Information Collection System and Information Collection Robot

An information collection system comprising:

• an information collection robot which automatically collects information indicating a position of an ID tag which stores a tag ID to identify the ID tag;
• and
• a management server which manages the information collected by the information collection robot;
• wherein:
• the information collection robot includes:
• a first three-dimensional map storage unit which stores a three-dimensional map which is a set of surface coordinates of a three-dimensional environment;
• a two-dimensional map storage unit which stores a two-dimensional map which is a set of three-dimensional coordinates at a predetermined height in the three-dimensional map;
• a first movable range storage unit which stores a movable range which is information indicating a movable area of the information collection robot in the two-dimensional map;
• a moving unit which moves the information collection robot;
• a sensor which reads the tag ID stored in the ID tag attached to an object in a room;
• a sensor characteristic storage unit which stores a measurable area indicating a three-dimensional area measurable by the sensor;
• a localization unit which estimates coordinates of the information collection robot in the two-dimensional map;
• a tag information collection unit which moves, upon reception of an information collection instruction to collect ID tag information from the management server, the information collection robot within the movable range in the two-dimensional map by using the moving unit, moves the sensor while measuring along an object surface shown in the three-dimensional map by using the sensor at a moving destination, specifies a surface area of the three-dimensional map measurable by the sensor, based on a data acquisition position indicated by coordinates of the information collection robot when the tag ID is obtained from the ID tag, the measurable area stored in the sensor characteristic storage unit, orientation of the sensor, and the three-dimensional map, and transmits first tag information containing coordinates in the specified surface area, the data acquisition position, and the obtained tag ID, to the management server;
• a moving sequence storage unit which stores a moving sequence where via-positions, as coordinates to be passed through by the information collection robot in the movable range and as coordinates at which coordinates of the ID tag and the tag ID are to be collected by using the sensor, are correlated with information indicating a passing sequence of the information collection robot;
• and
• a moving sequence reception unit which stores, upon reception of the moving sequence from the management server, the received moving sequence in the moving sequence storage unit;
• and
• the management server includes:
• a tag information storage unit which stores, in association with the tag ID, coordinates of the ID tag corresponding to the tag ID and the data acquisition position of the information collection robot when the tag ID is obtained;
• a second movable range storage unit which stores the movable range;
• an information collection instruction unit which transmits the information collection instruction to the information collection robot according to a request from a user;
• a tag information registration unit which stores, upon reception of the first tag information from the information collection robot, the received first tag information in the tag information storage unit;
• and
• a moving sequence setting unit which refers to the tag information storage unit and the second movable range storage unit to set data acquisition positions as the via-positions, and generates a moving sequence where the passing sequence is correlated with the via-positions, and transmits the generated moving sequence to the information collection robot.