Transportation system, transportation method, and non-transitory computer-readable storage medium

Abstract

The present disclosure relates to a transportation system, a transportation method, and a non-transitory computer-readable storage medium. The transportation system is a transportation system that transports transportation objects using a mobile robot that is capable of autonomous movement. The mobile robot transports a plurality of the transportation objects. The transportation system detects that a transportation destination of the transportation object is different from a reception location. The transportation system outputs to a recipient existing at the reception location that the transportation object for which the transportation destination is different exists.

Description

Technical Field

[0001] This disclosure relates to a transportation system, a transportation method, and a non-transitory computer-readable storage medium. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 2019-119537 (JP 2019-119537 A) discloses a transportation system for transporting goods. In JP 2019-119537 A, the autonomous mobile unit has a cargo storage compartment that can be electrically locked and unlocked. When a customer stores goods in the cargo storage compartment, the compartment is locked. When the autonomous mobile unit moves to a receiving location, the recipient unlocks the cargo storage compartment. Summary of the Invention

[0003] In such a transportation system, it is desirable to transport goods (also known as cargo) appropriately. Furthermore, loading and transporting multiple cargoes using autonomous mobile bodies (also known as mobile robots) can lead to more efficient transportation. However, when mobile robots transport multiple cargoes to different destinations, there is a risk of recipients mistakenly receiving the goods.

[0004] This disclosure aims to solve such problems and to provide a transport system, transport method and non-transitory computer-readable storage medium capable of properly transporting goods.

[0005] The transportation system according to this embodiment uses an autonomous mobile robot to transport goods. The mobile robot transports multiple goods. The transportation system detects if the destination and receiving location of the goods differ. The transportation system then outputs the goods with different destinations to the receiver at the receiving location.

[0006] When information about a patient's location movement is entered into an electronic medical record system that stores patient information, the aforementioned transportation system can detect that the transportation destination is different from the receiving location based on the information about the location movement.

[0007] The aforementioned transportation system can detect differences between the transportation destination and the receiving location based on the IC tag attached to the transported item.

[0008] In the aforementioned transportation system, when the transportation system obtains an estimated dispensing time for completing the dispensing of the drug, which is the transported item, the mobile robot can proceed to pick up the drug based on the estimated dispensing time.

[0009] In the above transportation system, when the transportation destination is detected to be different from the receiving location, the transportation system can transport the goods to the correct transportation destination.

[0010] The transport method according to the present embodiment is a transport method for transporting transport objects using a mobile robot capable of autonomous movement. The transport method includes: transporting a plurality of the transport objects by the mobile robot; detecting that a transport destination of the transport object is different from a reception location; and outputting, to a recipient present at the reception location, that the transport object exists at a different transport destination.

[0011] The above transport method can include detecting that the transport destination is different from the reception location based on information about a location movement of a patient when the information about the location movement of the patient is input to an electronic medical record system storing patient information.

[0012] The above transport method can include detecting that the transport destination is different from the reception location based on an IC tag attached to the transport object.

[0013] The above transport method can include, when an estimated dispensing time for completing dispensing of a medicine as the transport object is acquired, going to pick up the medicine by the mobile robot according to the estimated dispensing time.

[0014] The above transport method can include transporting the transport object to a correct transport destination when it is detected that the transport destination is different from the reception location.

[0015] The non-transitory computer-readable storage medium according to the present embodiment stores a program that causes a computer to execute a transport method for transporting transport objects using a mobile robot capable of autonomous movement. The transport method includes: transporting a plurality of the transport objects by the mobile robot; detecting that a transport destination of the transport object is different from a reception location; and outputting, to a recipient present at the reception location, that the transport object exists at a different transport destination.

[0016] The above non-transitory computer-readable storage medium can detect that the transport destination is different from the reception location based on information about a location movement of a patient when the information about the location movement of the patient is input to an electronic medical record system storing patient information.

[0017] The above non-transitory computer-readable storage medium can detect that the transport destination is different from the reception location based on an IC tag attached to the transport object.

[0018] In the above non-transitory computer-readable storage medium, when an estimated dispensing time for completing dispensing of a medicine as the transport object is acquired, the mobile robot can go to pick up the medicine at the estimated dispensing time.

[0019] In the above non-transitory computer-readable storage medium, upon detecting that the transport destination is different from the reception location, the program can transport the transport object to the correct transport destination.

[0020] The present disclosure can provide a transport system, a transport method, and a non-transitory computer-readable storage medium that can appropriately transport a transport object. BRIEF DESCRIPTION OF DRAWINGS

[0021] Features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described below with reference to the accompanying drawings, wherein the same reference numerals denote the same elements, and wherein:

[0022] Figure 1 is a conceptual diagram illustrating an overall configuration of a system using a mobile robot according to the present embodiment;

[0023] Figure 2 is a control block diagram of a transport system according to the present embodiment;

[0024] Figure 3 is a schematic diagram illustrating an example of a mobile robot;

[0025] Figure 4 is a table illustrating transport object information;

[0026] Figure 5 is a diagram illustrating an example of a movement route of a mobile robot;

[0027] Figure 6 is a diagram illustrating another example of a movement route of a mobile robot; and

[0028] Figure 7 is a flowchart illustrating a transport method according to the present embodiment. DETAILED DESCRIPTION

[0029] Hereinafter, the present application will be described through embodiments of the present application, but the application according to the scope of the claims is not limited to the following embodiments. Also, not all configurations described in the embodiments are indispensable means to solve the problem.

[0030] Schematic Configuration

[0031] Figure 1 is a conceptual diagram illustrating an overall configuration of a system 1 using a mobile robot 20 according to the present embodiment. The mobile robot 20 is a transport robot that performs transport of a transport object as a task, for example. The mobile robot 20 autonomously travels in order to transport a transport object in a medical welfare facility such as a hospital, a rehabilitation center, a nursing facility, and a nursing home for the elderly. It is also possible to use the system 1 according to the present embodiment in a commercial facility such as a shopping center.

[0032] The user Ul stores a transport object in the mobile robot 20 and requests transport. The mobile robot 20 autonomously moves to a set destination to transport the transport object. That is, the mobile robot 20 performs a cargo transport task (hereinafter also simply referred to as a task). In the following description, a location where the transport object is loaded is referred to as a transport source, and a location where the transport object is delivered is referred to as a transport destination.

[0033] For example, assume that the mobile robot 20 moves in a general hospital having a plurality of clinical departments. The mobile robot 20 transports equipment, consumables, medical devices, and the like between the plurality of clinical departments. For example, the mobile robot 20 delivers a transport object from a nurse station of one clinical department to a nurse station of another clinical department. Alternatively, the mobile robot 20 delivers a transport object from a warehouse of equipment and medical devices to a nurse station of a clinical department. The mobile robot 20 also delivers a medicine prepared in a dispensing department to a clinical department or a patient where the medicine is scheduled to be used.

[0034] Examples of the transport object include a medicine, a consumable such as a package bag, a sample, a testing instrument, a medical device, a hospital meal, and equipment such as stationery. The medical device includes a sphygmomanometer, a blood transfusion pump, a syringe pump, a foot pump, a nurse call device, a bed exit sensor, a low-pressure continuous inhaler, an electrocardiograph monitor, a medicine injection controller, an enteral feeding pump, a respirator, a cuff pressure gauge, a touch sensor, an aspirator, a nebulizer, a pulse oximeter, a resuscitator, a sterile device, an echograph, and the like. A meal such as a hospital meal and a test meal can also be transported. Furthermore, the mobile robot 20 can transport used equipment, used tableware during eating, and the like. When the transport destination is located on a different floor, the mobile robot 20 can move using an elevator or the like.

[0035] The system 1 includes the mobile robot 20, the superior management device 10, a network 600, a communication unit 610, and a user terminal 400. The user Ul or the user U2 can use the user terminal 400 to make a transport request of a transport object. The user terminal 400 is, for example, a tablet, a smartphone, or the like. The user terminal 400 only needs to be an information processing device capable of wireless or wired communication.

[0036] In the present embodiment, the mobile robot 20 and the user terminal 400 are connected to the superior management device 10 via the network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via the communication unit 610. The network 600 is a wired or wireless local area network (LAN) or a wide area network (WAN). The superior management device 10 is connected to the network 600 by wire or wirelessly. The communication unit 610 is, for example, a wireless LAN unit installed in each environment. The communication unit 610 can be a general-purpose communication device such as a wireless router.

[0037] Various signals transmitted from the user terminal 400 of the user Ul or U2 are once transmitted to the superior management device 10 via the network 600, and transmitted from the superior management device 10 to the target mobile robot 20. Similarly, various signals transmitted from the mobile robot 20 are once transmitted to the superior management device 10 via the network 600, and transmitted from the superior management device 10 to the target user terminal 400. The superior management device 10 is a server connected to each device, and collects data from each device. The superior management device 10 is not limited to a physical single device, and can have a plurality of devices that perform distributed processing. Further, the superior management device 10 can be distributedly provided in an edge device such as the mobile robot 20. For example, part or all of the system 1 can be installed in the mobile robot 20.

[0038] The user terminal 400 and the mobile robot 20 can transmit and receive signals without passing through the superior management device 10. For example, the user terminal 400 and the mobile robot 20 can directly transmit and receive signals by wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 can transmit and receive signals via the communication unit 610.

[0039] The user Ul or the user U2 requests transportation of the transported object by using the user terminal 400. Hereinafter, the description will be made assuming that the user Ul is a transportation requester at a transportation source and the user U2 is a planned recipient at a transportation destination (destination). Needless to say, the user U2 at the transportation destination can also make a transportation request. Further, a user located at a position other than the transportation source or the transportation destination can make a transportation request.

[0040] When the user Ul makes a transportation request, the user Ul inputs, using the user terminal 400, contents of the transported object, a receiving place of the transported object (hereinafter also referred to as a transportation source), a delivery destination of the transported object (hereinafter also referred to as a transportation destination), an estimated arrival time at the transportation source (a receiving time of the transported object), an estimated arrival time at the transportation destination (a transportation deadline), and the like. Hereinafter, these types of information are also referred to as transportation request information. The user Ul can input the transportation request information by operating a touch panel of the user terminal 400. The transportation source can be a position where the user Ul exists, or a storage position of the transported object. The transportation destination is a position where the user U2 or a patient who plans to use the transported object exists.

[0041] The user terminal 400 transmits the transport request information input by the user Ul to the superior management device 10. The superior management device 10 is a management system that manages a plurality of mobile robots 20. The superior management device 10 transmits an operation instruction for performing a transport task to the mobile robots 20. The superior management device 10 determines the mobile robots 20 that perform the transport task for each transport request. Then, the superior management device 10 transmits a control signal including the operation instruction to the mobile robots 20. The mobile robots 20 move from the transport source so as to reach the transport destination according to the operation instruction.

[0042] For example, the superior management device 10 assigns the transport task to the mobile robots 20 at or near the transport source. Alternatively, the superior management device 10 assigns the transport task to the mobile robots 20 that are heading for the transport source or its vicinity. The mobile robots 20 assigned with the task head for the transport source to pick up the transport object. For example, the transport source is a location where the user Ul who requested the task is present.

[0043] When the mobile robots 20 reach the transport source, the user Ul or other staff loads the transport object onto the mobile robots 20. In a case where the transport destination is set as the destination, the mobile robots 20 loaded with the transport object move autonomously. The superior management device 10 transmits a signal to the user terminal 400 of the user U2 at the transport destination. Thus, the user U2 can know that the transport object is being transported and estimate the time of arrival. When the mobile robots 20 reach the set transport destination, the user U2 can receive the transport object stored in the mobile robots 20. In this way, the mobile robots 20 perform the transport task.

[0044] In the overall configuration described above, the respective elements of the control system can be distributed to the mobile robots 20, the user terminals 400, and the superior management device 10 to construct the control system as a whole. Further, the essential elements for realizing the transport of the transport object can be collected in a single device to construct a transport system. The superior management device 10 controls one or more mobile robots 20.

[0045] Further, the superior management device 10 is linked with the electronic medical record system 700 and the dispensing machine 810. The electronic medical record system 700 stores information on patients (also referred to as patient information). For example, when a medical worker such as a doctor or a nurse inputs patient information using the user terminal 400, the patient information is stored in a memory or the like of the electronic medical record system 700. Further, the medical worker can view and update the patient information stored in the electronic medical record system 700 through the user terminal 400.

[0046] The dispensing machine 810 is a device for dispensing a medicine to be used for a patient. The dispensing machine 810 is a device or a robot that measures, packs, or sorts a medicine. For example, a pharmacist operates the dispensing machine 810 to dispense a prescription medicine. The medicine dispensed by the dispensing machine 810 is regarded as a transport object. The superior management device 10, the electronic medical record system 700, and the dispensing machine 810 can access each other.

[0047] Control block diagram

[0048] Figure 2 A control block diagram of a control system of the display system 1 is shown. As Figure 2 shown in FIG. 1, the system 1 includes the superior management device 10, the mobile robot 20, and the environmental camera 300.

[0049] The system 1 efficiently controls a plurality of mobile robots 20 while causing the mobile robots 20 to autonomously move in a predetermined facility. Therefore, a plurality of environmental cameras 300 are installed in the facility. For example, the environmental cameras 300 are installed in a passage, a corridor, an elevator, an entrance / exit, and the like of the facility.

[0050] The environmental camera 300 acquires an image of a range in which the mobile robot 20 moves. In the system 1, the superior management device 10 collects the image and information based on the image acquired by the environmental camera 300. Alternatively, the image and the like acquired by the environmental camera 300 can be directly transmitted to the mobile robot. The environmental camera 300 can be a surveillance camera or the like provided in a passage or an entrance / exit of the facility. The environmental camera 300 can be used to determine a distribution of a crowded condition in the facility.

[0051] In the system 1 according to the present embodiment, the superior management device 10 performs route planning based on the transport request information. The superior management device 10 instructs a destination for each mobile robot 20 based on the route plan information created by the superior management device 10. Then, the mobile robot 20 autonomously moves toward the destination designated by the superior management device 10. The mobile robot 20 autonomously moves toward the destination using a sensor provided in the mobile robot 20 itself, a floor map, position information, and the like.

[0052] For example, the mobile robot 20 travels so as not to come into contact with surrounding devices, objects, walls, and people (hereinafter collectively referred to as peripheral objects). Specifically, the mobile robot 20 detects a distance to the peripheral objects and travels while maintaining a distance above a distance threshold defined as a distance at which contact is made with the peripheral objects. When the distance to the peripheral objects becomes equal to or smaller than the distance threshold, the mobile robot 20 decelerates or stops. In this way, the mobile robot 20 is able to travel without coming into contact with the peripheral objects. Since contact can be avoided, transport can be performed safely and efficiently.

[0053] The superior management device 10 includes an arithmetic processing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The arithmetic processing unit 11 performs an operation for controlling and managing the mobile robots 20. For example, the arithmetic processing unit 11 can be implemented as a device capable of executing a program, such as a central processing unit (CPU) of a computer. Various functions can also be implemented by a program. In Figure 2 Only the robot control unit 111, the route planning unit 115, and the detection unit 116, which are features of the arithmetic processing unit 11, are shown in the figure, but other processing blocks can also be provided.

[0054] The robot control unit 111 performs an operation for remotely controlling the mobile robots 20 and generates a control signal. The robot control unit 111 generates a control signal based on the route planning information 125 and the like, which will be described later. Furthermore, the robot control unit 111 generates a control signal based on various types of information obtained from the environment camera 300 and the mobile robots 20. The control signal can include updated information, such as the floor map 121, the robot information 123, and the robot control parameters 122, which will be described later. That is, when various types of information are updated, the robot control unit 111 generates a control signal in accordance with the updated information.

[0055] The detection unit 116 detects that the transport destination of the transported article is different from the reception location. The detection processing of the detection unit 116 will be described later.

[0056] The route planning unit 115 performs route planning for each mobile robot 20. When a transport task is input, the route planning unit 115 performs route planning for transporting the transported article to the transport destination (destination) based on the transport request information. Specifically, the route planning unit 115 refers to the route planning information 125, the robot information 123, and the like, which have been stored in the storage unit 12, to determine the mobile robot 20 that performs a new transport task. The start point is the current position of the mobile robot 20, the transport destination of the previous transport task, the reception point of the transported article, and the like. The destination is the transport destination of the transported article, a standby location, a charging location, and the like.

[0057] Here, the route planning unit 115 sets a passing point from the start point of the mobile robot 20 to the destination. The route planning unit 115 sets a passing order of the passing points for each mobile robot 20. For example, the passing points are set at a branching point, a crossing point, a hall in front of an elevator, and their surroundings. In a narrow passage, it is difficult for the mobile robots 20 to pass through in a staggered manner. In this case, the passing points can be set at positions in front of the narrow passage. Candidates for the passing points can be registered in the floor map 121 in advance.

[0058] The route planning unit 115 determines the mobile robots 20 that execute individual transport tasks from among a plurality of mobile robots 20 so that the tasks can be executed efficiently as a whole system. The route planning unit 115 preferentially assigns transport tasks to mobile robots 20 that are in standby or to mobile robots 20 that are located near a transport source.

[0059] The route planning unit 115 sets a passing point including a start point and a destination for the mobile robots 20 to which transport tasks are assigned. For example, when there are two or more moving routes from a transport source to a transport destination, the passing point is set so that movement can be executed in a shorter time. Thus, the upper-level management device 10 updates information indicating a congestion condition of a passage based on an image of a camera or the like. Specifically, a position through which other mobile robots 20 are passing and a position in which many people are present have a high degree of congestion. Thus, the route planning unit 115 sets a passing point so as to avoid a position in which the degree of congestion is high.

[0060] The mobile robots 20 can move to the destination by a counterclockwise moving route or a clockwise moving route. In this case, the route planning unit 115 sets a passing point so as to pass through a less congested moving route. The route planning unit 115 sets one or more passing points to the destination so that the mobile robots 20 can move along a less congested moving route. For example, when a passage is divided at a branching point or an intersection point, the route planning unit 115 appropriately sets a passing point at the branching point, the intersection point, a corner, and around. Thereby, transport efficiency can be improved.

[0061] The route planning unit 115 can set a passing point in consideration of a congestion condition of an elevator, a moving distance, or the like. Further, at an estimated time when the mobile robots 20 pass through a certain position, the upper-level management device 10 can estimate the number of mobile robots 20 and the number of people. Then, the route planning unit 115 can set a passing point according to the estimated congestion condition. Further, the route planning unit 115 can dynamically change a passing point according to a change in the congestion condition. The route planning unit 115 sets passing points in order for the mobile robots 20 to which transport tasks are assigned. The passing points can include a transport source and a transport destination. As will be described later, the mobile robots 20 autonomously move so as to sequentially pass through the passing points set by the route planning unit 115.

[0062] The storage unit 12 is a storage unit that stores information required for management and control of the robots. In the present embodiment, the storage unit 12 stores information required for management and control of the mobile robots 20 and the upper-level management device 10. Figure 2In the example of FIG. 1, the floor map 121, the robot information 123, the robot control parameter 122, the route plan information 125, and the transport object information 126 are shown, but the information stored in the storage unit 12 can include other information. The operation processing unit 11 performs operation using the information stored in the storage unit 12 when executing various processes. Further, the various types of information stored in the storage unit 12 can be updated to the latest information.

[0063] The floor map 121 is map information of a facility in which the mobile robot 20 moves. The floor map 121 can be created in advance, can be generated from information obtained from the mobile robot 20, or can be information obtained by adding map correction information generated from information obtained from the mobile robot 20 to a basic map created in advance.

[0064] The robot information 123 indicates an ID, a model, a specification, and the like of the mobile robot 20 managed by the superior management device 10. The robot information 123 can include position information indicating a current position of the mobile robot 20. The robot information 123 can include information on whether the mobile robot 20 is performing a task or is on standby. Further, the robot information 123 can include information indicating whether the mobile robot 20 is in operation or in failure, and the like. Further, the robot information 123 can include information on a transportable transport object and a non-transportable transport object.

[0065] The robot control parameter 122 indicates a control parameter such as a threshold distance from a surrounding object of the mobile robot 20 managed by the superior management device 10. The threshold distance is a margin distance for avoiding contact with a surrounding object including a person. Further, the robot control parameter 122 can include information on an operation intensity such as a speed upper limit value of a moving speed of the mobile robot 20.

[0066] The robot control parameter 122 can be updated according to circumstances. The robot control parameter 122 can include information indicating availability and usage conditions of a storage space of the storage 291. The robot control parameter 122 can include information on a transportable transport object and a non-transportable transport object. The robot control parameter 122 is associated with the above-described various types of information of each mobile robot 20.

[0067] The route plan information 125 includes route plan information planned by the route planning unit 115. The route plan information 125 includes, for example, information indicating a transport task. The route plan information 125 can include an ID of the mobile robot 20 to which the task is assigned, a start point, a content of a transport object, a transport destination, a transport source, an estimated arrival time at the transport destination, an estimated arrival time at the transport source, a deadline for arrival, and the like. In the route plan information 125, the above-described various types of information can be associated with each transport task. The route plan information 125 can include at least a part of the transport request information input from the user U1.

[0068] Further, the route plan information 125 can include information on passing points for each mobile robot 20 and each transport task. For example, the route plan information 125 includes information indicating a passing order of the passing points for each mobile robot 20. The route plan information 125 can include coordinates of each passing point on the floor map 121 and information on whether the mobile robot 20 has passed the passing point.

[0069] The transport object information 126 is information on a transport object for which a transport request has been made. For example, the transport object information 126 includes information such as a content (type) of the transport object, a transport source, and a transport destination. The transport object information 126 can include an ID of the mobile robot 20 in charge of the transport. Further, the transport object information 126 can include information indicating a state such as in transport, before transport (before loading), and after transport. The transport object information 126 is associated with each type of information of the transport object. The transport object information 126 will be described later.

[0070] The route planning unit 115 refers to various types of information stored in the storage unit 12 to make a route plan. For example, the route planning unit 115 determines the mobile robot 20 to execute a task based on the floor map 121, the robot information 123, the robot control parameter 122, and the route plan information 125. Then, the route planning unit 115 sets passing points to the transport destination and a passing order thereof with reference to the floor map 121 or the like. Candidates of the passing points are registered in the floor map 121 in advance. The route planning unit 115 sets the passing points in accordance with a congestion situation or the like. In the case of a continuous process of a task, the route planning unit 115 can set the transport source and the transport destination as the passing points.

[0071] Two or more mobile robots 20 can be assigned to one transport task. For example, when a transport object is larger than the transportable capacity of a mobile robot 20, the transport object is split into two and loaded onto two mobile robots 20. Alternatively, when a transport object is heavier than the transportable weight of a mobile robot 20, the transport object is split into two and loaded onto two mobile robots 20. In this way, one transport task can be shared and performed by two or more mobile robots 20. Needless to say, when controlling mobile robots 20 of different sizes, route planning can be performed so that a mobile robot 20 capable of transporting a transport object receives the transport object.

[0072] Furthermore, one mobile robot 20 can perform two or more transport tasks in parallel. For example, one mobile robot 20 can simultaneously load two or more transport objects and sequentially transport them to different transport destinations. Alternatively, while one mobile robot 20 is transporting one transport object, another transport object can be loaded onto the mobile robot 20. Also, the transport destinations of the transport objects loaded at different locations can be the same or different. In this way, tasks can be efficiently performed.

[0073] In such a case, storage information indicating the usage status or availability of the storage space of the mobile robots 20 can be updated. That is, the superior management device 10 can manage storage information indicating availability and control the mobile robots 20. For example, the storage information is updated when a transport object is loaded or received. When a transport task is input, the superior management device 10 refers to the storage information and instructs a mobile robot 20 having a space to load a transport object to receive the transport object. In this way, one mobile robot 20 can perform multiple transport tasks simultaneously, and two or more mobile robots 20 can share and perform transport tasks. For example, a sensor can be installed in the storage space of the mobile robots 20 to detect availability. Furthermore, the capacity and weight of each transport object can be registered in advance.

[0074] The buffer storage 13 is a storage that stores intermediate information generated in the processing of the arithmetic processing unit 11. The communication unit 14 is a communication interface for communicating with the plurality of environment cameras 300 and at least one mobile robot 20 provided in a facility using the system 1. The communication unit 14 can perform both wired communication and wireless communication. For example, the communication unit 14 transmits a control signal required to control the mobile robots 20 to each mobile robot 20. The communication unit 14 receives information collected by the mobile robots 20 and the environment cameras 300.

[0075] The mobile robot 20 includes an arithmetic processing unit 21, a storage unit 22, a communication unit 23, and a proximity sensor (e.g., a distance sensor group 24), a camera 25, a drive unit 26, a display unit 27, and an operation reception unit 28. Although not shown, the mobile robot 20 can include a power supply unit such as a battery.Figure 2 Only typical processing blocks provided in the mobile robot 20 are shown, but the mobile robot 20 also includes many other processing blocks that are not shown.

[0076] The communication unit 23 is a communication interface for communicating with the communication unit 14 of the superior management device 10. The communication unit 23 communicates with the communication unit 14 using, for example, wireless signals. The distance sensor group 24 is, for example, a proximity sensor and outputs proximity object distance information indicating a distance to an object or a person present around the mobile robot 20. The camera 25, for example, captures an image for grasping a situation around the mobile robot 20. The camera 25 is also capable of capturing an image of a position marker provided on a ceiling or the like of a facility, for example. By using this position marker, the mobile robot 20 can grasp its own position.

[0077] The drive unit 26 drives a drive wheel provided on the mobile robot 20. The drive unit 26 can include an encoder or the like that detects the number of revolutions of the drive wheel and its drive motor. The position (current position) of the mobile robot 20 can be estimated based on the output of the encoder. The mobile robot 20 detects its current position and transmits this information to the superior management device 10.

[0078] The display unit 27 and the operation reception unit 28 are implemented by a touch panel display. The display unit 27 displays a user interface screen that functions as the operation reception unit 28. In addition, the display unit 27 can display information indicating the destination of the mobile robot 20 and the state of the mobile robot 20. The operation reception unit 28 receives an operation from a user. The operation reception unit 28 includes, in addition to the user interface screen displayed on the display unit 27, various switches provided on the mobile robot 20.

[0079] The arithmetic processing unit 21 performs arithmetic for controlling the mobile robot 20. The arithmetic processing unit 21 can be implemented as a device capable of executing a program, such as a CPU of a computer, for example. Various functions can also be implemented by a program. The arithmetic processing unit 21 includes a movement instruction extraction unit 211, a drive control unit 212, and a detection unit 216. Although Figure 2 Only typical processing blocks included in the arithmetic processing unit 21 are shown, but the arithmetic processing unit 21 also includes processing blocks that are not shown. The arithmetic processing unit 21 can search for a route through points.

[0080] The movement instruction extraction unit 211 extracts a movement instruction from a control signal given from the superior management device 10. The movement instruction includes information on the next through point, for example. The control signal can include information on the coordinates of the through point and the passing order of the through points, for example. The movement instruction extraction unit 211 extracts these types of information as a movement instruction.

[0081] Further, the movement instruction can include information indicating that movement to the next passing point has become possible. When the passage width is narrow, the mobile robot 20 can not be able to pass through interleavedly. There is also a case where the passage is temporarily unusable. In this case, the control signal includes an instruction to cause the mobile robot 20 to stop at a passing point before a position at which the mobile robot 20 should stop. After the other mobile robots have passed through or after the passage becomes passable, the superior management device 10 outputs a control signal to the mobile robot 20 informing the mobile robot 20 that the mobile robot 20 has become able to move. Thus, the mobile robot 20 that has temporarily stopped resumes movement.

[0082] The drive control unit 212 controls the drive unit 26 based on the movement instruction given from the movement instruction extraction unit 211 so that the drive unit 26 moves the mobile robot 20. For example, the drive unit 26 has a drive wheel that rotates according to a control instruction value from the drive control unit 212. The movement instruction extraction unit 211 extracts a movement instruction so that the mobile robot 20 moves toward a passing point received from the superior management device 10. The drive unit 26 rotationally drives the drive wheel. The mobile robot 20 autonomously moves toward the next passing point. In this way, the mobile robot 20 sequentially passes through each passing point so as to reach the transport destination. Further, the mobile robot 20 can estimate its position and transmit a signal indicating that the mobile robot 20 has passed through the passing point to the superior management device 10. Thus, the superior management device 10 is able to manage the current position and the transport state of each mobile robot 20.

[0083] Similar to the detection unit 116, the detection unit 216 detects that the transport destination of the transport object is different from the reception position. The processing of the detection unit 116 will be described later. In the following description, it is assumed that the detection unit 216 of the mobile robot 20 mainly independently performs the detection processing, but the detection unit 116 of the superior management device 10 can also perform the detection processing. Alternatively, the detection unit 116 and the detection unit 216 can cooperate to perform the detection processing or share the detection processing. Further, it is not necessary to provide at least one of the detection unit 116 and the detection unit 216.

[0084] The storage unit 22 stores a floor map 221, robot control parameters 222, and transport object information 226. Figure 2 Only part of the information stored in the storage unit 22 is shown, and the storage unit 22 also includes Figure 2The information shown in FIG. 22 includes the floor map 221, the robot control parameter 222, and the transport object information 226, in addition to the information shown in FIG. 21. The floor map 221 is map information of a facility in which the mobile robot 20 moves. For example, the floor map 221 is a project obtained by downloading the floor map 121 of the superior management device 10. The floor map 221 can be created in advance. In addition, the floor map 221 can not be map information of the entire facility, but can be map information of a portion including an area in which the mobile robot 20 plans to move.

[0085] The robot control parameter 222 is a parameter for operating the mobile robot 20. For example, the robot control parameter 222 includes a distance threshold value with respect to a surrounding object. The robot control parameter 222 also includes an upper limit value of a speed of the mobile robot 20.

[0086] Similar to the transport object information 126, the transport object information 226 includes information about a transport object. The transport object information 226 includes information such as contents (type) of the transport object, a transport source, and a transport destination. The transport object information 226 can include information indicating states such as in transport, before transport (before loading), and after transport. The transport object information 226 is associated with each type of information of the transport object. The transport object information 126 will be described later. The transport object information 226 needs to include only information about a transport object transported by the mobile robot 20. Thus, the transport object information 226 is a part of the transport object information 126. That is, the transport object information 226 does not necessarily include information about transport performed by other mobile robots 20.

[0087] The drive control unit 212 stops or decelerates the operation in reference to the robot control parameter 222 and in response to the fact that the distance indicated by the distance information obtained from the distance sensor group 24 decreases below the distance threshold value. The drive control unit 212 controls the drive unit 26 so that the mobile robot 20 travels at a speed equal to or lower than the upper limit value of the speed. The drive control unit 212 limits the rotational speed of the drive wheel so that the mobile robot 20 does not move at a speed equal to or higher than the upper limit value of the speed.

[0088] Configuration of the mobile robot 20

[0089] Here, the appearance of the mobile robot 20 will be described. Figure 3 A schematic view of the mobile robot 20 is shown. Figure 3 The mobile robot 20 shown in FIG. 22 is one of modes of the mobile robot 20, and can be in other forms. In Figure 3 In FIG. 22, the x direction is a front-rear direction of the mobile robot 20, the y direction is a left-right direction of the mobile robot 20, and the z direction is a height direction of the mobile robot 20.

[0090] The mobile robot 20 includes a main body 290 and a bracket 260. The main body 290 is mounted on the bracket 260. Both the main body 290 and the bracket 260 have cuboid housings, and each component is installed inside the housing. For example, the drive unit 26 is housed inside the bracket 260.

[0091] The main body 290 is equipped with a storage compartment 291 for storage space and a door 292 for sealing the storage compartment 291. The storage compartment 291 is equipped with multiple shelves, and availability is managed for each shelf. For example, availability can be updated by installing various sensors (such as weight sensors) in each shelf. The mobile robot 20 moves autonomously to transport goods stored in the storage compartment 291 to a destination indicated by the upper management device 10. The main body 290 may include a control box (not shown) in the housing. Furthermore, the door 292 can be locked using an electronic key or the like. Upon arrival at the transport destination, the user U2 unlocks the door 292 using the electronic key. Alternatively, the door 292 can be automatically unlocked when the mobile robot 20 arrives at the transport destination.

[0092] like Figure 3 As shown, a front-to-back distance sensor 241 and a left-to-right distance sensor 242 are arranged as a distance sensor group 24 on the exterior of the mobile robot 20. The mobile robot 20 measures the distances to surrounding objects in the front-to-back direction using the front-to-back distance sensor 241. The mobile robot 20 measures the distances to surrounding objects in the left-to-right direction using the left-to-right distance sensor 242.

[0093] For example, a front-to-back distance sensor 241 is disposed on the front and rear surfaces of the housing of the main body 290. A left-to-right distance sensor 242 is disposed on the left and right surfaces of the housing of the main body 290. For example, the front-to-back distance sensor 241 and the left-to-right distance sensor 242 are ultrasonic distance sensors and laser rangefinders. The front-to-back distance sensor 241 and the left-to-right distance sensor 242 detect the distance to surrounding objects. When the front-to-back distance sensor 241 or the left-to-right distance sensor 242 detects that the distance to a surrounding object is equal to or less than a distance threshold, the mobile robot 20 decelerates or stops.

[0094] The drive unit 26 is equipped with drive wheels 261 and casters 262. Drive wheels 261 are used to move the mobile robot 20 forward, backward, left, and right. Casters 262 are driven wheels that rotate with drive wheels 261 without being given a driving force. The drive unit 26 has a drive motor (not shown) that drives drive wheels 261.

[0095] For example, the drive unit 26 supports two drive wheels 261 and two casters 262 in the housing, each of which is in contact with a traveling surface. The two drive wheels 261 are arranged such that their axes of rotation coincide with each other. Each drive wheel 261 is independently rotationally driven by a motor (not shown). The drive wheels 261 rotate in accordance with a control command value from the drive control unit 212 of the mobile robot 20. Figure 2 The casters 262 are driven wheels that are provided so that a rotation shaft extending in a vertical direction from the drive unit 26 supports the wheel at a position away from the axis of rotation of the wheel, and thus follow the moving direction of the drive unit 26.

[0096] For example, when the two drive wheels 261 rotate in the same direction at the same rotational speed, the mobile robot 20 travels straight, and when the two drive wheels 261 rotate in opposite directions at the same rotational speed, the mobile robot 20 pivots about a vertical axis extending substantially through the centers of the two drive wheels 261. Further, by rotating the two drive wheels 261 in the same direction and at different rotational speeds, the mobile robot 20 is able to advance while turning left and right. For example, by making the rotational speed of the left drive wheel 261 higher than the rotational speed of the right drive wheel 261, the mobile robot 20 is able to turn right. Conversely, by making the rotational speed of the right drive wheel 261 higher than the rotational speed of the left drive wheel 261, the mobile robot 20 is able to turn left. That is, the mobile robot 20 is able to travel straight, pivot, turn right, and turn left, and the like, in an arbitrary direction by controlling the rotational direction and rotational speed of each of the two drive wheels 261.

[0097] Further, in the mobile robot 20, a display unit 27 and an operation interface 281 are provided on the upper surface of the main body portion 290. The operation interface 281 is displayed on the display unit 27. When a user touches the operation interface 281 displayed on the display unit 27, the operation receiving unit 28 is able to receive an instruction input from the user. An emergency stop button 282 is provided on the upper surface of the display unit 27. The emergency stop button 282 and the operation interface 281 function as the operation receiving unit 28.

[0098] For example, the display unit 27 is a liquid crystal panel that displays the face of a character as an illustration or presents information about the mobile robot 20 in the form of text or an icon. By displaying the face of a character on the display unit 27, it is possible to give the impression to an observer in the surroundings that the display unit 27 is a pseudo face. It is also possible to use the display unit 27 and the like installed in the mobile robot 20 as a user terminal 400.

[0099] The cameras 25 are mounted on the front surface of the main body 290. Here, two cameras 25 are used as a stereo camera. That is, two cameras 25 having the same angle of view are provided horizontally apart from each other. Images captured by the respective cameras 25 are output as image data. The distance to an object and the size of the object can be calculated based on the image data of the two cameras 25. The arithmetic processing unit 21 can detect a person, an obstacle, or the like at a position in front of the moving direction by analyzing the image of the camera 25. When there is a person or an obstacle at a position in front of the moving direction, the mobile robot 20 moves along the route while avoiding the person or the obstacle. The image data of the camera 25 is transmitted to the upper management device 10.

[0100] The mobile robot 20 recognizes the surrounding objects and confirms the position of the mobile robot 20 itself by analyzing the image data output by the camera 25 and the detection signals output by the front and back distance sensors 241 and the left and right distance sensors 242. The camera 25 captures an image in front of the moving direction of the mobile robot 20. As shown in FIG. 2, the mobile robot 20 regards the side on which the camera 25 is installed as the front of the mobile robot 20. That is, during normal movement, the moving direction is the advancing direction of the mobile robot 20 as indicated by an arrow. Figure 3

[0101] Transport object information

[0102] The transport object information 126 will be described with reference to FIG. 3. Figure 4 is a table showing an example of the transport object information 126. The transport object information 126 includes the contents of the transport object, the transport source, the transport destination, the planned user, the robot ID responsible for the transport, and the status. These types of information are associated with each transport object. The contents of the transport object is information indicating the type of the transport object. For example, a medicine, a device, a sample, or the like is input. The transport source indicates the position at which the mobile robot 20 loads the transport object. The transport destination indicates the delivery destination of the transport object. Figure 4 The planned user indicates the person who uses the transport object. For example, the planned user indicates the name or the ID of a patient. Alternatively, the planned user can indicate the name or the ID of a staff such as a nurse or a doctor. Needless to say, the planned user can include information about both the patient and the staff. The contents, the transport source, the transport destination, and the planned user can be set based on the transport request information.

[0103] The robot ID is the ID of the robot 20 responsible for the transport of the transport object. The robot ID is set based on the route plan. The status is information indicating before the transport of the transport object, during the transport, or after the transport. The status is updated when the mobile robot 20 loads the transport object and when the reception of the transport object is completed.

[0104]

[0105] ​​The transport information 126 is transmitted to each mobile robot 20 that is responsible for transporting the transport article. For example, the transport information 226 of the mobile robot 20 includes information about the transport article that the mobile robot 20 is responsible for transporting. That is, the transport information for the transport article of the robot ID "BBB" is not transmitted to the mobile robot 20 with the robot ID "AAA".

[0106] The transportation of the transport articles of "001" and "002" in FIG. 12A will be described with reference to Figure 5 The transportation of the transport articles of "001" and "002" in FIG. 12A will be described with reference to Figure 4 Here, the two transport articles are loaded onto one mobile robot 20 at the same transport source S001. In this case, the transport source S001 of the two transport articles is the dispensing room 800. The dispensing room 800 is provided with the dispensing machine 810 as illustrated in FIG. 8. The user Ul who is a pharmacist makes a transport request for the two transport articles. Figure 1

[0107] Since each of the two medicines is used by different scheduled users U001 and U002, the mobile robot 20 moves from the transport source S001 to different transport destinations G001 and G002 in this order. After the mobile robot 20 receives the two transport articles at the transport source S001, the mobile robot 20 moves in the order of the transport destination G001 and the transport destination G002. That is, the mobile robot 20 moves from the transport source S001 to the transport destination G002 via the transport destination G001. The route planning unit 115 sets the passing points M1 to M8 in response to the transport request. Thus, the route search is performed so that the mobile robot 20 moves in the order of the passing points M1, M2, M3, M4, M5, M6, M7, and M8. The mobile robot 20 moves along the route R.

[0108] First, the mobile robot 20 moves from the passing point M1 to the passing point M2. The passing point M2 is a point in the dispensing room 800. The user Ul stores the two transport articles into the storage 291 of the mobile robot 20. Here, the transport destination of one transport article is the transport destination G001, and the transport destination of the other transport article is the transport destination G002.

[0109] The transport destination G001 and the transport destination G002 are reception locations where the recipients of the transport articles are present. The scheduled user U001 who is a recipient is present at the transport destination G001. The scheduled user U002 who is a recipient is present at the transport destination G002. The recipient can be a staff such as a nurse or can be a patient. At the transport destination G001, the scheduled user U001 only needs to receive one of the two transport articles. When Figure 3 ​When the door 292 illustrated in FIG. 12 is unlocked at the receiving position, the planned user U001 can take out the wrong transport article. For example, at the transport destination G001 which is the receiving position, the planned user U001 can take out the transport article of "002".

[0110] In the present embodiment, the detection unit 216 of the mobile robot 20 which transports a plurality of transport articles detects whether the transport destination of the transport article is different from the receiving position. That is, the detection unit 216 determines whether the receiving position (current position) and the transport destination match for each transport article. The mobile robot 20 or the user terminal 400 performs output according to the detection result of the detection unit 216. When the receiving position is different from the transport destination, the planned user U001 who is the receiver is outputted information indicating that there is a transport article of a different transport destination.

[0111] For example, the display unit 27 outputs a warning message such as "Please take out only the transport article

[001] ", "Please do not take out the transport article

[002] ", and "Please be careful not to take out the wrong goods". The output can be display output by the display unit 27, or can be audio output by a speaker or the like. Furthermore, the output is not limited to the display unit 27, and the user terminal 400 can perform the output.

[0112] By performing the output by the display unit 27 or the like according to the detection result, it is possible to prevent the receiver from taking out the transport article of a different transport destination by mistake. This makes it possible to achieve appropriate transport, and it is possible to improve transport efficiency. Furthermore, performing the output according to the detection result eliminates the need to provide the storage 291 and the door 292 for each of the transport articles having a different transport destination. Since it is possible to store a plurality of transport articles in one storage 291 provided with one door 292, it is possible to suppress the manufacturing cost of the mobile robot 20.

[0113] The detection unit 216 can perform the detection process by comparing the current position with the transport destination of the transport article information 226 for each transport article. The detection unit 216 can perform the detection process only during the transport of the plurality of transport articles. Furthermore, the detection unit 216 can perform detection of when a transport article having a different transport destination is newly stored. The detection process of the detection unit 216 can be performed when the receiving position of each transport article is reached, or can be performed before reaching.

[0114] Alternatively, the detection unit 116 of the upper-level management device 10 can perform detection processing for each transport item by comparing its current location with the transport destination of the transport item information 126. The upper-level management device 10 sends a control signal to the mobile robot 20, which has a transport destination different from the receiving location. Therefore, the mobile robot 20 can notify the receiver of the detection results. Needless to say, the upper-level management device 10 can send the detection results to the user's user terminal 400 instead of sending the detection results to the mobile robot 20.

[0115] Collaboration with Electronic Medical Record System 700

[0116] Furthermore, in this embodiment, the superior management device 10 can be connected with... Figure 1 The electronic medical record system 700 shown in the diagram collaboratively performs detection processing. For example, in the electronic medical record system 700, patient information about patients is created and registered. For example, patient information includes location information indicating the patient's location. For example, the location information indicates the ward of the hospitalized patient or the clinical department where the patient receives medical treatment. For example, when the patient's condition suddenly changes, or when a new diagnosis is made through examination, doctors, etc., input the patient's location movement into the electronic medical record system 700 via user terminal 400.

[0117] This section considers the scenario of transporting medications prepared in pharmacy 800 to patients. Figure 6 This diagram illustrates an example of a mobile robot 20 moving with the dispensing room 800 as a transport source S001. At the estimated completion time of dispensing, the mobile robot 20 proceeds to the transport source S001 to retrieve the medication. For example, the route planning unit 115 executes a route plan to deliver medication prescribed during the morning check-up to the patient in the evening.

[0118] There is a situation where the location of the planned user U001, the patient, has already moved before the mobile robot 20 moves to the drug delivery destination. For example, the ward of an inpatient may change. Alternatively, the patient may move to another clinical department. Information about the patient's location change is entered into the electronic medical record system 700. For example, a doctor or other physician uses a user terminal 400 to enter information about the patient's location change. Here, the ward of the planned user U001 has moved from delivery destination G001 to delivery destination G002.

[0119] When doctors or other personnel input information about a patient's location change into the electronic medical record system 700, the electronic medical record system 700 sends this information to the higher-level management device 10. The higher-level management device 10 updates the information about the patient's location. Based on the updated information, the higher-level management device 10 detects any discrepancies between the transport destination and the receiving location.

[0120] For example, when the superior management device 10 acquires information on the planned user U001's location movement from the electronic medical record system 700, the superior management device 10 searches for the transport object information 126 for the planned user U001's transport object. When the route plan has been executed for the planned user U001's transport object, the detection unit 116 detects that the transport destination is different from the reception location. The superior management device 10 transmits the detection result to the mobile robot 20 that transports the planned user U001's transport object and the user terminal 400 located at the reception location. The mobile robot 20 or the user terminal 400 outputs the detection result.

[0121] In this way, when the superior management device 10 acquires information on the planned user U001's location movement from the electronic medical record system 700, the superior management device 10 updates the transport object information 126. Then, the detection unit 116 performs the detection process with reference to the updated transport object information 126. Therefore, the detection process is performed based on the latest information, so that it is possible to improve the detection accuracy.

[0122] Further, when the detection unit 216 detects that the transport destination is different from the reception location, the mobile robot 20 can transport the transport object to the correct transport destination. As described above, when the planned user U001's location information is updated, the arithmetic processing unit 21 updates the transport destination of the transport object information 126 with the updated location information. In Figure 6 In this case, the planned user U001 has moved from the transport destination G001 to the transport destination G002. Therefore, in the transport object information 126, the transport object's transport destination is updated to the transport destination G002.

[0123] The route planning unit 115 executes the route plan with the updated transport destination G002 as the correct transport destination. For example, in Figure 6 In this case, before the transport destination is updated, the passing points M1 to M5 to the transport destination before the update are set. When the transport destination is updated to the transport destination G002, the route planning unit 115 deletes the passing point M5 from the mobile robot 20's route plan information 125. The route planning unit 115 adds the passing points M6 and M7 to the mobile robot 20's route plan information 125. Although the mobile robot is planned to move in the order of the passing points M1, M2, M3, M4, and M5, the mobile robot 20 moves in the order of the passing points M1, M2, M3, M4, M6, and M7 due to the route update.

[0124] Furthermore, the upper-level management device 10 sends updated transport information to the mobile robot 20. The mobile robot 20 re-searches for route R using the updated transport destination as the correct destination. Therefore, the mobile robot 20 does not stop at the previous transport destination G001, but instead transports the goods to the updated transport destination G002. That is, since the mobile robot 20 does not move towards the transit point M5, the travel distance is shortened. This allows for more efficient transport.

[0125] Collaboration with the 810 dispensing machine

[0126] Furthermore, in this embodiment, the mobile robot 20 can interact with... Figure 1 The dispensing machine 810 shown in the diagram cooperates in performing the transportation task. Specifically, the upper-level management device 10 obtains the estimated dispensing time for the medicine to be transported from the dispensing machine 810. Then, the route planning unit 115 executes route planning so that the mobile robot 20 picks up the transported item according to the estimated dispensing time. As a result, the mobile robot 20 is able to go to the transportation source S001 where the dispensing machine 810 is located to pick up the transported item immediately before or after the estimated dispensing time. This enables efficient transportation.

[0127] Specifically, user U1, acting as a pharmacist, operates the dispensing machine 810 or user terminal 400 to input an estimated dispensing time. Alternatively, the dispensing machine 810 can determine the estimated dispensing time based on the medication contents, etc. The estimated dispensing time can be stored as transport information 126, 226. Furthermore, user U1 inputs the name of the patient, acting as planned user U001, etc. Therefore, mobile robot 20 proceeds to collect the medication based on the estimated dispensing time. For example, mobile robot 20 moves to the dispensing room or dispensing machine immediately after the estimated dispensing time. Then, user U1 loads the medication onto mobile robot 20. Thus, medication can be transported efficiently.

[0128] IC tag

[0129] Furthermore, the detection unit 216 can detect differences between the transport destination and the receiving location based on the IC tag attached to the transported item. For example, the IC tag may include information about the patient or staff using the medication as transported item. The detection unit 216 performs detection processing based on the information included in the IC tag. The detection unit 216 and the user terminal 400 may have an IC tag reader for reading information from the IC tag.

[0130] The detection unit 116 or the detection unit 216 detects that the transport destination is different from the reception location according to the information stored in the IC tag. For example, the planned receiver reads the information of the IC tag using the IC tag reader. The detection unit 216 performs the detection process by comparing the current location with the transport destination based on the information of the IC tag. Then, the display unit 27 performs the display according to the detection result. This enables appropriate transport.

[0131] Transport method

[0132] Figure 7 is a flowchart showing a control method according to the present embodiment. Figure 7 The processing after the route planning in response to the transport request is shown. That is, Figure 7 The processing in which the mobile robot 20 moves along the route transmitted from the superior management device 10 is shown.

[0133] First, the mobile robot 20 transports the transport objects (S701). Here, the mobile robot 20 loads two or more transport objects to perform the transport task. Next, the detection unit 116 performs the detection process (S702). As described above, the detection unit 116 detects that the transport destination is different from the reception location based on various types of information. Alternatively, the detection unit 216 can perform the detection process.

[0134] Then, the mobile robot 20 or the user terminal 400 outputs the detection result (S703). Thus, the information of the transport objects of which the transport destination is different is output to the receiver at the reception location. It is possible to suppress the receiver from mistakenly taking out the transport objects of which the transport destination is different. This enables appropriate transport.

[0135] Part or all of the processing in the above-described superior management device 10, mobile robot 20, and the like can be realized as a computer program. Such a program can be stored and supplied to a computer using various types of non-transitory computer-readable media. The non-transitory computer-readable media include various types of tangible recording media. Examples of the non-transitory computer-readable media include a magnetic recording medium (such as a floppy disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (such as a magneto-optical disk), a compact disc read-only memory (CD-ROM), a compact disc recordable (CD-R), a compact disc rewritable (CD-R / W), and a semiconductor memory (such as a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, a random access memory (RAM)). The program can also be supplied to a computer by various types of transitory computer-readable media. Examples of the transitory computer-readable media include an electrical signal, an optical signal, and an electromagnetic wave. The transitory computer-readable media can supply the program to a computer via a wired communication path such as an electrical wire and an optical fiber or a wireless communication path.

[0136] The present application is not limited to the above-described embodiments, and appropriate modifications can be made without departing from the gist. For example, in the above-described embodiments, a system in which a transport robot autonomously moves in a hospital is described, but the above-described system can transport predetermined articles as goods in a hotel, a restaurant, an office building, an event site, or a complex facility.

Claims

1. A transport system for transporting a transport object using a mobile robot that can autonomously move, wherein: the mobile robot transports a plurality of the transport objects, and sequentially transports a plurality of the transport objects to transport destinations indicated by transport object information of the plurality of the transport objects; in a case where the mobile robot moves to a reception position that is a transport destination of one of the plurality of the transport objects, the transport system detects that a transport destination of another of the plurality of the transport objects is different from the reception position by determining whether the transport destination of the other transport object coincides with the reception position; and the transport system outputs, to a recipient present at the reception position, the other transport object that has a position different from the reception position as the transport destination.

2. The transport system of claim 1, wherein, The transport system detects that the transport destination is different from the reception position based on information about a location movement of a patient when the information about the location movement of the patient is input to an electronic medical record system that stores patient information.

3. The transport system of claim 1, wherein, The transport system detects that the transport destination is different from the reception position based on an IC tag attached to the transport object.

4. The transportation system of claim 1, wherein, When the transport system acquires an estimated dispensing time for completing dispensing of a medicine that is the transport object, the mobile robot goes to pick up the medicine according to the estimated dispensing time.

5. The transport system according to any one of claims 1 to 4, wherein, In a case where it is detected that the transport destination is different from the reception position, the transport system transports the transport object to a correct transport destination.

6. A transport method for transporting a transport object using a mobile robot that can autonomously move, the transport method comprising: transporting, by the mobile robot, a plurality of the transport objects, and sequentially transporting a plurality of the transport objects to transport destinations indicated by transport object information of the plurality of the transport objects; in a case where the mobile robot moves to a reception position that is a transport destination of one of the plurality of the transport objects, detecting that a transport destination of another of the plurality of the transport objects is different from the reception position by determining whether the transport destination of the other transport object coincides with the reception position; and outputting, to a recipient present at the reception position, the other transport object that has a position different from the reception position as the transport destination. detecting that the transport destination is different from the reception position based on information about a location movement of a patient when the information about the location movement of the patient is input to an electronic medical record system that stores patient information.

7. The method of transporting of claim 6, further comprising: detecting that the transport destination is different from the reception position based on an IC tag attached to the transport object.

8. The method of transporting of claim 6, further comprising: When an estimated dispensing time for completing dispensing of a medicine that is the transport object is acquired, going to pick up the medicine according to the estimated dispensing time by the mobile robot.

9. The method of transporting of claim 6, further comprising: In a case where it is detected that the transport destination is different from the reception position, transporting the transport object to a correct transport destination.

10. The method of transporting of any one of claims 6 to 9, further comprising: ​ 11.A non-transitory computer-readable storage medium storing a program causing a computer to execute a transport method for transporting transport articles using a mobile robot that is capable of autonomous movement, wherein the transport method includes: transporting a plurality of the transport articles by the mobile robot, and sequentially transporting a plurality of the transport articles to transport destinations indicated by transport article information of the plurality of the transport articles; in a case where the mobile robot moves to a reception position that is a transport destination of one of the plurality of the transport articles, detecting that a transport destination of another of the plurality of the transport articles is different from the reception position by determining whether the transport destination of the other transport article coincides with the reception position; and and outputting to a recipient present at the reception position that there is the other transport article that has a different position from the reception position as the transport destination.

12. The non-transitory computer-readable storage medium of claim 11, wherein, The program detects that the transport destination is different from the reception position based on information about a position movement of a patient when the information about the position movement is input to an electronic medical record system that stores patient information.

13. The non-transitory computer-readable storage medium of claim 11, wherein, The program detects that the transport destination is different from the reception position based on an IC tag attached to the transport article.

14. The non-transitory computer-readable storage medium of claim 11, wherein, When an estimated dispensing time for completing dispensing of a medicine that is the transport article is acquired, the mobile robot goes to pick up the medicine at the estimated dispensing time.

15. The non-transitory computer-readable storage medium of any one of claims 11 to 14, wherein, The program transports the transport article to a correct transport destination when it is detected that the transport destination is different from the reception position.

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