72 and time B.
  • Step S77 The control unit 130 determines whether or not the difference D1 is equal to or less than the first threshold and the difference D2 is equal to or more than the second threshold. If the condition is met, the process proceeds to step S78. If the condition is not met, the process proceeds to step S79.
  • Step S78 The control unit 130 controls the AMR 200 to move to the location acquired in step S72. For example, the control unit 130 controls the AMR 200 to move to a collection location. Also, for example, the control unit 130 controls the AMR 200 to move to a delivery location. As a result, the AMR 200 moves to the collection location or the delivery location. Then, the process proceeds to step S81.
  • Step S79 The control unit 130 controls the AMR 200 to move to the next patrol stop position. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
  • FIG. 16 is a flowchart (part 2) illustrating an example of the collection and delivery process according to the first embodiment.
  • the acquisition unit 120 acquires a collection or delivery completion notification from the AMR 200.
  • the acquisition unit 120 acquires the time closest to the current time from the management table 111. The acquired time is the collection time or the delivery time. The acquisition unit 120 acquires the location corresponding to the acquired time. If a collection time is acquired, the acquisition unit 120 acquires the collection location corresponding to the collection time. If a delivery time is acquired, the acquisition unit 120 acquires the delivery location corresponding to the delivery time. The acquisition unit 120 acquires map information and the speed of the AMR 200.
  • Step S83 The control unit 130 determines whether or not to continue collection or delivery. If to continue, the process proceeds to step S85. If not to continue, the process proceeds to step S84.
  • step S83 The process of step S83 will be described in detail. Using the map information and the speed of the AMR 200, the control unit 130 determines whether the AMR 200 can arrive at the location acquired in step S82 at the time acquired in step S82 even if the AMR 200 returns to the tour restart position. If the AMR 200 can arrive, the process proceeds to step S84. If the AMR 200 cannot arrive, the process proceeds to step S85.
  • Step S84 The control unit 130 controls the AMR 200 to move to the tour restart position. As a result, the AMR 200 moves to the tour restart position.
  • Step S85 The control unit 130 controls the AMR 200 to move to the location acquired in step S82. As a result, the AMR 200 moves to the collection location or the delivery location.
  • the information processing device 100 can have the AMR 200 deliver the user's package.
  • the information processing device 100 can also have the AMR 200 collect the user's package.
  • Embodiment 2 Next, a description will be given of embodiment 2. In embodiment 2, differences from embodiment 1 will be mainly described. Furthermore, in embodiment 2, description of matters common to embodiment 1 will be omitted.
  • FIG 17 is a diagram showing a specific example of the embodiment 2.
  • FIG 17 shows a traveling area 21 and a traveling area 22.
  • the AMR 200 travels between the traveling area 21 and the traveling area 22.
  • information processing device 100 controls AMR200 so that it travels to areas where many users gather. This control will be explained in detail below.
  • Patrol area 21 is an area with a low priority. Patrol area 21 is an area where few users gather. Patrol area 22 is an area with a high priority. Patrol area 22 is an area where many users gather. Patrol area 21 is also called the first patronage area. Patrol area 22 is also called the second patronage area.
  • AMR200 is present in the patrol area 21 for collection or delivery. After the collection or delivery is completed, the information processing device 100 performs the following process.
  • the collection location or delivery location of the first request which is the next collection or delivery request
  • the collection location or delivery location of the second request which is the next request of the first request
  • the information processing device 100 controls AMR200 to patrol the patrol area 22.
  • the second request is a collection or delivery request.
  • the information processing device 100 does not cause AMR200 to patrol the patrol area 21, but causes AMR200 to patrol the patrol area 22. This allows the information processing device 100 to make many users aware of the AMR 200. In other words, the information processing device 100 can make many users aware of the service.
  • FIG. 18 is a flowchart illustrating an example of processing executed by the information processing device according to the second embodiment.
  • Control unit 130 determines, based on the current position of AMR 200, whether or not AMR 200 is present in traveling area 21. If AMR 200 is present in traveling area 21, processing proceeds to step S92. If AMR 200 is present in traveling area 22, processing ends.
  • Step S92 The acquiring unit 120 acquires the time that is closest to the current time from the management table 111. The acquiring unit 120 acquires the location that corresponds to the acquired time.
  • Step S93 The control unit 130 determines whether or not the acquired location is present in the traveling area 21. If the location is present in the traveling area 21, the process proceeds to step S94. If the location is present in the traveling area 22, the process proceeds to step S97.
  • Step S94 The acquiring unit 120 acquires the time next to the time acquired in step S92 from the management table 111. The acquiring unit 120 acquires the location corresponding to the acquired time.
  • Step S95 The control unit 130 determines whether or not the acquired location is present in the traveling area 21. If the location is present in the traveling area 21, the process proceeds to step S96. If the location is present in the traveling area 22, the process proceeds to step S97. (Step S96) The control unit 130 determines whether the difference between the time acquired in step S92 and the time acquired in step S94 is equal to or greater than a threshold. If the difference is equal to or greater than the threshold, the process proceeds to step S97. If the difference is less than the threshold, the process proceeds to step S98.
  • Step S97 The control unit 130 controls the AMR 200 to patrol in the routing area 22. In particular, the control unit 130 controls the AMR 200 to move to a routing restart position in the routing area 22. The control unit 130 controls the AMR 200 to patrol based on the routing route information of the routing area 22. Thereafter, the processes of FIGS. 15 and 16 are executed.
  • Step S98 The control unit 130 controls the AMR 200 so that it travels in the traveling area 21. In particular, the control unit 130 controls the AMR 200 so that it travels based on the traveling route information of the traveling area 21. Thereafter, the processes in FIGS. 15 and 16 are executed.
  • the information processing device 100 can make many users aware of the service.
  • the information processing device 100 may execute the following process.
  • the control unit 130 calculates the time (hereinafter, the first time) at which the AMR 200 will arrive at the location acquired in step S92 via the patrol restart position in the patrol area 22.
  • the control unit 130 calculates the time (hereinafter, the second time) at which the AMR 200 will arrive at the location acquired in step S94 via the patrol restart position in the patrol area 22. If the difference between the first time and the second time is equal to or greater than the threshold, the control unit 130 controls the AMR 200 to patrol in the patrol area 22.
  • Embodiment 3 Next, a description will be given of embodiment 3. In embodiment 3, differences from embodiment 1 will be mainly described. Furthermore, in embodiment 3, description of matters common to embodiment 1 will be omitted.
  • Fig. 19 is a diagram showing a specific example of the third embodiment.
  • Fig. 19 shows a routing area 31 and a routing area 32.
  • AMR 200 patrols in routing area 31.
  • AMR 201 patrols in routing area 32.
  • AMR 200 is also called a first mobile object.
  • AMR 201 is also called a second mobile object.
  • Route 31 is also called a first routing area.
  • Route 32 is also called a second routing area.
  • AMR200 stores luggage to be delivered to patrol area 32.
  • Information processing device 100 controls AMR200 and AMR201 to move to the luggage transfer position.
  • AMR200 and AMR201 move to the luggage transfer position.
  • Information processing device 100 instructs AMR200 to transfer the luggage.
  • AMR200 transfers the luggage to AMR201 using a transfer means such as a robot arm or a conveyor belt.
  • AMR200 transmits a transfer completion notification to information processing device 100.
  • AMR201 may transmit a transfer completion notification to information processing device 100.
  • Information processing device 100 acquires the transfer completion notification.
  • Information processing device 100 instructs AMR201 to deliver the luggage.
  • the instruction includes the delivery location of the luggage.
  • the instruction may also include the delivery time of the package. This causes AMR 201 to move to the delivery location of the package. In this way, AMR 200 does not move to patrol area 32, so the energy consumption of AMR 200 is reduced. In addition, because multiple AMRs patrol, user awareness of the service is improved.
  • FIG. 20 is a flowchart (part 1) illustrating an example of processing executed by the information processing device according to the third embodiment.
  • the acquisition unit 120 acquires information indicating that the AMR 200 has arrived at a patrol stop position.
  • the acquisition unit 120 acquires the delivery time closest to the current time from the management table 111.
  • the acquisition unit 120 acquires the delivery location corresponding to the delivery time.
  • the acquisition unit 120 acquires map information, the speed of AMR 200, and the speed of AMR 201.
  • Step S103 The control unit 130 uses map information to determine whether the delivery location is in the travel area 31. If the delivery location is in the travel area 32, the process proceeds to step S104. If the delivery location is in the travel area 31, the process proceeds to step S108.
  • Step S104 Using the speed of AMR200 and the map information, the control unit 130 calculates the time L1 at which AMR200 will arrive at the luggage transfer position from its current location. Using the speed of AMR201 and the map information, the control unit 130 calculates the time L2 at which AMR201 will arrive at the luggage transfer position from its current location. The control unit 130 compares time L1 with time L2, and sets the later time as time L.
  • Step S105 The control unit 130 uses the speed of the AMR 201 and map information to calculate the time M at which the AMR 201 will arrive at the delivery location from the package transfer location.
  • Step S106 The control unit 130 calculates the difference N between the time obtained by adding the time L and the time M and the delivery time.
  • Step S107 The control unit 130 determines whether the difference N is equal to or smaller than a predetermined threshold. If the difference N is greater than the threshold, the process proceeds to step S108. If the difference N is equal to or smaller than the threshold, the process proceeds to step S111.
  • Step S108 The control unit 130 controls the AMR 200 to travel within the travel area 31 based on the travel route information. Then, the process ends.
  • FIG. 21 is a flowchart (part 2) illustrating an example of processing executed by the information processing device according to the third embodiment.
  • the control unit 130 performs control so as to move the AMR 200 and the AMR 201 to a baggage transfer position.
  • Step S112 The acquisition unit 120 acquires information indicating that the AMR 200 has arrived at the luggage transfer position.
  • the acquisition unit 120 also acquires information indicating that the AMR 201 has arrived at the luggage transfer position.
  • Step S113 The control unit 130 instructs the AMR 200 to transfer the package corresponding to the delivery location.
  • Step S ⁇ b>114 The acquisition unit 120 acquires a transfer completion notification from the AMR 200 .
  • Step S115 The control unit 130 instructs the AMR 201 to deliver the package. As a result, the AMR 201 moves to the delivery location.
  • the AMR 200 does not move to the patrol area 32, so the energy consumption of the AMR 200 is suppressed.
  • user awareness of the service is improved.

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Abstract

This information processing device (100) has: an acquisition unit (120) that acquires cyclic route information indicating a cyclic route; and a control unit (130) that, on the basis of the cyclic route information, performs control so that a moving vehicle that provides at least one service from among collection and delivery, the moving vehicle having a locker and being capable of automated driving, travels in a cyclic manner on the cyclic route.

Description

情報処理装置、サービス提供システム、制御方法、及び制御プログラムInformation processing device, service providing system, control method, and control program
　本開示は、情報処理装置、サービス提供システム、制御方法、及び制御プログラムに関する。 This disclosure relates to an information processing device, a service providing system, a control method, and a control program.
　移動体には、荷物が積まれている。移動体が装置の制御により配送及び集荷を行う技術が提案されている（特許文献１を参照）。特許文献１の移動体の管理装置は、移動体に積載された荷物の配送要求と、移動体を用いた荷物の集荷要求とを取得し、配送要求及び集荷要求において指定された位置へ移動体が移動する指示を移動体に供給する。 　Luggage is loaded onto the mobile object. A technology has been proposed in which the mobile object delivers and collects luggage under the control of a device (see Patent Document 1). The mobile object management device in Patent Document 1 acquires a delivery request for luggage loaded onto the mobile object and a request to collect the luggage using the mobile object, and provides instructions to the mobile object for moving to a location specified in the delivery request and collection request.
特開２０１９－１１７５９５号公報JP 2019-117595 A
　ところで、ユーザは、観光地などに、収集及び配送の少なくとも１つのサービスが存在することを知らないという問題がある。 However, there is a problem in that users are unaware that at least one of collection and delivery services exists in tourist destinations, etc.
　本開示の目的は、サービスをユーザに認識させることである。 The purpose of this disclosure is to make users aware of the service.
　本開示の一態様に係る情報処理装置が提供される。情報処理装置は、巡回経路を示す巡回経路情報を取得する取得部と、前記巡回経路情報に基づいて、収集及び配送の少なくとも１つのサービスを提供する移動体であり、ロッカーを有し、自動運転が可能な前記移動体が前記巡回経路を巡回するように、制御を行う制御部と、を有する。 An information processing device according to one aspect of the present disclosure is provided. The information processing device has an acquisition unit that acquires route information indicating a route, and a control unit that controls the mobile body, which is a mobile body that provides at least one of collection and delivery services based on the route information, has lockers, and is capable of automatic driving, so that the mobile body travels along the route.
　本開示によれば、サービスをユーザに認識させることができる。 This disclosure makes it possible to make users aware of the service.
実施の形態１のサービス提供システムを示す図である。FIG. 1 is a diagram showing a service providing system according to a first embodiment. 実施の形態１の情報処理装置がＡＭＲの内部に存在する場合の図である。FIG. 13 is a diagram showing a case where the information processing device of the first embodiment exists inside an AMR. 実施の形態１の巡回の例を示す図である。FIG. 13 is a diagram showing an example of a tour in the first embodiment; 実施の形態１の情報処理装置が有するハードウェアを示す図である。FIG. 2 is a diagram illustrating hardware included in an information processing device according to a first embodiment. 実施の形態１の情報処理装置の機能を示すブロック図である。2 is a block diagram showing functions of the information processing device according to the first embodiment; 実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その１）である。1 is a flowchart (part 1) illustrating an example of processing executed by the information processing device of the first embodiment. 実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その２）である。11 is a flowchart (part 2) illustrating an example of processing executed by the information processing device according to the first embodiment. 実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その３）である。11 is a flowchart (part 3) illustrating an example of processing executed by the information processing device according to the first embodiment. 実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その４）である。4 is a flowchart (part 4) illustrating an example of processing executed by the information processing device of the first embodiment. 実施の形態１の格納判定処理の例を示すフローチャート（その１）である。11 is a flowchart (part 1) illustrating an example of a storage determination process according to the first embodiment. 実施の形態１の管理テーブルの例を示す図である。FIG. 4 is a diagram illustrating an example of a management table according to the first embodiment; 実施の形態１の格納判定処理の例を示すフローチャート（その２）である。11 is a flowchart (part 2) illustrating an example of the storage determination process according to the first embodiment. （Ａ），（Ｂ）は、実施の形態１の配送の具体例（その１）を示す図である。1A and 1B are diagrams showing a specific example (part 1) of delivery in the first embodiment. （Ａ），（Ｂ）は、実施の形態１の配送の具体例（その２）を示す図である。13A and 13B are diagrams showing a specific example (part 2) of delivery in the first embodiment. 実施の形態１の収集及び配送の処理の例を示すフローチャート（その１）である。1 is a flowchart (part 1) showing an example of collection and delivery processing in the first embodiment. 実施の形態１の収集及び配送の処理の例を示すフローチャート（その２）である。11 is a flowchart (part 2) showing an example of the collection and delivery process of the first embodiment. 実施の形態２の具体例を示す図である。FIG. 13 is a diagram showing a specific example of the second embodiment. 実施の形態２の情報処理装置が実行する処理の例を示すフローチャートである。13 is a flowchart illustrating an example of a process executed by an information processing device according to a second embodiment. 実施の形態３の具体例を示す図である。FIG. 13 is a diagram showing a specific example of the third embodiment. 実施の形態３の情報処理装置が実行する処理の例を示すフローチャート（その１）である。13 is a flowchart (part 1) illustrating an example of processing executed by an information processing device according to a third embodiment. 実施の形態３の情報処理装置が実行する処理の例を示すフローチャート（その２）である。13 is a flowchart (part 2) illustrating an example of processing executed by the information processing device according to the third embodiment.
　以下、図面を参照しながら実施の形態を説明する。以下の実施の形態は、例にすぎず、本開示の範囲内で種々の変更が可能である。 Below, an embodiment will be described with reference to the drawings. The following embodiment is merely an example, and various modifications are possible within the scope of this disclosure.
実施の形態１．
　図１は、実施の形態１のサービス提供システムを示す図である。サービス提供システムは、情報処理装置１００及びＡＭＲ２００を含む。サービス提供システムは、端末装置３００を含んでもよい。情報処理装置１００、ＡＭＲ２００、及び端末装置３００は、ネットワークを介して、通信する。例えば、ネットワークは、無線ネットワークである。 Embodiment 1.
1 is a diagram showing a service providing system according to a first embodiment. The service providing system includes an information processing device 100 and an AMR 200. The service providing system may include a terminal device 300. The information processing device 100, the AMR 200, and the terminal device 300 communicate with each other via a network. For example, the network is a wireless network.
　情報処理装置１００は、制御方法を実行する装置である。例えば、情報処理装置１００は、サーバである。
　ＡＭＲ（Ａｕｔｏｎｏｍｏｕｓ　Ｍｏｂｉｌｅ　Ｒｏｂｏｔ）２００は、自動運転が可能な移動体の一例である。ＡＭＲ２００は、ロッカー２０１～２０３を有する。ロッカー２０１～２０３は、ユーザの荷物を格納できる。また、ＡＭＲ２００が有するロッカーの数は、１つでもよい。ＡＭＲ２００は、収集及び配送の少なくとも１つのサービスを提供する移動体である。
　端末装置３００は、ユーザが使用する装置である。例えば、端末装置３００は、スマートフォン、タブレット端末などである。 The information processing device 100 is a device that executes the control method, and is, for example, a server.
The AMR (Autonomous Mobile Robot) 200 is an example of a mobile body capable of autonomous driving. The AMR 200 has lockers 201 to 203. The lockers 201 to 203 can store users' luggage. The number of lockers that the AMR 200 has may be one. The AMR 200 is a mobile body that provides at least one service of collection and delivery.
The terminal device 300 is a device used by a user. For example, the terminal device 300 is a smartphone, a tablet terminal, or the like.
　図１は、情報処理装置１００がＡＭＲ２００の外部に存在する場合を示している。情報処理装置１００は、ＡＭＲ２００の内部に存在してもよい。 FIG. 1 shows a case where the information processing device 100 exists outside the AMR 200. The information processing device 100 may also exist inside the AMR 200.
　図２は、実施の形態１の情報処理装置がＡＭＲの内部に存在する場合の図である。
　ＡＭＲ２００は、巡回する。具体例を示す。 FIG. 2 is a diagram showing a case where the information processing device of the first embodiment exists inside an AMR.
The AMR 200 performs a cyclic operation.
　図３は、実施の形態１の巡回の例を示す図である。図３は、巡回停止位置及び巡回再開位置を示している。ＡＭＲ２００は、巡回停止位置及び巡回再開位置を含む巡回経路情報に基づいて、巡回する。ＡＭＲ２００は、巡回停止位置で停止する。巡回再開位置については、後で説明する。 FIG. 3 is a diagram showing an example of a tour in the first embodiment. FIG. 3 shows a tour stop position and a tour restart position. AMR200 tours based on tour route information including the tour stop position and the tour restart position. AMR200 stops at the tour stop position. The tour restart position will be explained later.
　次に、情報処理装置１００が有するハードウェアを説明する。
　図４は、実施の形態１の情報処理装置が有するハードウェアを示す図である。情報処理装置１００は、プロセッサ１０１、揮発性記憶装置１０２、及び不揮発性記憶装置１０３を有する。 Next, the hardware of the information processing device 100 will be described.
4 is a diagram showing hardware included in the information processing apparatus according to embodiment 1. The information processing apparatus 100 includes a processor 101, a volatile storage device 102, and a non-volatile storage device 103.
　プロセッサ１０１は、情報処理装置１００全体を制御する。例えば、プロセッサ１０１は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）などである。プロセッサ１０１は、マルチプロセッサでもよい。また、情報処理装置１００は、処理回路を有してもよい。 The processor 101 controls the entire information processing device 100. For example, the processor 101 is a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), etc. The processor 101 may be a multiprocessor. The information processing device 100 may also have a processing circuit.
　揮発性記憶装置１０２は、情報処理装置１００の主記憶装置である。例えば、揮発性記憶装置１０２は、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）である。不揮発性記憶装置１０３は、情報処理装置１００の補助記憶装置である。例えば、不揮発性記憶装置１０３は、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）、又はＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）である。 The volatile memory device 102 is the main memory device of the information processing device 100. For example, the volatile memory device 102 is a RAM (Random Access Memory). The non-volatile memory device 103 is an auxiliary memory device of the information processing device 100. For example, the non-volatile memory device 103 is a HDD (Hard Disk Drive) or an SSD (Solid State Drive).
　次に、情報処理装置１００が有する機能を説明する。
　図５は、実施の形態１の情報処理装置の機能を示すブロック図である。情報処理装置１００は、記憶部１１０、取得部１２０、及び制御部１３０を有する。 Next, functions of the information processing device 100 will be described.
5 is a block diagram showing functions of the information processing device of embodiment 1. The information processing device 100 includes a storage unit 110, an acquisition unit 120, and a control unit 130.
　記憶部１１０は、揮発性記憶装置１０２又は不揮発性記憶装置１０３に確保した記憶領域として実現してもよい。
　取得部１２０及び制御部１３０の一部又は全部は、処理回路によって実現してもよい。また、取得部１２０及び制御部１３０の一部又は全部は、プロセッサ１０１が実行するプログラムのモジュールとして実現してもよい。例えば、プロセッサ１０１が実行するプログラムは、制御プログラムとも言う。例えば、制御プログラムは、記録媒体に記録されている。 The storage unit 110 may be realized as a storage area secured in the volatile storage device 102 or the non-volatile storage device 103 .
A part or all of the acquisition unit 120 and the control unit 130 may be realized by a processing circuit. Also, a part or all of the acquisition unit 120 and the control unit 130 may be realized as a module of a program executed by the processor 101. For example, the program executed by the processor 101 is also called a control program. For example, the control program is recorded on a recording medium.
　取得部１２０は、巡回経路を示す巡回経路情報を取得する。例えば、取得部１２０は、巡回経路情報を記憶部１１０から取得する。また、例えば、取得部１２０は、情報処理装置１００に接続可能な外部装置から巡回経路情報を取得する。例えば、外部装置は、クラウドサーバである。なお、外部装置の図は、省略されている。 The acquisition unit 120 acquires patrol route information indicating a patrol route. For example, the acquisition unit 120 acquires the patrol route information from the storage unit 110. Also, for example, the acquisition unit 120 acquires the patrol route information from an external device that can be connected to the information processing device 100. For example, the external device is a cloud server. Note that the external device is omitted from the diagram.
　制御部１３０は、巡回経路情報に基づいて、ＡＭＲ２００が巡回経路を巡回するように、制御を行う。例えば、制御部１３０は、ＡＭＲ２００が巡回停止位置に停止する度に、ＡＭＲ２００が次の巡回停止位置に移動するように、ＡＭＲ２００に指示を行う。また、例えば、制御部１３０は、巡回経路情報をＡＭＲ２００に送信し、巡回経路情報に基づいて移動を行うように、ＡＭＲ２００に指示を行う。 The control unit 130 controls the AMR 200 to travel along the patrol route based on the patrol route information. For example, the control unit 130 instructs the AMR 200 to move to the next patrol stop position each time the AMR 200 stops at a patrol stop position. Also, for example, the control unit 130 transmits patrol route information to the AMR 200 and instructs the AMR 200 to move based on the patrol route information.
　これにより、ＡＭＲ２００は、巡回する。ユーザは、ロッカーを有するＡＭＲ２００を視認することで、収集及び配送の少なくとも１つのサービスが存在することを認識する。すなわち、ユーザは、ＡＭＲ２００による当該サービスを認識する。よって、実施の形態１によれば、情報処理装置１００は、サービスをユーザに認識させることができる。 As a result, AMR200 makes its rounds. By visually recognizing AMR200 having a locker, the user recognizes that at least one of collection and delivery services is available. In other words, the user recognizes the service provided by AMR200. Thus, according to the first embodiment, the information processing device 100 can make the user aware of the service.
　次に、ユーザが荷物をロッカーに格納する方法（その１）を説明する。
　図６は、実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その１）である。 Next, a method (part 1) for a user to store luggage in a locker will be described.
FIG. 6 is a flowchart (part 1) illustrating an example of processing executed by the information processing device according to the first embodiment.
　ユーザは、巡回しているＡＭＲ２００又は一時停止しているＡＭＲ２００を見つける。ユーザは、ＡＭＲ２００に近づく。ユーザは、ＡＭＲ２００に設置されている停止ボタンを押す。ＡＭＲ２００は、停止する。ＡＭＲ２００は、停止ボタンが押されたことを示す情報を情報処理装置１００に送信する。 The user finds AMR200 that is circulating or paused. The user approaches AMR200. The user presses the stop button installed on AMR200. AMR200 stops. AMR200 transmits information indicating that the stop button has been pressed to information processing device 100.
　（ステップＳ１１）取得部１２０は、停止ボタンが押されたことを示す情報を取得する。
　（ステップＳ１２）制御部１３０は、配送場所及び配送時刻を入力するための画面を、ＡＭＲ２００のディスプレイに表示するように、指示を行う。 (Step S11) The acquisition unit 120 acquires information indicating that the stop button has been pressed.
(Step S12) The control unit 130 issues an instruction to display a screen for inputting a delivery place and a delivery time on the display of the AMR 200.
　ＡＭＲ２００は、当該画面をディスプレイに表示する。ユーザは、配送場所及び配送時刻をＡＭＲ２００に入力する。 AMR200 displays this screen on the display. The user inputs the delivery location and delivery time into AMR200.
　（ステップＳ１３）取得部１２０は、ＡＭＲ２００を介して、ユーザが入力した配送場所及び配送時刻を取得する。
　（ステップＳ１４）制御部１３０は、格納判定処理を行う。格納判定処理では、制御部１３０は、配送場所及び配送時刻を用いて、ユーザの荷物をＡＭＲ２００に格納するか否かを判定する。格納判定処理の詳細は、後で説明する。
　（ステップＳ１５）制御部１３０は、荷物を格納するか否かを判定する。荷物を格納する場合、処理は、ステップＳ１６に進む。荷物を格納しない場合、処理は、ステップＳ２０に進む。
　（ステップＳ１６）制御部１３０は、荷物を格納できることを示す画面を、ＡＭＲ２００のディスプレイに表示するように、指示を行う。 (Step S13) The acquisition unit 120 acquires, via the AMR 200, the delivery location and delivery time input by the user.
(Step S14) The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location and delivery time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
(Step S15) The control unit 130 determines whether or not to store luggage. If luggage is to be stored, the process proceeds to step S16. If luggage is not to be stored, the process proceeds to step S20.
(Step S16) The control unit 130 instructs the AMR 200 to display a screen indicating that luggage can be stored on its display.
　ＡＭＲ２００は、当該画面をディスプレイに表示する。これにより、ユーザは、荷物を格納できることを認識する。 The AMR200 displays this screen on the display. This lets the user know that luggage can be stored.
　（ステップＳ１７）制御部１３０は、空のロッカーを開錠するように、ＡＭＲ２００に指示を行う。 (Step S17) The control unit 130 instructs the AMR 200 to unlock the empty lockers.
　ＡＭＲ２００は、空のロッカーを開錠する。ユーザは、荷物をロッカーに格納する。ユーザは、ロッカーを施錠する。ＡＭＲ２００は、ロッカーが施錠されたことを示す情報を情報処理装置１００に送信する。 AMR200 unlocks an empty locker. The user stores their luggage in the locker. The user locks the locker. AMR200 transmits information indicating that the locker has been locked to the information processing device 100.
　（ステップＳ１８）取得部１２０は、ロッカーが施錠されたことを示す情報を取得する。制御部１３０は、後述する管理テーブルの当該ロッカーに対応するレコードに配送場所及び配送時刻を登録する。
　（ステップＳ１９）制御部１３０は、巡回経路情報に基づいて、ＡＭＲ２００が次の巡回停止位置に移動するように、制御を行う。これにより、ＡＭＲ２００は、次の巡回停止位置に移動する。そして、処理は、終了する。
　（ステップＳ２０）制御部１３０は、荷物を格納できないことを示す画面を、ＡＭＲ２００のディスプレイに表示するように、指示を行う。 (Step S18) The acquisition unit 120 acquires information indicating that the locker is locked. The control unit 130 registers the delivery location and delivery time in a record corresponding to the locker in a management table described later.
(Step S19) The control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
(Step S20) The control unit 130 instructs the AMR 200 to display a screen on its display indicating that the luggage cannot be stored.
　ＡＭＲ２００は、当該画面をディスプレイに表示する。これにより、ユーザは、荷物を格納できないことを認識する。
　このように、情報処理装置１００は、ＡＭＲ２００を制御して、ユーザの荷物をロッカーに格納することができる。 The AMR 200 displays this screen on the display, thereby letting the user know that the luggage cannot be stored.
In this manner, the information processing device 100 can control the AMR 200 to store the user's luggage in the locker.
　また、ＡＭＲ２００は、ロッカーが施錠されたことを示す情報と、ロッカーに対する重量を示す情報とを、情報処理装置１００に送信してもよい。当該重量は、ＡＭＲ２００が有する重量センサにより計測される。制御部１３０は、当該重量が予め定められた閾値以上である場合、巡回経路情報に基づいて、ＡＭＲ２００が次の巡回停止位置に移動するように、制御を行う。これにより、情報処理装置１００は、ＡＭＲ２００がロッカーに荷物が格納されていない状態で、移動することを防止できる。 The AMR 200 may also transmit information indicating that the locker is locked and information indicating the weight of the locker to the information processing device 100. The weight is measured by a weight sensor included in the AMR 200. If the weight is equal to or greater than a predetermined threshold, the control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. This allows the information processing device 100 to prevent the AMR 200 from moving when no luggage is stored in the locker.
　次に、ユーザが荷物をロッカーに格納する方法（その２）を説明する。
　図７は、実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その２）である。 Next, a method (part 2) for a user to store luggage in a locker will be described.
FIG. 7 is a flowchart (part 2) illustrating an example of the process executed by the information processing device according to the first embodiment.
　ユーザは、巡回しているＡＭＲ２００又は一時停止しているＡＭＲ２００を見つける。ユーザは、配送場所及び配送時刻を端末装置３００に入力する。端末装置３００は、配送場所及び配送時刻を情報処理装置１００に送信する。 The user finds a patrolling AMR 200 or a stopped AMR 200. The user inputs the delivery location and delivery time into the terminal device 300. The terminal device 300 transmits the delivery location and delivery time to the information processing device 100.
　（ステップＳ２１）取得部１２０は、配送場所及び配送時刻を端末装置３００から取得する。
　（ステップＳ２２）制御部１３０は、格納判定処理を行う。格納判定処理では、制御部１３０は、配送場所及び配送時刻を用いて、ユーザの荷物をＡＭＲ２００に格納するか否かを判定する。格納判定処理の詳細は、後で説明する。
　（ステップＳ２３）制御部１３０は、荷物を格納するか否かを判定する。荷物を格納する場合、処理は、ステップＳ２４に進む。荷物を格納しない場合、処理は、ステップＳ２８に進む。
　（ステップＳ２４）制御部１３０は、荷物を格納できることを示す情報と、ＡＭＲ２００の停止ボタンとを端末装置３００に送信する。 (Step S21) The acquisition unit 120 acquires the delivery location and the delivery time from the terminal device 300.
(Step S22) The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location and delivery time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
(Step S23) The control unit 130 determines whether or not to store luggage. If the luggage is to be stored, the process proceeds to step S24. If the luggage is not to be stored, the process proceeds to step S28.
(Step S24) The control unit 130 transmits information indicating that the luggage can be stored and a stop button of the AMR 200 to the terminal device 300.
　端末装置３００は、当該情報を表示する。これにより、ユーザは、荷物を格納できることを認識する。また、端末装置３００は、ＡＭＲ２００の停止ボタンを表示する。ユーザは、停止ボタンを押下する。端末装置３００は、ＡＭＲ２００の停止指示を情報処理装置１００に送信する。 The terminal device 300 displays this information. This allows the user to recognize that luggage can be stored. The terminal device 300 also displays a stop button for the AMR 200. The user presses the stop button. The terminal device 300 transmits an instruction to stop the AMR 200 to the information processing device 100.
　（ステップＳ２５）制御部１３０は、当該停止指示に基づいて、ＡＭＲ２００に停止指示を送信する。また、制御部１３０は、空のロッカーを開錠するように、ＡＭＲ２００に指示を行う。 (Step S25) Based on the stop instruction, the control unit 130 sends a stop instruction to the AMR 200. The control unit 130 also instructs the AMR 200 to unlock the empty lockers.
　ＡＭＲ２００は、停止する。そして、ＡＭＲ２００は、空のロッカーを開錠する。ユーザは、ＡＭＲ２００に近づき、荷物をロッカーに格納する。ユーザは、ロッカーを施錠する。ＡＭＲ２００は、ロッカーが施錠されたことを示す情報を情報処理装置１００に送信する。 AMR200 stops. Then, AMR200 unlocks an empty locker. A user approaches AMR200 and stores their luggage in the locker. The user locks the locker. AMR200 transmits information indicating that the locker is locked to information processing device 100.
　（ステップＳ２６）取得部１２０は、ロッカーが施錠されたことを示す情報を取得する。制御部１３０は、後述する管理テーブルの当該ロッカーに対応するレコードに配送場所及び配送時刻を登録する。
　（ステップＳ２７）制御部１３０は、巡回経路情報に基づいて、ＡＭＲ２００が次の巡回停止位置に移動するように、制御を行う。これにより、ＡＭＲ２００は、次の巡回停止位置に移動する。そして、処理は、終了する。
　（ステップＳ２８）制御部１３０は、荷物を格納できないことを示す情報を端末装置３００に送信する。端末装置３００は、当該情報を表示する。これにより、ユーザは、荷物を格納できないことを認識する。 (Step S26) The acquisition unit 120 acquires information indicating that the locker is locked. The control unit 130 registers the delivery location and delivery time in a record corresponding to the locker in a management table described later.
(Step S27) The control unit 130 controls the AMR 200 to move to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
(Step S28) The control unit 130 transmits information indicating that the luggage cannot be stored to the terminal device 300. The terminal device 300 displays the information. This allows the user to recognize that the luggage cannot be stored.
　このように、情報処理装置１００は、ＡＭＲ２００を制御して、ユーザの荷物をロッカーに格納することができる。 In this way, the information processing device 100 can control the AMR 200 to store the user's luggage in a locker.
　次に、ユーザが荷物をロッカーに格納する方法（その３）を説明する。
　図８は、実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その３）である。 Next, a method (third method) for a user to store luggage in a locker will be described.
FIG. 8 is a flowchart (part 3) illustrating an example of the process executed by the information processing device according to the first embodiment.
　ユーザは、配送場所、配送時刻、収集場所、及び収集時刻を端末装置３００に入力する。端末装置３００は、配送場所、配送時刻、収集場所、及び収集時刻を情報処理装置１００に送信する。 The user inputs the delivery location, delivery time, collection location, and collection time into the terminal device 300. The terminal device 300 transmits the delivery location, delivery time, collection location, and collection time to the information processing device 100.
　（ステップＳ３１）取得部１２０は、配送場所、配送時刻、収集場所、及び収集時刻を端末装置３００から取得する。
　（ステップＳ３２）制御部１３０は、格納判定処理を行う。格納判定処理では、制御部１３０は、配送場所、配送時刻、収集場所、及び収集時刻を用いて、ユーザの荷物をＡＭＲ２００に格納するか否かを判定する。格納判定処理の詳細は、後で説明する。
　（ステップＳ３３）制御部１３０は、荷物を格納するか否かを判定する。荷物を格納する場合、処理は、ステップＳ３４に進む。荷物を格納しない場合、処理は、ステップＳ４７に進む。
　（ステップＳ３４）制御部１３０は、ＡＭＲ２００を示す情報を端末装置３００に送信する。 (Step S31) The acquisition unit 120 acquires the delivery location, the delivery time, the collection location, and the collection time from the terminal device 300.
(Step S32) The control unit 130 performs a storage determination process. In the storage determination process, the control unit 130 uses the delivery location, delivery time, collection location, and collection time to determine whether or not to store the user's package in the AMR 200. The details of the storage determination process will be described later.
(Step S33) The control unit 130 determines whether or not to store luggage. If luggage is to be stored, the process proceeds to step S34. If luggage is not to be stored, the process proceeds to step S47.
(Step S34) The control unit 130 transmits information indicating the AMR 200 to the terminal device 300.
　端末装置３００は、当該情報を表示する。これにより、ユーザは、荷物を格納する移動体がＡＭＲ２００であることを認識する。
　制御部１３０は、ＡＭＲ２００の現在位置を端末装置３００に送信してもよい。また、制御部１３０は、荷物を格納可能なＡＭＲが複数存在する場合、ユーザにＡＭＲを選択させてもよい。 The terminal device 300 displays the information, so that the user recognizes that the moving object storing the package is the AMR 200.
The control unit 130 may transmit the current location of the AMR 200 to the terminal device 300. Furthermore, when there are multiple AMRs capable of storing luggage, the control unit 130 may allow the user to select an AMR.
　（ステップＳ３５）制御部１３０は、配送場所、配送時刻、収集場所、及び収集時刻を、後述する管理テーブルに登録する。 (Step S35) The control unit 130 registers the delivery location, delivery time, collection location, and collection time in a management table, which will be described later.
　図９は、実施の形態１の情報処理装置が実行する処理の例を示すフローチャート（その４）である。
　（ステップＳ４１）制御部１３０は、収集時刻に、ＡＭＲ２００が収集場所に到着するように制御を行う。これにより、ＡＭＲ２００は、収集時刻に、収集場所に到着する。なお、ＡＭＲ２００は、収集場所に移動する場合、巡回経路から離脱してもよい。 FIG. 9 is a flowchart (part 4) illustrating an example of the process executed by the information processing device according to the first embodiment.
(Step S41) The control unit 130 controls the AMR 200 so that the AMR 200 arrives at the collection location at the collection time. As a result, the AMR 200 arrives at the collection location at the collection time. Note that the AMR 200 may leave the traveling route when moving to the collection location.
　ＡＭＲ２００は、収集場所に到着したとき、到着通知を情報処理装置１００に送信する。 When the AMR 200 arrives at the collection location, it sends an arrival notification to the information processing device 100.
　（ステップＳ４２）取得部１２０は、到着通知を取得する。
　（ステップＳ４３）制御部１３０は、ＡＭＲ２００が到着したことを示す情報を端末装置３００に送信する。
　（ステップＳ４４）制御部１３０は、空のロッカーを開錠するように、ＡＭＲ２００に指示を行う。 (Step S42) The acquisition unit 120 acquires the arrival notification.
(Step S43) The control unit 130 transmits, to the terminal device 300, information indicating that the AMR 200 has arrived.
(Step S44) The control unit 130 instructs the AMR 200 to unlock the empty lockers.
　ＡＭＲ２００は、空のロッカーを開錠する。ユーザは、ＡＭＲ２００に近づき、荷物をロッカーに格納する。ユーザは、ロッカーを施錠する。ＡＭＲ２００は、ロッカーが施錠されたことを示す情報を情報処理装置１００に送信する。 AMR200 unlocks an empty locker. A user approaches AMR200 and stores their luggage in the locker. The user locks the locker. AMR200 transmits information indicating that the locker is locked to information processing device 100.
　（ステップＳ４５）取得部１２０は、ロッカーが施錠されたことを示す情報を取得する。
　（ステップＳ４６）制御部１３０は、巡回経路情報に基づいて、ＡＭＲ２００が次の巡回停止位置に移動するように、制御を行う。これにより、ＡＭＲ２００は、次の巡回停止位置に移動する。
　（ステップＳ４７）制御部１３０は、収集及び配送を行えないことを示す情報を端末装置３００に送信する。端末装置３００は、当該情報を表示する。これにより、ユーザは、収集及び配送を行えないことを認識する。 (Step S45) The acquisition unit 120 acquires information indicating that the locker is locked.
(Step S46) The control unit 130 performs control so that the AMR 200 moves to the next patrol stop position based on the patrol route information. As a result, the AMR 200 moves to the next patrol stop position.
(Step S47) The control unit 130 transmits information indicating that collection and delivery cannot be performed to the terminal device 300. The terminal device 300 displays the information. This allows the user to recognize that collection and delivery cannot be performed.
　このように、情報処理装置１００は、ユーザの荷物をＡＭＲ２００に収集させることができる。 In this way, the information processing device 100 can have the AMR 200 collect the user's luggage.
　次に、格納判定処理を説明する。
　図１０は、実施の形態１の格納判定処理の例を示すフローチャート（その１）である。図１０及び図１２の処理は、ステップＳ１４，２２，３２に対応する。
　（ステップＳ５１）取得部１２０は、管理テーブルを記憶部１１０又は外部装置から取得する。管理テーブルの例を示す。 Next, the storage determination process will be described.
10 is a flowchart (part 1) showing an example of the storage determination process according to the embodiment 1. The processes in FIGS.
(Step S51) The acquiring unit 120 acquires a management table from the storage unit 110 or an external device. An example of the management table is shown below.
　図１１は、実施の形態１の管理テーブルの例を示す図である。例えば、管理テーブル１１１は、記憶部１１０に格納されている。管理テーブル１１１は、管理情報とも言う。管理テーブル１１１は、ロッカーの管理情報である。管理テーブル１１１は、ロッカー、配送場所、配送時刻、収集場所、及び収集時刻の項目を有する。 FIG. 11 is a diagram showing an example of a management table in embodiment 1. For example, management table 111 is stored in memory unit 110. Management table 111 is also referred to as management information. Management table 111 is management information for lockers. Management table 111 has fields for locker, delivery location, delivery time, collection location, and collection time.
　（ステップＳ５２）制御部１３０は、管理テーブル１１１に基づいて、全てのロッカーが使用されているか否かを判定する。全てのロッカーが使用されている場合、処理は、ステップＳ６４に進む。全てのロッカーが使用されていない場合、処理は、ステップＳ５３に進む。 (Step S52) The control unit 130 determines whether or not all lockers are in use based on the management table 111. If all lockers are in use, the process proceeds to step S64. If none of the lockers are in use, the process proceeds to step S53.
　（ステップＳ５３）取得部１２０は、地図情報とＡＭＲ２００の速さとＡＭＲ２００の現在位置情報とを取得する。例えば、取得部１２０は、地図情報とＡＭＲ２００の速さとを記憶部１１０又は外部装置から取得する。また、例えば、取得部１２０は、ＡＭＲ２００の現在位置情報をＡＭＲ２００から取得する。 (Step S53) The acquisition unit 120 acquires map information, the speed of the AMR 200, and current location information of the AMR 200. For example, the acquisition unit 120 acquires the map information and the speed of the AMR 200 from the storage unit 110 or an external device. Also, for example, the acquisition unit 120 acquires the current location information of the AMR 200 from the AMR 200.
　（ステップＳ５４）制御部１３０は、配送の判定を行うか否かを判定する。配送の判定を行う場合、処理は、ステップＳ５５に進む。収集及び配送の判定を行う場合、処理は、ステップＳ６１に進む。 (Step S54) The control unit 130 determines whether or not to perform a delivery determination. If a delivery determination is to be performed, the process proceeds to step S55. If collection and delivery determination is to be performed, the process proceeds to step S61.
　（ステップＳ５５）制御部１３０は、管理テーブル１１１、取得された配送場所、及び取得された配送時刻に基づいて、スケジュールを生成する。なお、取得された配送場所、及び取得された配送時刻は、ステップＳ１３又はステップＳ２１で取得された配送場所及び配送時刻である。 (Step S55) The control unit 130 generates a schedule based on the management table 111, the acquired delivery location, and the acquired delivery time. Note that the acquired delivery location and the acquired delivery time are the delivery location and delivery time acquired in step S13 or step S21.
　例えば、制御部１３０は、配送場所Ｘ１，Ｘ２，Ｘ３、配送時刻Ｔ１，Ｔ２，Ｔ３、収集場所Ｙ３、収集時刻Ｔ１３、ステップＳ１３で取得された配送場所、及びステップＳ１３で取得された配送時刻に基づいて、スケジュールを生成する。 For example, the control unit 130 generates a schedule based on the delivery locations X1, X2, and X3, the delivery times T1, T2, and T3, the collection location Y3, the collection time T13, the delivery location acquired in step S13, and the delivery time acquired in step S13.
　（ステップＳ５６）制御部１３０は、地図情報、ＡＭＲ２００の速さ、及びＡＭＲ２００の現在位置情報を用いて、ＡＭＲ２００が現在位置からスケジュールを実行できるか否かを判定する。スケジュールを実行できる場合、処理は、ステップＳ６３に進む。スケジュールを実行できない場合、処理は、ステップ６４に進む。 (Step S56) The control unit 130 uses the map information, the speed of the AMR 200, and the current location information of the AMR 200 to determine whether the AMR 200 can execute the schedule from its current location. If the schedule can be executed, the process proceeds to step S63. If the schedule cannot be executed, the process proceeds to step S64.
　図１２は、実施の形態１の格納判定処理の例を示すフローチャート（その２）である。
　（ステップＳ６１）制御部１３０は、管理テーブル１１１、取得された配送場所、及び取得された配送時刻、取得された収集場所、及び取得された収集時刻に基づいて、スケジュールを生成する。なお、取得された配送場所、及び取得された配送時刻、取得された収集場所、及び取得された収集時刻は、ステップＳ３１で取得された配送場所、配送時刻、収集場所、及び収集時刻である。 FIG. 12 is a flowchart (part 2) illustrating an example of the storage determination process according to the first embodiment.
(Step S61) The control unit 130 generates a schedule based on the management table 111, the acquired delivery location, the acquired delivery time, the acquired collection location, and the acquired collection time. Note that the acquired delivery location, the acquired delivery time, the acquired collection location, and the acquired collection time are the delivery location, the delivery time, the collection location, and the acquired collection time acquired in step S31.
　（ステップＳ６２）制御部１３０は、地図情報、ＡＭＲ２００の速さ、及びＡＭＲ２００の現在位置情報を用いて、ＡＭＲ２００が現在位置からスケジュールを実行できるか否かを判定する。スケジュールを実行できる場合、処理は、ステップＳ６３に進む。スケジュールを実行できない場合、処理は、ステップＳ６４に進む。
　（ステップＳ６３）制御部１３０は、荷物を格納すると判定する。
　（ステップＳ６４）制御部１３０は、荷物を格納しないと判定する。 (Step S62) The control unit 130 uses the map information, the speed of the AMR 200, and the current position information of the AMR 200 to determine whether the AMR 200 can execute the schedule from the current position. If the schedule can be executed, the process proceeds to step S63. If the schedule cannot be executed, the process proceeds to step S64.
(Step S63) The control unit 130 determines to store the luggage.
(Step S64) The control unit 130 determines not to store the luggage.
　このように、情報処理装置１００は、格納判定処理を行う。情報処理装置１００は、格納判定処理により、配送できないということを防ぐことができる。また、情報処理装置１００は、格納判定処理により、収集及び配送を行うことができないということを防ぐことができる。 In this way, the information processing device 100 performs a storage determination process. The information processing device 100 can prevent a situation in which delivery is not possible due to the storage determination process. Furthermore, the information processing device 100 can prevent a situation in which collection and delivery are not possible due to the storage determination process.
　また、情報処理装置１００は、全てのロッカーが使用されているか否かを判定する。情報処理装置１００は、当該判定により、速やかに、荷物を格納するか否かを判定することができる。 The information processing device 100 also determines whether all lockers are in use. Based on this determination, the information processing device 100 can quickly determine whether or not to store luggage.
　取得部１２０は、荷物の重量又は大きさを示す情報を取得してもよい。例えば、取得部１２０は、当該情報を端末装置３００から取得する。制御部１３０は、当該荷物の重量がロッカーに対して規定されている重量よりも重い場合、荷物をＡＭＲ２００に格納しないと判定する。これにより、情報処理装置１００は、規定の重量よりも重い荷物がロッカーに格納されることを防ぐことができる。また、制御部１３０は、当該荷物の大きさがロッカーに対して規定されている大きさよりも大きい場合、荷物をＡＭＲ２００に格納しないと判定する。これにより、情報処理装置１００は、規定の大きさよりも大きい荷物がロッカーに格納されることを防ぐことができる。 The acquisition unit 120 may acquire information indicating the weight or size of the luggage. For example, the acquisition unit 120 acquires the information from the terminal device 300. If the weight of the luggage is heavier than the weight specified for the locker, the control unit 130 determines not to store the luggage in the AMR 200. This allows the information processing device 100 to prevent luggage that is heavier than the specified weight from being stored in a locker. Furthermore, if the size of the luggage is larger than the size specified for the locker, the control unit 130 determines not to store the luggage in the AMR 200. This allows the information processing device 100 to prevent luggage that is larger than the specified size from being stored in a locker.
　次に、収集及び配送を説明する。まず、簡単に配送の具体例を説明する。以下の具体例は、収集の場合も同様に実行される。
　図１３（Ａ），（Ｂ）は、実施の形態１の配送の具体例（その１）を示す図である。図１３（Ａ）は、ＡＭＲ２００が巡回経路を巡回していることを示している。図１３（Ｂ）が示すように、配送場所は、巡回経路上に存在しなくてもよい。情報処理装置１００は、ＡＭＲ２００が巡回停止位置に到着する度、配送時刻に荷物を届けることができるか否かを判定する。 Next, collection and delivery will be described. First, a simple example of delivery will be described. The following example is also executed in the case of collection.
13A and 13B are diagrams showing a specific example (part 1) of delivery in the first embodiment. FIG. 13A shows that the AMR 200 travels along a route. As shown in FIG. 13B, the delivery location does not have to be on the route. Each time the AMR 200 arrives at a route stop position, the information processing device 100 determines whether or not the package can be delivered at the delivery time.
　図１３（Ｂ）は、配送経路１０を示している。情報処理装置１００は、配送時刻に、ＡＭＲ２００が配送場所に到着するように制御を行う。また、情報処理装置１００は、最短経路を検出し、ＡＭＲ２００が最短経路を移動するように制御を行ってもよい。 FIG. 13(B) shows the delivery route 10. The information processing device 100 controls the AMR 200 so that it arrives at the delivery location at the delivery time. The information processing device 100 may also detect the shortest route and control the AMR 200 to move along the shortest route.
　図１４（Ａ），（Ｂ）は、実施の形態１の配送の具体例（その２）を示す図である。図１４（Ａ）は、ＡＭＲ２００が配送場所に到着したことを示している。情報処理装置１００は、ＡＭＲ２００が配送場所に到着した場合、ＡＭＲ２００が巡回再開位置に移動するように制御を行う。図１４（Ｂ）は、ＡＭＲ２００が巡回再開位置に到着したことを示している。情報処理装置１００は、ＡＭＲ２００が巡回再開位置に到着した場合、巡回経路情報に基づいて、ＡＭＲ２００を制御する。 Figures 14 (A) and (B) are diagrams showing a specific example (part 2) of delivery in embodiment 1. Figure 14 (A) shows that AMR 200 has arrived at the delivery location. When AMR 200 has arrived at the delivery location, information processing device 100 controls AMR 200 to move to the tour restart position. Figure 14 (B) shows that AMR 200 has arrived at the tour restart position. When AMR 200 has arrived at the tour restart position, information processing device 100 controls AMR 200 based on the tour route information.
　次に、収集及び配送の処理を、フローチャートを用いて説明する。
　図１５は、実施の形態１の収集及び配送の処理の例を示すフローチャート（その１）である。例えば、ＡＭＲ２００が収集を行う場合、図１５，１６の処理は、ステップＳ４１に対応する。 Next, the collection and delivery process will be described with reference to a flowchart.
15 is a flowchart (part 1) showing an example of the collection and delivery process of embodiment 1. For example, when the AMR 200 performs collection, the process of FIGS.
　（ステップＳ７１）取得部１２０は、ＡＭＲ２００が巡回停止位置に到着したことを示す情報をＡＭＲ２００から取得する。
　（ステップＳ７２）取得部１２０は、管理テーブル１１１の中から現在時刻に最も近い時刻を取得する。取得された時刻は、収集時刻又は配送時刻である。取得部１２０は、取得された時刻に対応する場所を取得する。収集時刻が取得された場合、取得部１２０は、当該収集時刻に対応する収集場所を取得する。配送時刻が取得された場合、取得部１２０は、当該配送時刻に対応する配送場所を取得する。取得部１２０は、地図情報とＡＭＲ２００の速さを取得する。 (Step S71) The acquisition unit 120 acquires, from the AMR 200, information indicating that the AMR 200 has arrived at a patrol stop position.
(Step S72) The acquisition unit 120 acquires the time closest to the current time from the management table 111. The acquired time is the collection time or the delivery time. The acquisition unit 120 acquires the location corresponding to the acquired time. If a collection time is acquired, the acquisition unit 120 acquires the collection location corresponding to the collection time. If a delivery time is acquired, the acquisition unit 120 acquires the delivery location corresponding to the delivery time. The acquisition unit 120 acquires map information and the speed of the AMR 200.
　（ステップＳ７３）制御部１３０は、地図情報及びＡＭＲ２００の速さを用いて、ＡＭＲ２００が現在位置からステップＳ７２で取得された場所に到着する時刻を算出する。算出された時刻は、時刻Ａとする。
　（ステップＳ７４）制御部１３０は、ステップＳ７２で取得された時刻と時刻Ａとの差分Ｄ１を算出する。
　（ステップＳ７５）制御部１３０は、地図情報及びＡＭＲ２００の速さを用いて、ＡＭＲ２００が次の巡回停止位置からステップＳ７２で取得された場所に到着する時刻を算出する。算出された時刻は、時刻Ｂとする。
　（ステップＳ７６）制御部１３０は、ステップＳ７２で取得された時刻と時刻Ｂとの差分Ｄ２を算出する。 (Step S73) The control unit 130 calculates the time when the AMR 200 will arrive at the location acquired in step S72 from the current position, using the map information and the speed of the AMR 200. The calculated time is referred to as time A.
(Step S74) The control unit 130 calculates a difference D1 between the time acquired in step S72 and the time A.
(Step S75) The control unit 130 calculates the time at which the AMR 200 will arrive at the location acquired in step S72 from the next patrol stop position, using the map information and the speed of the AMR 200. The calculated time is referred to as time B.
(Step S76) The control unit 130 calculates a difference D2 between the time acquired in step S72 and time B.
　（ステップＳ７７）制御部１３０は、差分Ｄ１が第１の閾値以下であり、かつ、差分Ｄ２が第２の閾値以上であるか否かを判定する。条件を満たす場合、処理は、ステップＳ７８に進む。条件を満たさない場合、処理は、ステップＳ７９に進む。
　（ステップＳ７８）制御部１３０は、ＡＭＲ２００がステップＳ７２で取得された場所に移動するように、制御を行う。例えば、制御部１３０は、ＡＭＲ２００が収集場所に移動するように、制御を行う。また、例えば、制御部１３０は、ＡＭＲ２００が配送場所に移動するように、制御を行う。これにより、ＡＭＲ２００は、収集場所又は配送場所に移動する。そして、処理は、ステップＳ８１に進む。
　（ステップＳ７９）制御部１３０は、ＡＭＲ２００が次の巡回停止位置に移動するように制御を行う。これにより、ＡＭＲ２００は、次の巡回停止位置に移動する。そして、処理は、終了する。 (Step S77) The control unit 130 determines whether or not the difference D1 is equal to or less than the first threshold and the difference D2 is equal to or more than the second threshold. If the condition is met, the process proceeds to step S78. If the condition is not met, the process proceeds to step S79.
(Step S78) The control unit 130 controls the AMR 200 to move to the location acquired in step S72. For example, the control unit 130 controls the AMR 200 to move to a collection location. Also, for example, the control unit 130 controls the AMR 200 to move to a delivery location. As a result, the AMR 200 moves to the collection location or the delivery location. Then, the process proceeds to step S81.
(Step S79) The control unit 130 controls the AMR 200 to move to the next patrol stop position. As a result, the AMR 200 moves to the next patrol stop position. Then, the process ends.
　図１６は、実施の形態１の収集及び配送の処理の例を示すフローチャート（その２）である。
　（ステップＳ８１）取得部１２０は、収集又は配送の完了通知をＡＭＲ２００から取得する。
　（ステップＳ８２）取得部１２０は、管理テーブル１１１の中から現在時刻に最も近い時刻を取得する。取得された時刻は、収集時刻又は配送時刻である。取得部１２０は、取得された時刻に対応する場所を取得する。収集時刻が取得された場合、取得部１２０は、当該収集時刻に対応する収集場所を取得する。配送時刻が取得された場合、取得部１２０は、当該配送時刻に対応する配送場所を取得する。取得部１２０は、地図情報とＡＭＲ２００の速さを取得する。 FIG. 16 is a flowchart (part 2) illustrating an example of the collection and delivery process according to the first embodiment.
(Step S81) The acquisition unit 120 acquires a collection or delivery completion notification from the AMR 200.
(Step S82) The acquisition unit 120 acquires the time closest to the current time from the management table 111. The acquired time is the collection time or the delivery time. The acquisition unit 120 acquires the location corresponding to the acquired time. If a collection time is acquired, the acquisition unit 120 acquires the collection location corresponding to the collection time. If a delivery time is acquired, the acquisition unit 120 acquires the delivery location corresponding to the delivery time. The acquisition unit 120 acquires map information and the speed of the AMR 200.
　（ステップＳ８３）制御部１３０は、収集又は配送を継続するか否かを判定する。継続する場合、処理は、ステップＳ８５に進む。継続しない場合、処理は、ステップＳ８４に進む。
　ステップＳ８３の処理を詳細に説明する。制御部１３０は、地図情報及びＡＭＲ２００の速さを用いて、ＡＭＲ２００が巡回再開位置に戻っても、ステップＳ８２で取得された時刻に、ＡＭＲ２００がステップＳ８２で取得された場所に到着できるか否かを判定する。到着できる場合、処理は、ステップＳ８４に進む。到着できない場合、処理は、ステップＳ８５に進む。 (Step S83) The control unit 130 determines whether or not to continue collection or delivery. If to continue, the process proceeds to step S85. If not to continue, the process proceeds to step S84.
The process of step S83 will be described in detail. Using the map information and the speed of the AMR 200, the control unit 130 determines whether the AMR 200 can arrive at the location acquired in step S82 at the time acquired in step S82 even if the AMR 200 returns to the tour restart position. If the AMR 200 can arrive, the process proceeds to step S84. If the AMR 200 cannot arrive, the process proceeds to step S85.
　（ステップＳ８４）制御部１３０は、ＡＭＲ２００が巡回再開位置に移動するように制御を行う。これにより、ＡＭＲ２００は、巡回再開位置に移動する。
　（ステップＳ８５）制御部１３０は、ＡＭＲ２００がステップＳ８２で取得された場所に移動するように、制御を行う。これにより、ＡＭＲ２００は、収集場所又は配送場所に移動する。 (Step S84) The control unit 130 controls the AMR 200 to move to the tour restart position. As a result, the AMR 200 moves to the tour restart position.
(Step S85) The control unit 130 controls the AMR 200 to move to the location acquired in step S82. As a result, the AMR 200 moves to the collection location or the delivery location.
　このように、情報処理装置１００は、ユーザの荷物をＡＭＲ２００に配送させることができる。また、情報処理装置１００は、ユーザの荷物をＡＭＲ２００に収集させることができる。 In this way, the information processing device 100 can have the AMR 200 deliver the user's package. The information processing device 100 can also have the AMR 200 collect the user's package.
実施の形態２．
　次に、実施の形態２を説明する。実施の形態２では、実施の形態１と相違する事項を主に説明する。そして、実施の形態２では、実施の形態１と共通する事項の説明を省略する。 Embodiment 2.
Next, a description will be given of embodiment 2. In embodiment 2, differences from embodiment 1 will be mainly described. Furthermore, in embodiment 2, description of matters common to embodiment 1 will be omitted.
　実施の形態２の具体例を、図を用いて簡単に説明する。
　図１７は、実施の形態２の具体例を示す図である。図１７は、巡回エリア２１と巡回エリア２２とを示している。ＡＭＲ２００は、巡回エリア２１と巡回エリア２２とを巡回する。 A specific example of the second embodiment will be briefly described with reference to the drawings.
17 is a diagram showing a specific example of the embodiment 2. FIG 17 shows a traveling area 21 and a traveling area 22. The AMR 200 travels between the traveling area 21 and the traveling area 22.
　ここで、多くのユーザにＡＭＲ２００を認識してもらうために、ＡＭＲ２００は、多くのユーザが集まるエリアを巡回することが望ましい。そこで、情報処理装置１００は、ＡＭＲ２００が多くのユーザが集まるエリアを巡回するように、制御を行う。以下、詳細に当該制御を説明する。 Here, in order for many users to recognize AMR200, it is desirable for AMR200 to travel to areas where many users gather. Therefore, information processing device 100 controls AMR200 so that it travels to areas where many users gather. This control will be explained in detail below.
　まず、多くのユーザが集まるエリアと少ないユーザが集まるエリアとには、優先度が付される。巡回エリア２１は、優先度の低いエリアである。巡回エリア２１は、少ないユーザが集まるエリアである。巡回エリア２２は、優先度の高いエリアである。巡回エリア２２は、多くのユーザが集まるエリアである。また、巡回エリア２１は、第１の巡回エリアとも言う。巡回エリア２２は、第２の巡回エリアとも言う。 First, priorities are assigned to areas where many users gather and areas where few users gather. Patrol area 21 is an area with a low priority. Patrol area 21 is an area where few users gather. Patrol area 22 is an area with a high priority. Patrol area 22 is an area where many users gather. Patrol area 21 is also called the first patronage area. Patrol area 22 is also called the second patronage area.
　ＡＭＲ２００は、収集又は配送のために、巡回エリア２１に存在している。収集又は配送が完了した後、情報処理装置１００は、次の処理を行う。情報処理装置１００は、ＡＭＲ２００が巡回エリア２１に存在しており、次の収集又は配送の依頼である第１の依頼の収集場所又は配送場所と、当該第１の依頼の次の依頼である第２の依頼の収集場所又は配送場所とが巡回エリア２１に存在しており、かつ当該第１の依頼の収集時刻又は配送時刻と当該第２の依頼の収集時刻又は配送時刻との差が予め定められた閾値以上である場合、ＡＭＲ２００が巡回エリア２２で巡回するように、制御を行う。なお、第２の依頼は、収集又は配送の依頼である。このように、情報処理装置１００は、時間に余裕がある場合、ＡＭＲ２００を巡回エリア２１で巡回させるのではなく、ＡＭＲ２００を巡回エリア２２で巡回させる。これにより、情報処理装置１００は、多くのユーザにＡＭＲ２００を認識させることができる。言い換えれば、情報処理装置１００は、多くのユーザにサービスを認識してもらうことができる。 AMR200 is present in the patrol area 21 for collection or delivery. After the collection or delivery is completed, the information processing device 100 performs the following process. When AMR200 is present in the patrol area 21, the collection location or delivery location of the first request, which is the next collection or delivery request, and the collection location or delivery location of the second request, which is the next request of the first request, are present in the patrol area 21, and the difference between the collection time or delivery time of the first request and the collection time or delivery time of the second request is equal to or greater than a predetermined threshold, the information processing device 100 controls AMR200 to patrol the patrol area 22. Note that the second request is a collection or delivery request. In this way, when there is time to spare, the information processing device 100 does not cause AMR200 to patrol the patrol area 21, but causes AMR200 to patrol the patrol area 22. This allows the information processing device 100 to make many users aware of the AMR 200. In other words, the information processing device 100 can make many users aware of the service.
　次に、情報処理装置１００が実行する処理を、フローチャートを用いて説明する。
　図１８は、実施の形態２の情報処理装置が実行する処理の例を示すフローチャートである。
　（ステップＳ９１）制御部１３０は、ＡＭＲ２００の現在位置に基づいて、ＡＭＲ２００が巡回エリア２１に存在するか否かを判定する。ＡＭＲ２００が巡回エリア２１に存在する場合、処理は、ステップＳ９２に進む。ＡＭＲ２００が巡回エリア２２に存在する場合、処理は、終了する。 Next, the process executed by the information processing device 100 will be described with reference to a flowchart.
FIG. 18 is a flowchart illustrating an example of processing executed by the information processing device according to the second embodiment.
(Step S91) Control unit 130 determines, based on the current position of AMR 200, whether or not AMR 200 is present in traveling area 21. If AMR 200 is present in traveling area 21, processing proceeds to step S92. If AMR 200 is present in traveling area 22, processing ends.
　（ステップＳ９２）取得部１２０は、管理テーブル１１１の中から現在時刻に最も近い時刻を取得する。取得部１２０は、取得された時刻に対応する場所を取得する。
　（ステップＳ９３）制御部１３０は、取得された場所が巡回エリア２１に存在するか否かを判定する。当該場所が巡回エリア２１に存在する場合、処理は、ステップＳ９４に進む。当該場所が巡回エリア２２に存在する場合、処理は、ステップＳ９７に進む。
　（ステップＳ９４）取得部１２０は、管理テーブル１１１から、ステップＳ９２で取得された時刻の次の時刻を取得する。取得部１２０は、取得された時刻に対応する場所を取得する。 (Step S92) The acquiring unit 120 acquires the time that is closest to the current time from the management table 111. The acquiring unit 120 acquires the location that corresponds to the acquired time.
(Step S93) The control unit 130 determines whether or not the acquired location is present in the traveling area 21. If the location is present in the traveling area 21, the process proceeds to step S94. If the location is present in the traveling area 22, the process proceeds to step S97.
(Step S94) The acquiring unit 120 acquires the time next to the time acquired in step S92 from the management table 111. The acquiring unit 120 acquires the location corresponding to the acquired time.
　（ステップＳ９５）制御部１３０は、取得された場所が巡回エリア２１に存在するか否かを判定する。当該場所が巡回エリア２１に存在する場合、処理は、ステップＳ９６に進む。当該場所が巡回エリア２２に存在する場合、処理は、ステップＳ９７に進む。
　（ステップＳ９６）制御部１３０は、ステップＳ９２で取得された時刻と、ステップＳ９４で取得された時刻との差が閾値以上であるか否かを判定する。差が閾値以上である場合、処理は、ステップＳ９７に進む。差が閾値未満である場合、処理は、ステップＳ９８に進む。 (Step S95) The control unit 130 determines whether or not the acquired location is present in the traveling area 21. If the location is present in the traveling area 21, the process proceeds to step S96. If the location is present in the traveling area 22, the process proceeds to step S97.
(Step S96) The control unit 130 determines whether the difference between the time acquired in step S92 and the time acquired in step S94 is equal to or greater than a threshold. If the difference is equal to or greater than the threshold, the process proceeds to step S97. If the difference is less than the threshold, the process proceeds to step S98.
　（ステップＳ９７）制御部１３０は、ＡＭＲ２００が巡回エリア２２で巡回するように、制御を行う。詳細には、制御部１３０は、ＡＭＲ２００が巡回エリア２２の巡回再開位置に移動するように、制御を行う。制御部１３０は、ＡＭＲ２００が巡回エリア２２の巡回経路情報に基づいて巡回するように、制御を行う。以降、図１５，１６の処理が、実行される。
　（ステップＳ９８）制御部１３０は、ＡＭＲ２００が巡回エリア２１で巡回するように、制御を行う。詳細には、制御部１３０は、ＡＭＲ２００が巡回エリア２１の巡回経路情報に基づいて巡回するように、制御を行う。以降、図１５，１６の処理が、実行される。 (Step S97) The control unit 130 controls the AMR 200 to patrol in the routing area 22. In particular, the control unit 130 controls the AMR 200 to move to a routing restart position in the routing area 22. The control unit 130 controls the AMR 200 to patrol based on the routing route information of the routing area 22. Thereafter, the processes of FIGS. 15 and 16 are executed.
(Step S98) The control unit 130 controls the AMR 200 so that it travels in the traveling area 21. In particular, the control unit 130 controls the AMR 200 so that it travels based on the traveling route information of the traveling area 21. Thereafter, the processes in FIGS. 15 and 16 are executed.
　実施の形態２によれば、情報処理装置１００は、多くのユーザにサービスを認識してもらうことができる。 According to embodiment 2, the information processing device 100 can make many users aware of the service.
　情報処理装置１００は、次の処理を実行してもよい。制御部１３０は、巡回エリア２２の巡回再開位置を経由して、ステップＳ９２で取得された場所に到着する時刻（以下、第１の時刻）を算出する。制御部１３０は、巡回エリア２２の巡回再開位置を経由して、ステップＳ９４で取得された場所に到着する時刻（以下、第２の時刻）を算出する。制御部１３０は、第１の時刻と第２の時刻との差が当該閾値以上の場合、ＡＭＲ２００が巡回エリア２２で巡回するように、制御を行う。 The information processing device 100 may execute the following process. The control unit 130 calculates the time (hereinafter, the first time) at which the AMR 200 will arrive at the location acquired in step S92 via the patrol restart position in the patrol area 22. The control unit 130 calculates the time (hereinafter, the second time) at which the AMR 200 will arrive at the location acquired in step S94 via the patrol restart position in the patrol area 22. If the difference between the first time and the second time is equal to or greater than the threshold, the control unit 130 controls the AMR 200 to patrol in the patrol area 22.
実施の形態３．
　次に、実施の形態３を説明する。実施の形態３では、実施の形態１と相違する事項を主に説明する。そして、実施の形態３では、実施の形態１と共通する事項の説明を省略する。 Embodiment 3.
Next, a description will be given of embodiment 3. In embodiment 3, differences from embodiment 1 will be mainly described. Furthermore, in embodiment 3, description of matters common to embodiment 1 will be omitted.
　実施の形態３の具体例を、図を用いて簡単に説明する。
　図１９は、実施の形態３の具体例を示す図である。図１９は、巡回エリア３１と巡回エリア３２とを示している。ＡＭＲ２００は、巡回エリア３１を巡回する。ＡＭＲ２０１は、巡回エリア３２を巡回する。ここで、ＡＭＲ２００は、第１の移動体とも言う。ＡＭＲ２０１は、第２の移動体とも言う。巡回エリア３１は、第１の巡回エリアとも言う。巡回エリア３２は、第２の巡回エリアとも言う。 A specific example of the third embodiment will be briefly described with reference to the drawings.
Fig. 19 is a diagram showing a specific example of the third embodiment. Fig. 19 shows a routing area 31 and a routing area 32. AMR 200 patrols in routing area 31. AMR 201 patrols in routing area 32. Here, AMR 200 is also called a first mobile object. AMR 201 is also called a second mobile object. Route 31 is also called a first routing area. Route 32 is also called a second routing area.
　ＡＭＲ２００は、巡回エリア３２に配送する荷物を格納しているものとする。情報処理装置１００は、ＡＭＲ２００とＡＭＲ２０１とを荷物移し替え位置に移動するように、制御を行う。これにより、ＡＭＲ２００とＡＭＲ２０１とは、荷物移し替え位置に移動する。情報処理装置１００は、荷物を移し替えるように、ＡＭＲ２００に指示する。これにより、ＡＭＲ２００は、ロボットアーム、ベルトコンベアなどの移し替え手段を用いて、荷物をＡＭＲ２０１に移し替える。ＡＭＲ２００は、移し替え完了通知を情報処理装置１００に送信する。ＡＭＲ２０１は、移し替え完了通知を情報処理装置１００に送信してもよい。情報処理装置１００は、移し替え完了通知を取得する。情報処理装置１００は、荷物の配送をＡＭＲ２０１に指示する。なお、当該指示は、荷物の配送場所を含む。また、当該指示は、荷物の配送時刻を含んでもよい。これにより、ＡＭＲ２０１は、荷物の配送場所に移動する。このように、ＡＭＲ２００が巡回エリア３２に移動しないため、ＡＭＲ２００のエネルギー消費量が、抑制される。また、複数のＡＭＲが巡回するため、サービスに対するユーザの認識度が、向上する。 It is assumed that AMR200 stores luggage to be delivered to patrol area 32. Information processing device 100 controls AMR200 and AMR201 to move to the luggage transfer position. As a result, AMR200 and AMR201 move to the luggage transfer position. Information processing device 100 instructs AMR200 to transfer the luggage. As a result, AMR200 transfers the luggage to AMR201 using a transfer means such as a robot arm or a conveyor belt. AMR200 transmits a transfer completion notification to information processing device 100. AMR201 may transmit a transfer completion notification to information processing device 100. Information processing device 100 acquires the transfer completion notification. Information processing device 100 instructs AMR201 to deliver the luggage. Note that the instruction includes the delivery location of the luggage. The instruction may also include the delivery time of the package. This causes AMR 201 to move to the delivery location of the package. In this way, AMR 200 does not move to patrol area 32, so the energy consumption of AMR 200 is reduced. In addition, because multiple AMRs patrol, user awareness of the service is improved.
　次に、情報処理装置１００が実行する処理を、フローチャートを用いて説明する。
　図２０は、実施の形態３の情報処理装置が実行する処理の例を示すフローチャート（その１）である。
　（ステップＳ１０１）取得部１２０は、ＡＭＲ２００が巡回停止位置に到着したことを示す情報を取得する。
　（ステップＳ１０２）取得部１２０は、管理テーブル１１１の中から、現在時刻に最も近い配送時刻を取得する。取得部１２０は、当該配送時刻に対応する配送場所を取得する。取得部１２０は、地図情報、ＡＭＲ２００の速さ、及びＡＭＲ２０１の速さを取得する。 Next, the process executed by the information processing device 100 will be described with reference to a flowchart.
FIG. 20 is a flowchart (part 1) illustrating an example of processing executed by the information processing device according to the third embodiment.
(Step S101) The acquisition unit 120 acquires information indicating that the AMR 200 has arrived at a patrol stop position.
(Step S102) The acquisition unit 120 acquires the delivery time closest to the current time from the management table 111. The acquisition unit 120 acquires the delivery location corresponding to the delivery time. The acquisition unit 120 acquires map information, the speed of AMR 200, and the speed of AMR 201.
　（ステップＳ１０３）制御部１３０は、地図情報を用いて、当該配送場所が巡回エリア３１に存在するか否かを判定する。当該配送場所が巡回エリア３２に存在する場合、処理は、ステップＳ１０４に進む。当該配送場所が巡回エリア３１に存在する場合、処理は、ステップＳ１０８に進む。 (Step S103) The control unit 130 uses map information to determine whether the delivery location is in the travel area 31. If the delivery location is in the travel area 32, the process proceeds to step S104. If the delivery location is in the travel area 31, the process proceeds to step S108.
　（ステップＳ１０４）制御部１３０は、ＡＭＲ２００の速さ及び地図情報を用いて、ＡＭＲ２００が現在位置から荷物移し替え位置に到着する時刻Ｌ１を算出する。制御部１３０は、ＡＭＲ２０１の速さ及び地図情報を用いて、ＡＭＲ２０１が現在位置から荷物移し替え位置に到着する時刻Ｌ２を算出する。制御部１３０は、時刻Ｌ１と時刻Ｌ２を比較し、遅い時刻を、時刻Ｌとする。 (Step S104) Using the speed of AMR200 and the map information, the control unit 130 calculates the time L1 at which AMR200 will arrive at the luggage transfer position from its current location. Using the speed of AMR201 and the map information, the control unit 130 calculates the time L2 at which AMR201 will arrive at the luggage transfer position from its current location. The control unit 130 compares time L1 with time L2, and sets the later time as time L.
　（ステップＳ１０５）制御部１３０は、ＡＭＲ２０１の速さ及び地図情報を用いて、ＡＭＲ２０１が荷物移し替え位置から当該配送場所に到着する時刻Ｍを算出する。
　（ステップＳ１０６）制御部１３０は、時刻Ｌと時刻Ｍとを加算することにより得られた時刻と当該配送時刻との差Ｎを算出する。
　（ステップＳ１０７）制御部１３０は、差Ｎが予め定められた閾値以下であるか否かを判定する。差Ｎが閾値よりも大きい場合、処理は、ステップＳ１０８に進む。差Ｎが閾値以下である場合、処理は、ステップＳ１１１に進む。
　（ステップＳ１０８）制御部１３０は、ＡＭＲ２００が巡回経路情報に基づいて、巡回エリア３１を巡回するように、制御を行う。そして、処理は、終了する。 (Step S105) The control unit 130 uses the speed of the AMR 201 and map information to calculate the time M at which the AMR 201 will arrive at the delivery location from the package transfer location.
(Step S106) The control unit 130 calculates the difference N between the time obtained by adding the time L and the time M and the delivery time.
(Step S107) The control unit 130 determines whether the difference N is equal to or smaller than a predetermined threshold. If the difference N is greater than the threshold, the process proceeds to step S108. If the difference N is equal to or smaller than the threshold, the process proceeds to step S111.
(Step S108) The control unit 130 controls the AMR 200 to travel within the travel area 31 based on the travel route information. Then, the process ends.
　図２１は、実施の形態３の情報処理装置が実行する処理の例を示すフローチャート（その２）である。
　（ステップＳ１１１）制御部１３０は、ＡＭＲ２００とＡＭＲ２０１とを荷物移し替え位置に移動するように、制御を行う。
　（ステップＳ１１２）取得部１２０は、ＡＭＲ２００が荷物移し替え位置に到着したことを示す情報を取得する。また、取得部１２０は、ＡＭＲ２０１が荷物移し替え位置に到着したことを示す情報を取得する。 FIG. 21 is a flowchart (part 2) illustrating an example of processing executed by the information processing device according to the third embodiment.
(Step S111) The control unit 130 performs control so as to move the AMR 200 and the AMR 201 to a baggage transfer position.
(Step S112) The acquisition unit 120 acquires information indicating that the AMR 200 has arrived at the luggage transfer position. The acquisition unit 120 also acquires information indicating that the AMR 201 has arrived at the luggage transfer position.
　（ステップＳ１１３）制御部１３０は、当該配送場所に対応する荷物を移し替えるように、ＡＭＲ２００に指示する。
　（ステップＳ１１４）取得部１２０は、移し替え完了通知をＡＭＲ２００から取得する。
　（ステップＳ１１５）制御部１３０は、当該荷物の配送をＡＭＲ２０１に指示する。これにより、ＡＭＲ２０１は、当該配送場所に移動する。 (Step S113) The control unit 130 instructs the AMR 200 to transfer the package corresponding to the delivery location.
(Step S<b>114 ) The acquisition unit 120 acquires a transfer completion notification from the AMR 200 .
(Step S115) The control unit 130 instructs the AMR 201 to deliver the package. As a result, the AMR 201 moves to the delivery location.
　実施の形態３によれば、ＡＭＲ２００が巡回エリア３２に移動しないため、ＡＭＲ２００のエネルギー消費量が、抑制される。また、複数のＡＭＲが巡回するため、サービスに対するユーザの認識度が、向上する。 According to the third embodiment, the AMR 200 does not move to the patrol area 32, so the energy consumption of the AMR 200 is suppressed. In addition, since multiple AMRs patrol, user awareness of the service is improved.
　以上に説明した各実施の形態における特徴は、互いに適宜組み合わせることができる。 The features of each of the embodiments described above can be combined as appropriate.
　１０　配送経路、　２１　巡回エリア、　２２　巡回エリア、　３１　巡回エリア、　３２　巡回エリア、　１００　情報処理装置、　１０１　プロセッサ、　１０２　揮発性記憶装置、　１０３　不揮発性記憶装置、　１１０　記憶部、　１１１　管理テーブル、　１２０　取得部、　１３０　制御部、　２００　ＡＭＲ、　２０１～２０３　ロッカー、　３００　端末装置。 10 Delivery route, 21 Patrol area, 22 Patrol area, 31 Patrol area, 32 Patrol area, 100 Information processing device, 101 Processor, 102 Volatile storage device, 103 Non-volatile storage device, 110 Storage unit, 111 Management table, 120 Acquisition unit, 130 Control unit, 200 AMR, 201-203 Lockers, 300 Terminal device.

Claims (23)

  1. 　巡回経路を示す巡回経路情報を取得する取得部と、
    　前記巡回経路情報に基づいて、収集及び配送の少なくとも１つのサービスを提供する移動体であり、ロッカーを有し、自動運転が可能な前記移動体が前記巡回経路を巡回するように、制御を行う制御部と、
    　を有する情報処理装置。     An acquisition unit that acquires route information indicating a route;
    a control unit that controls a mobile object that provides at least one of collection and delivery services based on the route information, the mobile object having a locker and capable of automatic driving so as to travel along the route;
    An information processing device having the above configuration.
  2. 　前記取得部は、前記移動体の停止ボタンが押されたことを示す情報を取得し、
    　前記制御部は、配送場所及び配送時刻を入力するための画面を、前記移動体のディスプレイに表示するように、指示を行い、ユーザが入力した配送場所及び配送時刻が取得された場合、前記配送場所及び前記配送時刻を用いて、前記ユーザの荷物を前記移動体に格納するか否かを判定し、前記荷物を格納する場合、空の前記ロッカーを開錠するように、前記移動体に指示を行い、前記ロッカーが施錠されたことを示す情報が取得された場合、前記巡回経路情報に基づいて、前記移動体が次の巡回停止位置に移動するように、制御を行う、
    　請求項１に記載の情報処理装置。     the acquiring unit acquires information indicating that a stop button of the moving object has been pressed;
    The control unit instructs the mobile body to display a screen for inputting a delivery location and delivery time on the display of the mobile body, and when the delivery location and delivery time input by the user are acquired, determines whether or not to store the user's luggage in the mobile body using the delivery location and the delivery time, and when the luggage is to be stored, instructs the mobile body to unlock the empty locker, and when information indicating that the locker is locked is acquired, controls the mobile body to move to the next patrol stop position based on the patrol route information.
    The information processing device according to claim 1 .
  3. 　前記制御部は、前記荷物を格納する場合、前記荷物を格納できることを示す画面を、前記移動体の前記ディスプレイに表示するように、指示を行う、
    　請求項２に記載の情報処理装置。     When the luggage is to be stored, the control unit instructs the display of the moving object to display a screen indicating that the luggage can be stored.
    The information processing device according to claim 2 .
  4. 　前記制御部は、前記荷物を格納しない場合、前記荷物を格納できないことを示す画面を、前記移動体の前記ディスプレイに表示するように、指示を行う、
    　請求項２に記載の情報処理装置。     When the luggage is not to be stored, the control unit instructs the display of the moving body to display a screen indicating that the luggage cannot be stored.
    The information processing device according to claim 2 .
  5. 　前記取得部は、ユーザが使用する端末装置から配送場所及び配送時刻を取得し、
    　前記制御部は、前記配送場所及び前記配送時刻を用いて、前記ユーザの荷物を前記移動体に格納するか否かを判定し、前記荷物を格納する場合、空の前記ロッカーを開錠するように、前記移動体に指示を行い、前記ロッカーが施錠されたことを示す情報が取得された場合、前記巡回経路情報に基づいて、前記移動体が次の巡回停止位置に移動するように、制御を行う、
    　請求項１に記載の情報処理装置。     The acquisition unit acquires a delivery location and a delivery time from a terminal device used by a user,
    The control unit determines whether or not to store the user's luggage in the mobile body using the delivery location and the delivery time, and if the luggage is to be stored, instructs the mobile body to unlock the empty locker. If information indicating that the locker is locked is acquired, the control unit controls the mobile body to move to the next patrol stop position based on the patrol route information.
    The information processing device according to claim 1 .
  6. 　前記制御部は、前記荷物を格納する場合、前記荷物を格納できることを示す情報を前記端末装置に送信する、
    　請求項５に記載の情報処理装置。     When the luggage is to be stored, the control unit transmits information indicating that the luggage can be stored to the terminal device.
    The information processing device according to claim 5 .
  7. 　前記制御部は、前記荷物を格納しない場合、前記荷物を格納できないことを示す情報を前記端末装置に送信する、
    　請求項５に記載の情報処理装置。     When the control unit does not store the luggage, the control unit transmits information indicating that the luggage cannot be stored to the terminal device.
    The information processing device according to claim 5 .
  8. 　前記制御部は、前記ロッカーに対する重量を示す情報が取得され、かつ前記重量が予め定められた閾値以上である場合、前記巡回経路情報に基づいて、前記移動体が次の巡回停止位置に移動するように、制御を行う、
    　請求項１から７のいずれか１項に記載の情報処理装置。     The control unit performs control so that the moving body moves to a next patrol stop position based on the patrol route information when information indicating the weight of the locker is acquired and the weight is equal to or greater than a predetermined threshold value.
    The information processing device according to claim 1 .
  9. 　前記取得部は、前記ロッカーの管理情報、地図情報、前記移動体の速さ、及び前記移動体の現在位置情報を取得し、
    　前記制御部は、前記管理情報、前記配送場所、及び前記配送時刻に基づいて、スケジュールを生成し、前記地図情報、前記移動体の速さ、及び前記移動体の現在位置情報を用いて、前記移動体が現在位置から前記スケジュールを実行できるか否かを判定し、前記スケジュールを実行できる場合、前記荷物を格納すると判定し、前記スケジュールを実行できない場合、前記荷物を格納しないと判定する、
    　請求項１から８のいずれか１項に記載の情報処理装置。     The acquisition unit acquires management information of the locker, map information, a speed of the moving object, and a current location information of the moving object,
    the control unit generates a schedule based on the management information, the delivery location, and the delivery time, and determines whether the mobile body can execute the schedule from its current location using the map information, the speed of the mobile body, and current location information of the mobile body, and determines to store the package if the schedule can be executed, and determines not to store the package if the schedule cannot be executed.
    The information processing device according to claim 1 .
  10. 　前記取得部は、配送場所、配送時刻、収集場所、及び収集時刻を、ユーザが使用する端末装置から取得し、
    　前記制御部は、前記配送場所、前記配送時刻、前記収集場所、及び前記収集時刻を用いて、前記ユーザの荷物を前記移動体に格納するか否かを判定し、前記荷物を格納する場合、前記収集時刻に、前記移動体が前記収集場所に到着するように制御を行う、
    　請求項１に記載の情報処理装置。     The acquisition unit acquires a delivery location, a delivery time, a collection location, and a collection time from a terminal device used by a user,
    the control unit determines whether or not to store the user's luggage in the mobile body using the delivery location, the delivery time, the collection location, and the collection time, and if the luggage is to be stored, controls the mobile body so that it arrives at the collection location at the collection time.
    The information processing device according to claim 1 .
  11. 　前記制御部は、前記荷物を格納する場合、前記移動体を示す情報を前記端末装置に送信する、
    　請求項１０に記載の情報処理装置。     When storing the luggage, the control unit transmits information indicating the moving object to the terminal device.
    The information processing device according to claim 10.
  12. 　前記制御部は、前記荷物を格納しない場合、収集及び配送を行えないことを示す情報を前記端末装置に送信する、
    　請求項１０に記載の情報処理装置。     The control unit transmits information to the terminal device indicating that collection and delivery cannot be performed if the package is not stored.
    The information processing device according to claim 10.
  13. 　前記取得部は、前記ロッカーの管理情報、地図情報、前記移動体の速さ、及び前記移動体の現在位置情報を取得し、
    　前記制御部は、前記管理情報、前記配送場所、前記配送時刻、前記収集場所、及び前記収集時刻に基づいて、スケジュールを生成し、前記地図情報、前記移動体の速さ、及び前記移動体の現在位置情報を用いて、前記移動体が現在位置から前記スケジュールを実行できるか否かを判定し、前記スケジュールを実行できる場合、前記荷物を格納すると判定し、前記スケジュールを実行できない場合、前記荷物を格納しないと判定する、
    　請求項１０から１２のいずれか１項に記載の情報処理装置。     The acquisition unit acquires management information of the locker, map information, a speed of the moving object, and a current location information of the moving object,
    the control unit generates a schedule based on the management information, the delivery location, the delivery time, the collection location, and the collection time, and determines whether the mobile body can execute the schedule from its current location using the map information, the speed of the mobile body, and current location information of the mobile body, and determines to store the luggage if the schedule can be executed, and determines not to store the luggage if the schedule cannot be executed.
    The information processing device according to claim 10 .
  14. 　前記制御部は、前記管理情報に基づいて、全てのロッカーが使用されているか否かを判定し、全てのロッカーが使用されている場合、前記荷物を格納しないと判定する、
    　請求項１から１３のいずれか１項に記載の情報処理装置。     The control unit determines whether or not all of the lockers are in use based on the management information, and if all of the lockers are in use, determines not to store the luggage.
    The information processing device according to claim 1 .
  15. 　前記取得部は、前記荷物の重量を示す情報を取得し、
    　前記制御部は、前記荷物の重量が前記ロッカーに対して規定されている重量よりも重い場合、前記荷物を格納しないと判定する、
    　請求項１から１４のいずれか１項に記載の情報処理装置。     The acquisition unit acquires information indicating a weight of the package,
    The control unit determines not to store the luggage when the weight of the luggage is heavier than a weight defined for the locker.
    The information processing device according to claim 1 .
  16. 　前記取得部は、前記荷物の大きさを示す情報を取得し、
    　前記制御部は、前記荷物の大きさが前記ロッカーに対して規定されている大きさよりも大きい場合、前記荷物を格納しないと判定する、
    　請求項１から１５のいずれか１項に記載の情報処理装置。     The acquisition unit acquires information indicating a size of the package,
    The control unit determines not to store the luggage when the size of the luggage is larger than a size specified for the locker.
    The information processing device according to claim 1 .
  17. 　前記制御部は、前記配送時刻に、前記移動体が前記配送場所に到着するように制御を行う、
    　請求項１から１６のいずれか１項に記載の情報処理装置。     The control unit controls the mobile object to arrive at the delivery location at the delivery time.
    The information processing device according to claim 1 .
  18. 　前記制御部は、前記移動体が第１の巡回エリアに存在しており、次の収集又は配送の依頼である第１の依頼の収集場所又は配送場所と、前記第１の依頼の次の依頼である第２の依頼の収集場所又は配送場所とが前記第１の巡回エリアに存在しており、かつ前記第１の依頼の収集時刻又は配送時刻と前記第２の依頼の収集時刻又は配送時刻との差が予め定められた閾値以上である場合、前記移動体が第２の巡回エリアで巡回するように、制御を行い、
    　前記第２の依頼は、収集又は配送の依頼であり、
    　前記第１の巡回エリアの優先度は、前記第２の巡回エリアの優先度よりも低い、
    　請求項１から１７のいずれか１項に記載の情報処理装置。     the control unit performs control so that the mobile object travels in a second routing area when the mobile object is present in a first routing area, a collection location or delivery location of a first request that is a request for the next collection or delivery, and a collection location or delivery location of a second request that is a request following the first request are present in the first routing area, and a difference between a collection time or delivery time of the first request and a collection time or delivery time of the second request is equal to or greater than a predetermined threshold value;
    The second request is a collection or delivery request,
    A priority of the first traveling area is lower than a priority of the second traveling area;
    The information processing device according to claim 1 .
  19. 　前記情報処理装置は、前記移動体の内部に存在する、
    　請求項１から１８のいずれか１項に記載の情報処理装置。     The information processing device is present inside the moving body.
    The information processing device according to claim 1 .
  20. 　第１の移動体である前記移動体は、第１の巡回エリアを巡回し、
    　第２の移動体は、第２の巡回エリアを巡回し、
    　前記制御部は、前記第１の移動体が前記第２の巡回エリアに配送する荷物を格納している場合、前記第１の移動体と前記第２の移動体とを荷物移し替え位置に移動するように、制御を行い、前記荷物を移し替えるように、前記第１の移動体に指示し、移し替え完了通知が取得された場合、前記荷物の配送を前記第２の移動体に指示する、
    　請求項１に記載の情報処理装置。     The moving body, which is a first moving body, travels through a first traveling area;
    The second moving object travels in a second travel area;
    the control unit, when the first moving body stores a package to be delivered in the second patrol area, controls the first moving body and the second moving body to move to a package transfer position, instructs the first moving body to transfer the package, and when a transfer completion notice is obtained, instructs the second moving body to deliver the package.
    The information processing device according to claim 1 .
  21. 　ロッカーを有し、自動運転が可能な移動体と、
    　情報処理装置と、
    　を含み、
    　前記情報処理装置は、
    　巡回経路を示す巡回経路情報を取得する取得部と、
    　前記巡回経路情報に基づいて、収集及び配送の少なくとも１つのサービスを提供する前記移動体が前記巡回経路を巡回するように、制御を行う制御部と、
    　を有する、
    　サービス提供システム。     a mobile object having a locker and capable of automatic driving;
    An information processing device;
    Including,
    The information processing device includes:
    An acquisition unit that acquires route information indicating a route;
    a control unit that controls the mobile object providing at least one of collection and delivery services to travel along the route based on the route information;
    having
    Service delivery system.
  22. 　情報処理装置が、
    　巡回経路を示す巡回経路情報を取得し、
    　前記巡回経路情報に基づいて、収集及び配送の少なくとも１つのサービスを提供する移動体であり、ロッカーを有し、自動運転が可能な前記移動体が前記巡回経路を巡回するように、制御を行う、
    　制御方法。     An information processing device,
    Obtaining route information indicating a route;
    a mobile object that provides at least one of collection and delivery services based on the route information, the mobile object having a locker and capable of automatic driving is controlled so as to travel along the route;
    Control methods.
  23. 　情報処理装置に、
    　巡回経路を示す巡回経路情報を取得し、
    　前記巡回経路情報に基づいて、収集及び配送の少なくとも１つのサービスを提供する移動体であり、ロッカーを有し、自動運転が可能な前記移動体が前記巡回経路を巡回するように、制御を行う、
    　処理を実行させる制御プログラム。
          In the information processing device,
    Obtaining route information indicating a route;
    a mobile object that provides at least one of collection and delivery services based on the route information, the mobile object having a locker and capable of automatic driving is controlled so as to travel along the route;
    A control program that executes a process.
PCT/JP2022/040416 2022-10-28 2022-10-28 Information processing device, service provision system, control method, and control program WO2024089883A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003150869A (en) * 2001-11-09 2003-05-23 Yamato Transport Co Ltd Transportation service with using network and transportation system with using network
WO2019039014A1 (en) * 2017-08-24 2019-02-28 ソニー株式会社 Control system and control method
JP2021147143A (en) * 2020-03-18 2021-09-27 本田技研工業株式会社 Management device, management method, and program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003150869A (en) * 2001-11-09 2003-05-23 Yamato Transport Co Ltd Transportation service with using network and transportation system with using network
WO2019039014A1 (en) * 2017-08-24 2019-02-28 ソニー株式会社 Control system and control method
JP2021147143A (en) * 2020-03-18 2021-09-27 本田技研工業株式会社 Management device, management method, and program

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