Transport system, transport method, and non-transitory computer-readable medium

Abstract

The present disclosure relates to a transportation system, a transportation method, and a non-transitory computer-readable medium. The transportation system uses a mobile robot that can move autonomously to transport a transportation object. The transportation system stores management information including a use start time, a use end time, and a use location for each device to be loaned and transported by the mobile robot as the transportation object. The transportation system performs a determination process for determining whether the interval from the use end time to the next use start time is equal to or greater than a predetermined time for each device based on the management information. When the interval is equal to or greater than the predetermined time, the transportation system transports the device to the storage location of the device after the use of the device ends, and when the interval is less than the predetermined time, the transportation system transports the device to the next use location of the device after the use of the device ends.

Description

Technical Field

[0001] The present disclosure relates to transportation systems, transportation methods, and non-transitory computer-readable media. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2002-015073 (JP 2002-015073 A) discloses a device lending system designed to efficiently lend devices owned by multiple facilities between facilities. The system includes a device information transmitting device, a usage reservation information receiving device, and a lending information registration device. The device information transmitting device transmits device information of devices owned by the multiple facilities via a communication line. The usage reservation information receiving device receives usage reservation information of the devices to the facilities via the communication line. The lending information registration device registers lending information for lending devices between facilities based on the usage reservation information. Summary of the Invention

[0003] However, in the system described in JP 2002-015073 A, a schedule with a margin must be determined based on preparation time (such as one hour), and usage reservation information must be registered based on the schedule, which makes it difficult to use the equipment efficiently. Therefore, when lending equipment, it is desired to be able to use the equipment efficiently.

[0004] The present disclosure is made to solve such problems and provides a transportation system, transportation method and non-transitory computer-readable medium that enable a device to be used quickly when the device is loaned even when there is no free time before the next scheduled use time.

[0005] The transportation system according to the first aspect of the present disclosure is a transportation system for transporting transportation objects using a mobile robot that can move autonomously. The transportation system: stores management information including a use start time, a use end time, and a use location for each device to be loaned out as the transportation object to be transported by the mobile robot; performs a determination process for determining whether the interval from the use end time to the next use start time is equal to or greater than a predetermined time for each device based on the management information; when the interval is equal to or greater than the predetermined time, the device is transported to a storage location of the device after the use of the device ends; and when the interval is less than the predetermined time, the device is transported to the next use location of the device after the use of the device ends. With such a configuration, in the above-mentioned transportation system, when the device is loaned out, the device can be used quickly even when there is no free time before the next scheduled use time.

[0006] In the above-mentioned transport system, the predetermined time can be determined based on the time it takes for the mobile robot to move from the use location to the storage location and the time it takes for the mobile robot to move from the use location to the next use location. This makes it possible to lend out equipment appropriately and with high operating efficiency.

[0007] The transport system may notify the contact information of the maintenance personnel who performs maintenance on the equipment of the transport destination of the equipment determined as a result of the determination process. With such notification, the maintenance personnel may go to the transport destination of the equipment for maintenance as needed.

[0008] When the transport destination of the equipment is determined to be the next location of use as a result of the determination process, the transport system can notify the maintenance personnel's contact information of the transport destination and arrival time of the equipment. This notification allows the maintenance personnel to proceed with maintenance as needed, even when the transport destination is determined to be the next location of use. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination. By proceeding to the transport destination based on the arrival time, they can perform maintenance without missing the next start time of use.

[0009] When the transport destination of the device is determined to be the storage location as a result of the determination process, the transport system can notify the maintenance personnel's contact information of the transport destination and arrival time of the device. This notification allows the maintenance personnel to perform maintenance as needed, even when the transport destination is determined to be the storage location. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination and can perform maintenance in a focused manner, taking into account the maintenance of other devices.

[0010] When the determination process determines that the transport destination of the device is the storage location of the device, the transport system can notify the contact information of a first maintenance person who performs maintenance on the device of the transport destination. Furthermore, when the determination process determines that the transport destination of the device is the next use location of the device, the transport system can notify the contact information of a second maintenance person who performs maintenance on the device and is different from the first maintenance person of the transport destination. With such notifications, the maintenance personnel of the device can be divided into those responsible for the storage location and those responsible for the next use location, thereby allowing the appropriate person in charge to be assigned to the appropriate location. Specifically, when the transport destination is determined to be the next use location, a person who can handle an emergency on-site problem can be notified, and when the transport destination is determined to be the storage location, other personnel can be notified.

[0011] The transportation system can make the destination of the transportation destination of the equipment determined as a result of the determination process different according to the type of the equipment. With such notification, the maintenance personnel can be different according to the technical level and expertise of the equipment.

[0012] The transportation method according to the second aspect of the present disclosure is a transportation method for transporting a transportation object using a mobile robot that can move autonomously. The transportation method includes: storing management information including a use start time, a use end time, and a use location for each device to be loaned out as the transportation object to be transported by the mobile robot; performing a determination process, the determination process being used to determine whether the interval from the use end time to the next use start time is equal to or greater than a predetermined time for each device based on the management information; when the interval is equal to or greater than the predetermined time, transporting the device to a storage location of the device after the use of the device ends; and when the interval is less than the predetermined time, transporting the device to the next use location of the device after the use of the device ends. With such a process, in the above-mentioned transportation method, when the device is loaned out, the device can be used quickly even when there is no free time before the next scheduled use time.

[0013] In the above-mentioned transportation method, the predetermined time can be determined based on the time it takes for the mobile robot to move from the use location to the storage location and the time it takes for the mobile robot to move from the use location to the next use location. This makes it possible to lend out the equipment appropriately and with high operating efficiency.

[0014] The transport method may include notifying the transport destination of the device determined as a result of the determination process to the contact information of a maintenance person who performs maintenance on the device. With such notification, the maintenance person may go to the transport destination of the device for maintenance as needed.

[0015] The transport method may include, when the determination process determines that the transport destination of the device is the next location of use, notifying the maintenance personnel's contact information of the transport destination and arrival time of the device. This notification allows the maintenance personnel to proceed with maintenance as needed even when the transport destination is determined to be the next location of use. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination. By proceeding to the transport destination based on the arrival time, they can perform maintenance without missing the next start time of use.

[0016] The transport method may include, when the determination process determines that the transport destination of the device is the storage location, notifying the maintenance personnel's contact information of the transport destination and arrival time of the device. This notification allows the maintenance personnel to perform maintenance as needed even when the transport destination is determined to be the storage location. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination and can perform maintenance in a focused manner, taking into account maintenance of other devices.

[0017] The above-mentioned transportation method may include: when the transport destination of the equipment is determined to be the storage location of the equipment as a result of the determination process, notifying the contact information of a first maintenance personnel who performs maintenance on the equipment of the transport destination of the equipment; and when the transport destination of the equipment is determined to be the next use location of the equipment as a result of the determination process, notifying the contact information of a second maintenance personnel who performs maintenance on the equipment and is different from the first maintenance personnel of the equipment of the transport destination of the equipment. With such notification, the maintenance personnel of the equipment can be divided into those responsible for the storage location and those responsible for the next use location, and thus the appropriate person in charge can be assigned to the appropriate location. In particular, when the transport destination is determined to be the next use location, a person who can handle an emergency on-site problem can be notified, and when the transport destination is determined to be the storage location, other personnel can be notified.

[0018] The transportation method may include making the notification destination of the transportation destination of the device determined as a result of the determination process different according to the type of the device. With such notification, the maintenance personnel can be different according to the technical level and expertise of the maintenance of the device.

[0019] According to the third aspect of the present disclosure, a non-transitory computer-readable medium stores a program that causes a computer to execute transport management for transporting a transport object using a mobile robot that can move autonomously. The transport management includes: storing management information including a usage start time, a usage end time, and a usage location for each device to be loaned out as the transport object to be transported by the mobile robot; executing a determination process for determining, based on the management information, whether the interval from the usage end time to the next usage start time for each device is equal to or greater than a predetermined time; when the interval is equal to or greater than the predetermined time, transporting the device to a storage location after the use of the device ends; and when the interval is less than the predetermined time, transporting the device to the next usage location after the use of the device ends. Utilizing such processing, in the above program, when the device is loaned out, the device can be used quickly even if there is no free time before the next scheduled usage time.

[0020] In the above-mentioned transport management, the predetermined time can be determined based on the time it takes for the mobile robot to move from the use location to the storage location and the time it takes for the mobile robot to move from the use location to the next use location. This makes it possible to lend out the equipment appropriately and with high operating efficiency.

[0021] The transport management may include a notification process for notifying the contact information of a maintenance person who performs maintenance on the device of the transport destination of the device determined as a result of the determination process. With such a notification, the maintenance person can proceed to the transport destination of the device to perform maintenance as needed.

[0022] When the determination process determines that the transport destination of the device is the next location of use, the notification process can notify the maintenance personnel's contact information of the transport destination and arrival time of the device. This notification allows the maintenance personnel to proceed with maintenance as needed, even when the transport destination is determined to be the next location of use. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination. By proceeding to the transport destination based on the arrival time, they can perform maintenance without missing the next start time of use.

[0023] When the determination process determines that the transport destination of the device is the storage location, the notification process can notify the maintenance personnel's contact information of the transport destination and arrival time of the device. This notification allows the maintenance personnel to perform maintenance as needed, even when the transport destination is determined to be the storage location. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination and can perform maintenance in a centralized manner, taking into account the maintenance of other devices.

[0024] When the determination process determines that the transport destination of the device is the storage location of the device, the notification process can notify the contact information of a first maintenance person who performs maintenance on the device of the transport destination of the device; and when the determination process determines that the transport destination of the device is the next use location of the device, the notification process can notify the contact information of a second maintenance person who performs maintenance on the device and is different from the first maintenance person of the transport destination of the device. With such notification, the maintenance personnel of the device can be divided into those in charge at the storage location and those in charge at the next use location, and thus the appropriate person in charge can be assigned to the appropriate position. In particular, when the transport destination is determined to be the next use location, a person who can handle an emergency on-site problem can be notified, and when the transport destination is determined to be the storage location, other personnel can be notified.

[0025] The notification process may include making the notification destination for the transport destination of the device determined as a result of the determination process different according to the type of the device. With such notification, the maintenance personnel can be different according to the technical level and expertise of the maintenance of the device.

[0026] According to the present disclosure, it is possible to provide a transportation system, a transportation method, and a non-transitory computer-readable medium that enable prompt use of a device when the device is loaned even when there is no free time before the next scheduled use time. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0028] Figure 1 is a conceptual diagram showing an overall configuration example of a system using the mobile robot according to the present embodiment;

[0029] Figure 2 is a control block diagram showing an example of a transportation system according to the present embodiment;

[0030] Figure 3 is a control block diagram illustrating an example of an equipment lending system;

[0031] Figure 4 is a schematic diagram illustrating an example of a mobile robot;

[0032] Figure 5 is a table showing an example of equipment rental information;

[0033] Figure 6 is a table showing an example of transport object information;

[0034] Figure 7 is a diagram showing an example of a movement route of a mobile robot;

[0035] Figure 8 is a diagram showing another example of a moving route of a mobile robot;

[0036] Figure 9 is a diagram showing another example of a moving route of a mobile robot;

[0037] Figure 10 is a flow chart showing a transportation method according to the present embodiment;

[0038] Figure 11 is a schematic diagram showing another example of a mobile robot and an example of a loan device; and

[0039] Figure 12 A schematic diagram showing another example of a mobile robot. DETAILED DESCRIPTION

[0040] Hereinafter, the present invention will be described by way of its embodiments, but the invention according to the scope of the claims is not limited to the following embodiments. Also, not all configurations described in the embodiments are essential as means for solving the problem.

[0041] General Configuration

[0042] Figure 1 1 is a conceptual diagram showing an example of the overall configuration of a transport system 1 using a mobile robot 20 according to the present embodiment. The transport system 1 according to the present embodiment is a system for transporting a transport object by using a mobile robot capable of autonomous movement. Figure 1 The illustrated mobile robot 20 is described as an example of a mobile robot.

[0043] In addition to the mobile robot 20 , the transportation system 1 includes a host management device 10 , an equipment lending system 30 , a network 600 , a communication unit 610 , and a user terminal 400 .

[0044] Mobile robot 20 is a transport robot whose mission is to transport objects. Mobile robot 20 autonomously travels to transport objects within medical welfare facilities such as hospitals, rehabilitation centers, nursing facilities, and elderly care facilities. Transport system 1 according to this embodiment can also be used in commercial facilities such as shopping malls.

[0045] The user U1, such as the user of the transport object, the user's assistant, or the manager of the transport object, requests the mobile robot 20 to transport the transport object. The user U1 receives the transport object into the mobile robot 20 at the location requested in the transport request or at the receiving point (transportation source) included in the information of the transport request. Of course, receiving the transport object can also be performed by a receiving robot or the like. As will be described later, Figure 11 In the case of the mobile robot having another shape described above, the user U1 can transport the transport object by loading it onto the mobile robot in a state where the transport object is exposed. However, for simplicity of explanation, it is assumed that the transport object is transported in a state where the transport object is accommodated in the mobile robot 20.

[0046] In particular, one of the features of this embodiment is the transport of equipment to be loaned (hereinafter referred to as loaned equipment) as a transport object, and this will be mainly described. It should be noted that the mobile robot 20 can also transport equipment other than loaned equipment and objects to be transported other than equipment, such as medicines, consumables such as packaging bags, specimens, hospital food, and equipment such as stationery.

[0047] The user U1 can request the transport of the loaned device according to the schedule for lending (lending schedule). As will be described later, the lending schedule can be managed by the device lending system 30, can be referred to by the user U1 for transport requests from the user terminal 400, and can also be referred to by the host management device 10.

[0048] Mobile robot 20 autonomously moves to a designated destination to transport the loaned device. That is, mobile robot 20 performs a luggage transport mission (hereinafter referred to as a mission). In the following description, the location where the loaned device is loaded is referred to as the transport source, and the location where the loaned device is delivered is referred to as the transport destination.

[0049] For example, assume that mobile robot 20 is moving around a general hospital with multiple clinical departments. Mobile robot 20 transports loan equipment between these departments. For example, mobile robot 20 delivers loan equipment from a nurse's station in one clinical department to a nurse's station in another clinical department. Alternatively, mobile robot 20 delivers loan equipment from its warehouse to a nurse's station in a clinical department. Furthermore, if the transport destination is on a different floor, mobile robot 20 can use an elevator or other means to move.

[0050] Examples of loaned equipment include medical devices such as examination tools and medical instruments. These include bed-slip devices, blood pressure monitors, infusion devices such as blood transfusion pumps and syringe pumps, foot pumps, nurse call devices, bed exit sensors, low-pressure continuous inhalers, electrocardiogram monitors, medication infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, resuscitators, sterile devices, and echo machines. In addition to the above, medical equipment includes various infusion devices and vital signs monitors. It should be noted that multiple models can be loaned for various types of medical equipment, such as blood transfusion pumps with different flow rates.

[0051] Some loaner devices are equipped with a stand. Examples of such loaner devices include low-voltage continuous suction devices, echo machines, electrocardiogram (ECG) monitors (transmitters), central electrocardiogram (Central) monitors, bedside electrocardiogram (Bedside) monitors, ventilators, and nebulizers. Many loaner devices with stands operate by connecting to a commercial power source rather than using batteries, and are often stored in a storage room, as compared to loaner devices without stands.

[0052] In many cases, the aforementioned loaner devices do not require sterilization of the main body, or only require sterilization of a portion of the device. Furthermore, some loaner devices are equipped with disposable tools. Catheters, scalpels, scissors, and the like that require sterilization can also be treated as loaner devices in this embodiment when the storage location is the same as or close to the sterilization location.

[0053] In this embodiment, if Figure 1 As shown in FIG, the equipment lending system 30, the mobile robot 20, and the user terminal 400 are connected to the host management device 10 via a network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via a communication unit 610. The network 600 is a wired or wireless local area network (LAN) or wide area network (WAN). The host management device 10 is connected to the network 600 by wire or wireless. The communication unit 610 is, for example, a wireless LAN unit installed in various environments. The communication unit 610 can be a general-purpose communication device such as a WiFi router.

[0054] The user terminal 400 is, for example, a tablet computer, a smartphone, etc., and may be a stationary computer. The user terminal 400 only needs to be an information processing device capable of wireless or wired communication.

[0055] User U1 or user U2 can make a transport request using user terminal 400. For example, user U1 can access the equipment lending system 30 (via host management device 10) from user terminal 400 to refer to the schedule for transport requests, and based on the reference result, make a transport request for the loaned equipment to host management device 10. Host management device 10, having received the transport request, can make a transport request to mobile robot 20.

[0056] In this manner, various signals transmitted from the user terminals 400 of users U1 and U2 are transmitted from the host management device 10 to the target mobile robot 20 once they can be transmitted to the host management device 10 via the network 600. Similarly, various signals transmitted from the mobile robot 20 are transmitted from the host management device 10 to the target user terminal 400 once they can be transmitted to the host management device 10 via the network 600.

[0057] The host management device 10 is a server connected to various devices and collects data from them. The host management device 10 is not limited to a single physical device and can include multiple devices that perform distributed processing. Furthermore, the host management device 10 can be distributed and installed in edge devices such as the mobile robot 20. For example, part or all of the transport system 1 can be installed in the mobile robot 20.

[0058] The device lending system 30 is a system that manages a schedule (management information) indicating the date and time of lending, as well as the lending destination (usage location, user, etc.) for each lent device. The device lending system 30 may be a server connected to the host management device 10 and exchanges data with the host management device 10. Thus, the host management device 10 can obtain the lending schedule of the lent devices managed by the device lending system 30. The device lending system 30 may be provided in a distributed manner in the host management device 10, or may be incorporated into the host management device 10.

[0059] The user terminal 400 and the mobile robot 20 may transmit and receive signals without going through the host management device 10. For example, the user terminal 400 and the mobile robot 20 may directly transmit and receive signals through wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 may transmit and receive signals via the communication unit 610.

[0060] User U1 or user U2 requests transportation of the loaned device using user terminal 400. Hereinafter, the description will be made assuming that user U1 is the transportation requester at the transportation source and user U2 is the intended recipient at the transportation destination (destination). Of course, user U2 at the transportation destination can also make a transportation request. Furthermore, users at locations other than the transportation source or destination can make transportation requests.

[0061] When user U1 makes a transport request, user U1 uses the user terminal 400 to input the content of the loaned device, the receiving point of the loaned device (hereinafter also referred to as the transport source), the delivery destination of the loaned device (hereinafter also referred to as the transport destination), the estimated time of arrival at the transport source (receiving time of the loaned device), the estimated time of arrival at the transport destination (transportation period), etc. In the following, these types of information are also referred to as transport request information. In the case of the loaned device to be transported in this embodiment, the transport source can be the storage location of the loaned device. The transport source can be the location where user U1 is located. The transport destination is the location where user U2 or the patient scheduled to use the loaned device is located. User U1 can input the transport request information by operating the touch panel of the user terminal 400.

[0062] In the transport request information, the loaned device can be specified using the loan schedule registered in the device loan system 30. For example, user U1 specifies the loaned device from user terminal 400, loads the loaned device onto mobile robot 20 as needed, and makes a transport request to host management device 10. Having received the transport request, host management device 10 refers to device loan system 30, determines a transport schedule to meet the usage start time indicated by the loan schedule for the loaned device, and makes a transport request to mobile robot 20. Thus, transportation is performed according to the transport schedule.

[0063] Alternatively, user U1 makes a transport request from user terminal 400 while referring to the lending schedule, and host management device 10 determines the transport schedule with reference to the lending schedule and makes a transport request to mobile robot 20. Thus, transport is performed according to the transport schedule. In addition to the above, various transport request methods can be adopted.

[0064] These examples are based on the premise that a transport request is made after registering the lending schedule based on a transport request (request for lending registration). However, there may be a sudden need to lend a device, in which case the lending schedule for the device to be lent at the desired time is not registered. Even in such a case, the user U1 can send a transport request from the user terminal 400 to the host management device 10. Based on the transport request, the host management device 10 checks with reference to the device lending system 30 whether there is any overlap in the lending period, and when there is no problem, the host management device 10 registers the lending schedule and makes a transport request to the mobile robot 20. In this case, for example, the lending device can be loaded onto the mobile robot 20 at a time before or after the transport request is sent from the user terminal 400.

[0065] In either case, as described above, user terminal 400 can transmit the transport request information input by user U1 to host management device 10. Host management device 10 manages multiple mobile robots 20 and transmits an operation instruction to each mobile robot 20 to perform a transport task. In this case, host management device 10 determines the mobile robot 20 to perform the transport task for each transport request. Then, host management device 10 transmits a control signal containing the operation instruction to mobile robot 20. Mobile robot 20 moves from the transport source to the transport destination according to the operation instruction.

[0066] For example, the host management device 10 assigns a transport task to a mobile robot 20 at or near a transport source. Alternatively, the host management device 10 assigns a transport task to a mobile robot 20 traveling toward or near the transport source. The assigned mobile robot 20 travels to the transport source to retrieve the loaned device. Examples of transport sources include a storage location and the location of the user U1 who requested the task.

[0067] When mobile robot 20 arrives at the transport source, user U1 or another staff member loads the loaned device onto mobile robot 20. Mobile robot 20, loaded with the loaned device, autonomously moves to the transport destination set as its destination. Host management device 10 sends a signal to user terminal 400 of user U2 at the transport destination. This allows user U2 to learn that the loaned device is being transported and its estimated arrival time. When mobile robot 20 arrives at the set transport destination, user U2 receives the loaned device housed in mobile robot 20. In this manner, mobile robot 20 performs its transport mission.

[0068] In the above-described overall configuration, the various elements of the transport system can be distributed across the mobile robot 20, user terminal 400, equipment lending system 30, and host management device 10 to form a comprehensive transport system. Furthermore, the physical elements used to transport loaned equipment can be centralized within a single device to form a transport system. The host management device 10 controls one or more mobile robots 20.

[0069] Furthermore, the host management device 10 and the equipment lending system 30 can be configured to be mutually accessible with an electronic medical record system (not shown). The electronic medical record system stores information about patients (also referred to as patient information). For example, when a medical professional, such as a doctor or nurse, inputs patient information using the user terminal 400, the patient information is stored in a memory, etc., of the electronic medical record system. Furthermore, the medical professional can view and update the patient information stored in the electronic medical record system via the user terminal 400.

[0070] This configuration enables the host management device 10 to read the medical conditions and surgical schedules registered in the electronic medical record system, determine the required equipment, and register the lending of the equipment and other accessories in the equipment lending system 30.

[0071] Control block diagram

[0072] Figure 2 is a control block diagram showing an example of a control system of the transportation system 1, Figure 3 It shows Figure 1 and Figure 2 FIG. 1 is a control block diagram of an example of the equipment lending system 30 in the transportation system 1. Figure 2 As shown in , the transportation system 1 may include a host management device 10 , a mobile robot 20 , an equipment lending system 30 , and an environment camera 300 .

[0073] The transportation system 1 efficiently controls multiple mobile robots 20 while enabling the mobile robots 20 to autonomously move within a predetermined facility. Therefore, multiple environmental cameras 300 are installed within the facility. For example, the environmental cameras 300 are installed in passageways, corridors, elevators, entrances / exits, and the like within the facility.

[0074] The environmental camera 300 captures images of the area within which the mobile robot 20 moves. In the transportation system 1, the host management device 10 collects images captured by the environmental camera 300 and information based on the images. Alternatively, images captured by the environmental camera 300 may be directly transmitted to the mobile robot 20. The environmental camera 300 may be a surveillance camera installed in a passageway or at an entrance or exit within the facility. The environmental camera 300 can be used to determine the distribution of congestion within the facility.

[0075] In the transport system 1, the host management device 10 performs route planning based on transport request information and generates route planning information. This route planning information can be used to plan a transport route corresponding to the aforementioned transport schedule. Based on the generated route planning information, the host management device 10 designates a destination for each mobile robot 20. The mobile robots 20 then autonomously move toward the destinations designated by the host management device 10. The mobile robots 20 autonomously move toward their destinations using sensors, floor maps, location information, and other information incorporated into the mobile robots 20.

[0076] For example, the mobile robot 20 moves so as not to come into contact with surrounding equipment, objects, walls, and people (hereinafter collectively referred to as surrounding objects). Specifically, the mobile robot 20 detects the distance to the surrounding objects and moves while maintaining a distance from the surrounding objects that is greater than a certain distance (defined as a distance threshold). When the distance to the surrounding objects becomes equal to or less than the distance threshold, the mobile robot 20 slows down or stops. In this way, the mobile robot 20 can move without coming into contact with the surrounding objects. Since contact can be avoided, safe and efficient transportation is possible.

[0077] The host management device 10 may include an operation processing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The operation processing unit 11 performs operations for controlling and managing the mobile robot 20. For example, the operation processing unit 11 may be implemented as a device capable of executing a program, such as a central processing unit (CPU) of a computer. Various functions may also be implemented by a program. Figure 2 Only the robot control unit 111 and the route planning unit 115 that are characteristic of the arithmetic processing unit 11 are shown in FIG. 1 , but other processing blocks may also be provided.

[0078] The robot control unit 111 performs operations for remotely controlling the mobile robot 20 and generates control signals. The robot control unit 111 generates control signals based on, for example, route planning information 125 (described later). Furthermore, the robot control unit 111 generates control signals based on various types of information obtained from the environment camera 300 and the mobile robot 20. The control signals may include updated information, such as the floor map 121, robot information 123, and robot control parameters 122 (described later). Specifically, when various types of information are updated, the robot control unit 111 generates control signals based on the updated information.

[0079] 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 loaned device 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, etc. that have been stored in the storage unit 12 to determine the mobile robot 20 that performs the new transport task. The starting point is the current position of the mobile robot 20, the transport destination of the immediately preceding transport task, the receiving point of the loaned device, etc. The destination is the transport destination of the loaned device, but it can be a standby location, a charging location, etc.

[0080] Here, the route planning unit 115 sets passage points from the starting point to the destination of each mobile robot 20. The route planning unit 115 sets a sequence for each passage point for each mobile robot 20. For example, passage points may be set at branch points, intersections, and the lobby before an elevator, and their surroundings. In narrow passages, it may be difficult for mobile robots 20 to pass each other. In such cases, a passage point may be set before the narrow passage. Candidate passage points may be pre-registered in the floor map 121.

[0081] The route planning unit 115 determines a mobile robot 20 to perform each transport task from among a plurality of mobile robots 20 so that the tasks can be efficiently performed as a whole system. The route planning unit 115 preferentially assigns transport tasks to mobile robots 20 in a standby state or mobile robots 20 located near a transport source.

[0082] The route planning unit 115 sets transit points, including a departure point and a destination, for the mobile robot 20 assigned a transport mission. For example, when there are two or more transport routes from the transport source to the transport destination, setting transit points allows for faster transport. Therefore, the host management device 10 updates information indicating the congestion status of the passage based on camera images and other information. Specifically, locations where other mobile robots 20 are passing and locations with many people have high congestion levels. Therefore, the route planning unit 115 sets transit points to avoid locations with high congestion levels.

[0083] The mobile robot 20 can move to its destination via either a counterclockwise or clockwise route. In this case, the route planning unit 115 sets pass-through points to facilitate a less congested route. The route planning unit 115 sets one or more pass-through points to the destination, allowing the mobile robot 20 to move along an uncongested route. For example, if a passageway divides at a branch point or intersection, the route planning unit 115 appropriately sets pass-through points at the branch point, intersection, corner, and surrounding areas. This improves transportation efficiency.

[0084] The route planning unit 115 can set the pass points in consideration of the crowded conditions, the moving distance, etc. of the elevator. In addition, the host management device 10 can estimate the number of mobile robots 20 and the number of people when estimating that the mobile robots 20 will pass through a certain location. Then, the route planning unit 115 sets the pass points according to the estimated crowded conditions. In addition, the route planning unit 115 can dynamically change the pass points according to the changes in the crowded conditions. The route planning unit 115 sets the pass points in sequence for the mobile robots 20 assigned the transport tasks. The pass points may include a transport source and a transport destination. As will be described later, the mobile robot 20 moves autonomously to sequentially pass through the pass points set by the route planning unit 115.

[0085] The storage unit 12 is a storage unit that stores information required for managing and controlling the robot. Figure 2 In the example of FIG, a floor map 121, robot information 123, robot control parameters 122, route planning information 125, and transport object information 126 are shown, but the information stored in the storage unit 12 may include other information. The operation processing unit 11 performs operations using the information stored in the storage unit 12 when performing various processes. In addition, various types of information stored in the storage unit 12 can be updated to the latest information.

[0086] The floor map 121 is map information of the facility in which the mobile robot 20 moves. The floor map 121 may be created in advance, may be generated based on information obtained from the mobile robot 20, or may be information obtained by adding map correction information generated based on information obtained from the mobile robot 20 to a pre-created basic map.

[0087] The robot information 123 indicates the ID, model, specifications, etc. of the mobile robot 20 managed by the host management device 10. The robot information 123 may include location information indicating the current location of the mobile robot 20. The robot information 123 may include information regarding whether the robot 20 is currently performing a task or in a standby state. Furthermore, the robot information 123 may include information indicating whether the mobile robot 20 is currently operating or experiencing a malfunction. Furthermore, the robot information 123 may include information regarding loaned equipment that can be transported and loaned equipment that cannot be transported.

[0088] The robot control parameters 122 indicate control parameters, such as a threshold distance from surrounding objects, for the mobile robot 20 managed by the host management device 10. The threshold distance is a margin distance for avoiding contact with surrounding objects, including humans. Furthermore, the robot control parameters 122 may include information regarding work intensity, such as an upper limit on the movement speed of the mobile robot 20.

[0089] The robot control parameters 122 can be updated as needed. The robot control parameters 122 may include information indicating the availability and usage status of the storage space in the storage library 291, as described later. The robot control parameters 122 may include information regarding loaned equipment that can be transported and loaned equipment that cannot be transported. Of course, the robot control parameters 122 may also include information indicating whether transport objects other than loaned equipment can be transported. The robot control parameters 122 are associated with the various types of information described above for each mobile robot 20.

[0090] Route planning information 125 includes route planning information planned by route planning unit 115. Route planning information 125 includes, for example, information indicating a transport task. Route planning information 125 may include the ID of the mobile robot 20 assigned the task, the departure point, the content of the loaned equipment, the transport destination, the transport source, the estimated time of arrival at the transport destination, the estimated time of arrival at the transport source, the arrival deadline, and the like. In route planning information 125, the various types of information described above may be associated with each transport task. Route planning information 125 may include at least a portion of the transport request information input by user U1.

[0091] In addition, the route planning information 125 may include information about the passage points of each mobile robot 20 and each transport task. For example, the route planning information 125 includes information indicating the passage order of the passage points of each mobile robot 20. The route planning information 125 may include the coordinates of each passage point on the floor map 121 and information about whether the mobile robot 20 has passed the passage point.

[0092] The transport object information 126 is information about the loan equipment for which a transport request has been made. For example, the transport object information 126 includes information such as the content (type) of the loan equipment, the transport source, and the transport destination. Of course, the transport object information 126 may include information about transport objects other than the loan equipment, and the same applies to cases other than the transport object information 126 described below. The transport object information 126 may include the ID of the mobile robot 20 responsible for transportation. In addition, the transport object information 126 may include information indicating states such as in transit, before transport (before loading), and after transport. The transport object information 126 is associated with these types of information for each loan equipment. The transport object information 126 will be described later.

[0093] The route planning unit 115 formulates a route plan by referring to various types of information stored in the storage unit 12. For example, the route planning unit 115 determines the mobile robot 20 to perform the task based on the floor map 121, the robot information 123, the robot control parameters 122, and the route planning information 125. The route planning unit 115 then sets the transit points and their order of transit to the transportation destination, referring to the floor map 121 and other information. Candidate transit points are pre-registered in the floor map 121. The route planning unit 115 sets transit points based on congestion conditions, etc. When tasks are processed continuously, the route planning unit 115 may set the transportation source and destination as transit points.

[0094] Two or more mobile robots 20 can be assigned to a single transport task. For example, when a loaner device is larger than the transportable capacity of a mobile robot 20, the loaner device is split in two and loaded onto two mobile robots 20. Alternatively, when a loaner device is heavier than the transportable weight of a mobile robot 20, the loaner device is split in two and loaded onto two mobile robots 20. In this way, a single transport task can be shared and executed by two or more mobile robots 20. Of course, when controlling mobile robots 20 of different sizes, route planning can be performed so that the mobile robot 20 capable of transporting the loaner device receives the loaner device.

[0095] Furthermore, a single mobile robot 20 can perform two or more transport tasks in parallel. For example, a single mobile robot 20 can simultaneously load two or more loaner devices and transport them sequentially to different destinations. Alternatively, while a mobile robot 20 is transporting one loaner device, another loaner device can be loaded onto the mobile robot 20. Furthermore, loaner devices loaded at different locations can have the same or different destinations. This allows for efficient mission execution.

[0096] In this case, the accommodation information indicating the usage status or availability of the accommodation space of the mobile robot 20 can be updated. That is, the host management device 10 can manage the accommodation information indicating the availability and control the mobile robot 20. For example, when the loan equipment is loaded or received, the accommodation information is updated. When a transport task is input, the host management device 10 refers to the accommodation information and instructs the mobile robot 20 having a space for loading the loan equipment to receive the loan equipment. In this way, one mobile robot 20 can perform multiple transport tasks at the same time, and two or more mobile robots 20 can share and perform transport tasks. For example, a sensor can be installed in the accommodation space of the mobile robot 20 to detect availability. In addition, the capacity and weight of each loan equipment can be registered in advance.

[0097] The buffer memory 13 is a memory for storing intermediate information generated during processing by the arithmetic processing unit. The communication unit 14 is a communication interface for communicating with multiple environmental cameras 300 and at least one mobile robot 20 installed in the facility that operates the transportation system 1. The communication unit 14 can perform both wired and wireless communication. For example, the communication unit 14 transmits control signals required to control each mobile robot 20. The communication unit 14 receives information collected by the mobile robots 20 and the environmental cameras 300. In addition, the communication unit 14 can receive information such as a loan schedule from the equipment lending system 30 and can transmit information such as a loan schedule to the equipment lending system 30 for registration.

[0098] The mobile robot 20 may include an operation processing unit 21, a storage unit 22, a communication unit 23, a proximity sensor (eg, a distance sensor group 24), a camera 25, a drive unit 26, a display unit 27, and an operation receiving unit 28. Figure 2 Only representative 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.

[0099] The communication unit 23 is a communication interface for communicating with the communication unit 14 of the host management device 10. For example, 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 the distance to objects or people around the mobile robot 20. For example, the camera 25 captures images for understanding the surroundings of the mobile robot 20. For example, the camera 25 can also capture images of location markers installed on the ceiling of a facility, etc. By using these location markers, the mobile robot 20 can understand its own location.

[0100] The drive unit 26 drives the drive wheels provided on the mobile robot 20. The drive unit 26 may include an encoder that detects the number of rotations of the drive wheels and their drive motors. 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 host management device 10.

[0101] The display unit 27 and the operation receiving unit 28 are implemented as touch panel displays. The display unit 27 displays a user interface screen serving as the operation receiving unit 28. Furthermore, the display unit 27 can display information indicating the destination of the mobile robot 20 and the status of the mobile robot 20. The operation receiving unit 28 receives operations from the user. In addition to the user interface screen displayed on the display unit 27, the operation receiving unit 28 also includes various switches provided on the mobile robot 20.

[0102] The operation processing unit 21 performs operations for controlling the mobile robot 20. For example, the operation processing unit 21 can be implemented as a device capable of executing a program, such as a CPU of a computer. Various functions can also be implemented by programs. The operation processing unit 21 includes a movement command extraction unit 211 and a drive control unit 212. Although Figure 2 Only representative processing blocks included in the operation processing unit 212 are shown, but the operation processing unit 21 also includes processing blocks not shown. The operation processing unit 21 can search for a route between passing points.

[0103] The movement command extraction unit 211 extracts a movement command from the control signal provided by the host management device 10. For example, the movement command includes information about the next pass point. For example, the control signal may include information about the coordinates of the pass points and the order in which the pass points are to be passed. The movement command extraction unit 211 extracts this type of information as a movement command.

[0104] In addition, the movement command may include information indicating that movement to the next passage point is possible. When the width of the passage is narrow, the mobile robots 20 may not be able to pass each other. There are also cases where the passage cannot be used temporarily. In this case, the control signal includes a command to stop the mobile robot 20 at a passage point before the position where it should stop. After other mobile robots 20 have passed or after the passage becomes passable, the host management device 10 outputs a control signal notifying the mobile robot 20 that the mobile robot 20 has become movable. As a result, the mobile robot 20 that has temporarily stopped resumes movement.

[0105] The drive control unit 212 controls the drive unit 26 based on the movement command given from the movement command extraction unit 211 so that the drive unit 26 moves the mobile robot 20. For example, the drive unit 26 has drive wheels that rotate according to the control instruction value from the drive control unit 212. The movement command extraction unit 211 extracts the movement command so that the mobile robot 20 moves toward the passing point received from the host management device 10. The drive unit 26 rotates the drive wheels. The mobile robot 20 moves autonomously toward the next passing point. In this way, the mobile robot 20 passes through the passing points in sequence to reach the transportation destination. In addition, the mobile robot 20 can estimate its position and send a signal to the host management device 10 indicating that the mobile robot 20 has passed the passing point. Therefore, the host management device 10 can manage the current position and transportation status of each mobile robot 20.

[0106] The storage unit 22 stores a floor map 221, robot control parameters 222, and transport object information 226. Figure 2 Only a portion of the information stored in the storage unit 22 is shown, but the storage unit 22 also includes Figure 2, robot control parameters 222, and transport object information 226. Floor map 221 is map information of the facility in which mobile robot 20 moves. Floor map 221 is data obtained by, for example, downloading a portion or all of floor map 121 from host management device 10. Floor map 221 may be pre-created. Furthermore, floor map 221 may not be map information for the entire facility, but may be map information for a portion of the area in which mobile robot 20 is scheduled to move.

[0107] The robot control parameters 222 are parameters for operating the mobile robot 20 . The robot control parameters 222 include, for example, a threshold value for distance to surrounding objects and an upper limit value for the speed of the mobile robot 20 .

[0108] Similar to the transport object information 126, the transport object information 226 includes information about the loaned equipment. The transport object information 226 may include information such as the content (type, i.e., model) of the loaned equipment, the transport source, and the transport destination. The transport object information 226 may include information indicating states such as in transit, before transport (before loading), and after transport. The transport object information 226 is associated with various types of information of each loaned equipment. The transport object information 226 only needs to include information about the loaned equipment transported by the mobile robot 20. Therefore, the transport object information 226 is a part of the transport object information 126. That is, the transport object information 226 does not have to include information about transportation performed by other mobile robots 20. The transport object information 126 will be described later.

[0109] The drive control unit 212 refers to the robot control parameters 222 and stops or decelerates the operation in response to the fact that the distance indicated by the distance information obtained from the distance sensor group 24 has fallen below the distance threshold. 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 speed limit. The drive control unit 212 limits the rotation speed of the drive wheels so that the mobile robot 20 does not travel at a speed equal to or higher than the upper speed limit.

[0110] like Figure 3 As shown, the device lending system 30 may include a processing unit 31, a storage unit 32, a buffer memory 33, and a communication unit 34. The processing unit 31 performs operations for generating and managing a schedule for lending devices. For example, the processing unit 31 may be implemented as a device capable of executing programs, such as a computer CPU. Various functions may also be implemented via programs. Figure 3 Only the registration unit 311 and the lending schedule unit 312 that are features of the arithmetic processing unit 31 are shown, but other processing blocks may also be provided.

[0111] The registration unit 311 receives the lending request information including the ID of the lending device, the use start time, the use end time, and the use location transmitted from the user terminal 400 based on the operation of the user U1 via the communication unit 34 and accepts registration.

[0112] Based on the lending request information received by the registration unit 311, the lending planning unit 312 checks the device lending information 324 indicating the already scheduled lending schedule and other lending request information requested simultaneously to confirm that there is no overlap. If there is no overlap, the lending planning unit 312 generates a lending schedule for the lending device based on the received lending request information and updates the device lending information 324. If the lending request information received by the registration unit 311 overlaps with the existing lending schedule or other lending request information requested simultaneously in terms of time (including transportation time), the lending planning unit 312 responds as follows. Specifically, the lending planning unit 312 returns a notification regarding the overlap to the source of the lending request information (the user terminal 400 or the host management device 10) via the communication unit 34.

[0113] The storage unit 32 is a storage unit that stores information required for the lending management of the lending equipment and the control of the equipment lending system 30 . Figure 3 The example shows a floor map 321, maintenance personnel information 322, equipment information 323, and equipment rental information 324, but the information stored in the storage unit 32 may include other information. The operation processing unit 31 performs operations using the information stored in the storage unit 32 when performing various processes. In addition, various types of information stored in the storage unit 32 can be updated to the latest information.

[0114] The device information 323 is information indicating the ID, model (type), size, weight, etc. of the loaned device, and may include information indicating the time required for maintenance and the storage location. A portion or all of the device information 323 may be registered in the host management device 10 as part of the transport object information 126. The maintenance personnel information 322 is information associated with each loaned device indicated by the device information 323, and may include information indicating the maintenance personnel who perform maintenance on each loaned device (information indicating the ID of the maintenance personnel or the type of maintenance personnel, etc.) and information indicating the notification destination to each maintenance personnel. As will be described later, the maintenance personnel information 322 is stored to notify the maintenance personnel to perform maintenance when maintenance of the loaned device is performed after the loan ends and before the next loan.

[0115] The floor map 321 may be a part or the entirety of the floor map 121. The equipment lending information 324 is information indicating a lending schedule of each lending equipment generated by the lending planning unit 312. The equipment lending information 324 will be described later.

[0116] The buffer memory 33 is a memory that stores intermediate information generated during processing by the operation processing unit 31. The communication unit 34 is a communication interface for communicating with the host management device 10, and this communication interface can also be configured to communicate with the user terminal 400 and the mobile robot 20. The communication unit 34 can perform both wired and wireless communication. For example, the communication unit 34 can transmit information such as a lending schedule to the host management device 10 and receive information such as a lending schedule from the host management device 10 or the user terminal 400.

[0117] Configuration of the mobile robot 20

[0118] Here, the appearance of the mobile robot 20 will be described. Figure 4 A schematic diagram of a mobile robot 20 is shown. Figure 4 The mobile robot 20 shown is one of the modes of the mobile robot and may be in another form. Figure 4 , the x direction is the front-rear direction of the mobile robot 20 , the y direction is the left-right direction of the mobile robot 20 , and the z direction is the height direction of the mobile robot 20 .

[0119] The mobile robot 20 includes a main body 290 and a bracket 260. The main body 290 is mounted on the bracket 260. The main body 290 and the bracket 260 each have a rectangular parallelepiped housing, and various components are mounted inside the housing. For example, the drive unit 26 is housed inside the bracket 260.

[0120] The main body 290 is provided with a storage vault 291 serving as a storage space and a door 292 that seals the storage vault 291. The storage vault 291 is provided with a plurality of shelves, and availability is managed for each shelf. For example, by providing various sensors such as weight sensors in each shelf, availability can be updated. The mobile robot 20 moves autonomously to transport the loan equipment stored in the storage vault 291 to the destination indicated by the host management device 10. The main body 290 may include a control box or the like (not shown) in the housing. In addition, the door 292 may be lockable using an electronic key or the like. After arriving at the transport destination, the user U2 unlocks the door 292 using the electronic key. Alternatively, when the mobile robot 20 arrives at the transport destination, the door 292 may be automatically unlocked.

[0121] like Figure 4As shown, a front-to-back distance sensor 241 and a left-to-right distance sensor 242 are provided as the distance sensor group 24 on the outside of the mobile robot 20. The mobile robot 20 measures the distances of surrounding objects in the front-to-back direction of the mobile robot 20 through the front-to-back distance sensor 241. The mobile robot 20 measures the distances of surrounding objects in the left-to-right direction of the mobile robot 20 through the left-to-right distance sensor 241.

[0122] For example, front-to-back distance sensors 241 are provided on the front and rear surfaces of the housing of the main body 290. Left-to-right distance sensors 242 are provided on the left and right surfaces of the housing of the main body 290. The front-to-back distance sensors 241 and the left-to-right distance sensors 242 are, for example, ultrasonic distance sensors and laser rangefinders. The front-to-back distance sensors 241 and the left-to-right distance sensors 242 detect the distance to surrounding objects. When the distance to a surrounding object detected by the front-to-back distance sensors 241 or the left-to-right distance sensors 242 is equal to or less than a distance threshold, the mobile robot 20 decelerates or stops.

[0123] The drive unit 26 is provided with a drive wheel 261 and a caster 262. The drive wheel 261 is a wheel for moving the mobile robot 20 forward, backward, left, and right. The caster 262 is a driven wheel that rolls along with the drive wheel 261 without applying a driving force. The drive unit 26 has a drive motor (not shown) and drives the drive wheel 261.

[0124] 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 the travel surface. The two drive wheels 261 are arranged so that their rotation axes coincide with each other. Each drive wheel 261 is independently driven by a motor (not shown). The drive wheels 261 are rotated according to the direction of the rotation axis. Figure 2 The caster 262 is a driven wheel that is arranged so that a pivot axis extending in a vertical direction from the drive unit 26 supports the wheel at a position away from the rotation axis of the wheel and thus follows the moving direction of the drive unit 26.

[0125] For example, when the two drive wheels 261 rotate in the same direction at the same rotational speed, the mobile robot 20 moves straight, while 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 approximately through the centers of the two drive wheels 261. Furthermore, by rotating the two drive wheels 261 in the same direction but at different rotational speeds, the mobile robot 20 can move forward 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 can 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 can turn left. In other words, by controlling the rotational direction and rotational speed of each of the two drive wheels 261, the mobile robot 20 can move straight in any direction, pivot, turn right, turn left, and so on.

[0126] Furthermore, in mobile robot 20, display unit 27 and operation interface 281 are provided on the upper surface of main body 290. Operation interface 281 is displayed on display unit 27. When a user touches operation interface 281 displayed on display unit 27, operation receiving unit 28 can receive instruction input from the user. An emergency stop button 282 is provided on the upper surface of display unit 27. Emergency stop button 282 and operation interface 281 function as operation receiving unit 28.

[0127] The display unit 27 is, for example, a liquid crystal panel that displays a person's face as an illustration or presents information about the mobile robot 20 in text or icons. By displaying a person's face on the display unit 27, it is possible to give the impression to surrounding observers that the display unit 27 is a fake face. The display unit 27 installed in the mobile robot 20 or the like can also be used as the user terminal 400.

[0128] The camera 25 is mounted on the front surface of the main body 290. Here, the two cameras 25 function as stereo cameras. That is, the two cameras 25 having the same viewing angle are arranged horizontally apart from each other. The images captured by each camera 25 are output as image data. The distance to the subject and the size of the subject can be calculated based on the image data of the two cameras 25. The processing unit 21 can detect people, obstacles, etc. located forward in the direction of movement by analyzing the images of the cameras 25. When there is a person or an obstacle located forward in the direction of travel, the mobile robot 20 moves along the route while avoiding the person or obstacle. The image data of the camera 25 is transmitted to the host management device 10.

[0129] The mobile robot 20 identifies surrounding objects and its own position by analyzing the image data output by the camera 25 and the detection signals output by the front-back distance sensor 241 and the left-right distance sensor 242. The camera 25 captures images of the front of the mobile robot 20 in the direction of travel. Figure 4 As shown in , 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 traveling direction is the forward direction of the mobile robot 20, as shown by the arrow.

[0130] Main features of this embodiment

[0131] Next, the main features of this embodiment in the transportation system 1 having the above configuration will be described. The main features of this embodiment are that a transportation schedule is determined based on the lending schedule of the lending device and the lending device is transported based on the determination.

[0132] First, as described above, the transport system 1 according to this embodiment stores (registers) management information including a lending schedule (including a usage start time and a usage end time) and a usage location of each loaned device to be transported as a transport target by the mobile robot 20. This management information may be stored as part or all of the device lending information 324 in the storage unit 32 of the device lending system 30, or may be stored as part or all of the transport target information 126 in the storage unit 12 of the host management device 10.

[0133] Then, based on the management information stored in this manner, the transport system 1 according to this embodiment performs a determination process for determining, for each loaned device, whether the interval from the end of use to the start of the next use is equal to or greater than a predetermined time. This predetermined time can be set, for example, to a time when maintenance can be performed on the loaned device at the storage location when the loaned device is transported to the storage location, but the present invention is not limited thereto.

[0134] The determination process and control based on the determination result can be mainly performed by, for example, the host management device 10, as will be shown below. Alternatively, the determination process and control can also be mainly performed by the equipment lending system 30 or the mobile robot 20.

[0135] The host management device 10 requests the device lending system 30 to send the device lending information 324, and performs the above-mentioned determination process for each lending device based on the received device lending information 324. Of course, when the determination process is completed and no new lending schedule is updated, it is not necessary to perform the determination process for the lending device every time.

[0136] When the above-mentioned interval is equal to or greater than the predetermined time, the host management device 10 sends an instruction to the mobile robot 20 to transport the loaned device that is the determination target to the storage location after the use is completed. At this time, the host management device 10 determines a suitable mobile robot 20 from the multiple mobile robots 20 being managed. As described above, such determination of a suitable mobile robot 20 and determination of a route can be performed by the route planning unit 115 so that the task can be efficiently performed as the entire system. The storage location may be different for each loaned device, and the information may be included in the device information 323 and used by the host management device 10 that obtains the device information 323. The mobile robot 20 that has received the instruction from the host management device 10 performs the transportation of the loaned device. At the storage location, the user U2 can receive the loaned device.

[0137] In this manner, when the interval between the end of use of the loaned device (the time when the mobile robot 20 retrieves the loaned device) and the start of the next use (the scheduled use time) is equal to or greater than the predetermined time, the loaned device is transported to its usual storage location. At the storage location, the user U2, acting as a maintenance worker, performs maintenance such as inspection, cleaning, and replacement of consumables as needed in preparation for the next use.

[0138] On the other hand, when the interval is less than the predetermined time, the host management device 10 sends an instruction to the mobile robot 20 to transport the loaned device, which is the target of the determination, to the next location of use of the loaned device after the use is completed. At this time, the host management device 10 also determines a suitable mobile robot 20 from the plurality of mobile robots 20 being managed. As described above, the route planning unit 115 can perform the determination of such a suitable mobile robot 20 and the determination of the route, so that the task can be efficiently performed as a whole system. The mobile robot 20 that has received the instruction from the host management device 10 performs the transportation of the loaned device. At the next location of use, the user U2 can receive the loaned device.

[0139] In this way, when the interval from the end of use of the loaned device (the time when the mobile robot 20 extracts the loaned device) to the start of the next use (scheduled use time) is less than the predetermined time, the loaned device is transported to the next use location. At the next use location, the user U2, who is a maintenance worker, performs maintenance such as inspection, cleaning, and replacement of consumables as needed to prepare for the next use. As a result, even when the time from the end of use of the loaned device to the start of the next use is short, the mobile robot 20 transports the loaned device to the next use location without passing through the storage location. This makes it easier to secure time for maintenance at the next use location even when maintenance is required, and thus the loaned device can be loaned efficiently.

[0140] As described above, the host management device 10 selects a transportation destination after the use of the loaned equipment ends between the storage location and the next use location based on the judgment result with a predetermined time as a threshold, and enables the mobile robot 20 to perform transportation to the selected transportation destination.

[0141] With the above configuration, when equipment is lent out, the transport system 1 does not return the equipment to its storage location in a lump sum. Instead, it returns the equipment only when there is free time, and transports the equipment to the next location for use when there is no free time. Therefore, according to the transport system 1 according to this embodiment, even when there is no free time before the next scheduled use time, the equipment can be used quickly.

[0142] Furthermore, the scheduled time can be determined based on the time it takes to move from the use location to the storage location and the time it takes to move from the use location to the next use location. Specifically, the next use location may be located farther away, such as a different patient room, or it may be located closer, such as an operating room on the same floor. By determining the scheduled time based on these two travel times (e.g., based on the difference between the two travel times), the loaned equipment can be loaned appropriately and with a high operational efficiency.

[0143] Furthermore, the scheduled time can be different for each loaned device. Even when performing the same maintenance, the storage location provides a better maintenance environment and is easier to maintain. By setting different scheduled times for each loaned device, the transportation destination can be determined taking into account the maintenance time at the destination.

[0144] Some loaner devices come with disposable accessories (e.g., tubes, items, etc. that come into contact with the patient or their bodily fluids). In such cases, the accessories, etc., can be treated as a single transport object along with the loaner device. It should be noted that when transporting to the next location of use, a set of accessories, etc. prepared for several locations of use, can be treated as a single transport object. Alternatively, the accessories, etc. for several locations of use can be transported simultaneously as different devices (devices that do not fall under the category of loaner devices), or the accessories, etc. can be treated as completely different transport objects.

[0145] Furthermore, the transport system 1 can notify the contact information of the maintenance personnel who will perform maintenance on the loaned equipment of the transport destination of the loaned equipment determined as a result of the above-described determination process. This notification can be performed by the host management device 10. However, the configuration only needs to enable the transport system 1 to perform the notification, for example, via the mobile robot 20. With such notification, the maintenance personnel can proceed to the loaned equipment's transport destination to perform maintenance as needed.

[0146] Maintenance personnel include clinical laboratory technicians, radiology technicians, occupational therapists, physical therapists, clinical engineering technicians, physicians, nurses, nurse aides, and technicians from the manufacturers who loaned the equipment.

[0147] Furthermore, the transportation system 1 can make the destination of notification regarding the transport destination of the loaned device determined as a result of the above-mentioned determination process different depending on the type (model) of the loaned device. This notification allows maintenance personnel to be assigned different levels of technical expertise and knowledge based on the equipment's maintenance skills. Making the notification destination different depending on the type of loaned device means that maintenance personnel can be assigned different levels of technical expertise based on the type of loaned device.

[0148] Furthermore, depending on whether the period from the end of use to the start of use is equal to, greater than, or less than a predetermined time, the notification destination can be set to a different maintenance personnel's notification destination. Specifically, when the above-described determination process determines that the loaned device's transport destination is the loaned device's storage location, the transport system 1 can notify the loaned device's transport destination to the contact information of the first maintenance personnel who performed maintenance on the loaned device. Furthermore, when the above-described determination process determines that the loaned device's transport destination is the loaned device's next location of use, the transport system 1 can notify the loaned device's transport destination to the contact information of a second maintenance personnel who performed maintenance on the loaned device and is different from the first maintenance personnel.

[0149] Through such notification, the maintenance personnel of the loaned equipment can be divided into the person in charge at the storage location and the person in charge at the next use location, and it can be considered that the appropriate person in charge is assigned to the appropriate position. In particular, when the transport destination is determined to be the next use location, the person who can handle sudden problems on site can be notified, and when the transport destination is determined to be the storage location, other personnel can be notified. For example, when the above-mentioned period is equal to or greater than the predetermined time, the responsible clinical engineering technician can be notified, and when the above-mentioned period is less than the predetermined time, the equipment administrator can be notified. Alternatively, when the above-mentioned period is equal to or greater than the predetermined time, the maintenance personnel dedicated to the storage location can be notified, and when the above-mentioned period is less than the predetermined time, the maintenance personnel who can handle sudden problems on site can be notified.

[0150] If the transport destination of the loaned device is determined to be the next location of use as a result of the determination process, the transport system 1 preferably notifies the maintenance personnel of the loaned device's transport destination and arrival time. This notification allows maintenance personnel to proceed with maintenance as needed, even when the transport destination is determined to be the next location of use. Furthermore, since the maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination. By proceeding to the transport destination based on the arrival time, they can perform maintenance without missing the next start of use.

[0151] Furthermore, if the transport destination of the loaned device is determined to be the storage location as a result of the determination process, the transport system 1 can notify the maintenance personnel's contact information of the transport destination and arrival time of the loaned device. This notification allows maintenance personnel to proceed to perform maintenance as needed, even if the transport destination is determined to be the storage location. Furthermore, since maintenance personnel can grasp the arrival time, they do not need to wait at the transport destination and can perform maintenance in a centralized manner, taking into account the maintenance of other devices.

[0152] Equipment rental information 324 and transport object information 126

[0153] This will be illustrated by examples Figure 5 An example of the processing of the transportation system 1 according to the present embodiment will be described with reference to a case where the information shown in FIG. 3 is stored as the equipment rental information 324. Figure 5 is a table showing an example of the equipment rental information 324, Figure 6 is a table showing an example of the transport object information 126 . Figures 7 to 9 is a diagram showing an example of a movement route of a mobile robot.

[0154] like Figure 5 As shown, the equipment lending information 324 may include the ID (equipment management number) of the lent equipment, name, necessity of maintenance, type of maintenance personnel (or maintenance personnel), transportation destination, planned user, use start time and use end time. Figure 5 As shown, these types of information can be associated with each other by the lending management number and managed as a table.

[0155] The transport destination indicates the delivery destination (usage location) of the loaned device and can be extracted from the loan request information together with the use start time and the use end time. The planned user indicates the person who uses the loaned device. For example, the planned user can be the name or ID of the patient, the name or ID of a staff member such as a nurse or a doctor. Of course, the planned user can include information about both the patient and the staff member. The information about the necessity of maintenance can be information indicating whether the loaned device requires maintenance (necessary or optional in this example), and the information about the maintenance personnel type (or maintenance personnel) can be information indicating the type of maintenance personnel when performing maintenance (or information indicating the ID or name of the maintenance personnel).

[0156] As described above, the device lending information 324 is generated based on the lending request information. At this time, the device lending information 324 is also generated with reference to the device information 323 and the maintenance personnel information 322. Since the maintenance personnel type or maintenance personnel information in the maintenance personnel information 322 and the device lending information 324 is required when notifying the maintenance personnel, this information is not required when notifying the maintenance personnel.

[0157] like Figure 6 As shown, the transport object information 126 may include the equipment management number, name, necessity of maintenance, maintenance personnel type (or maintenance personnel) indicating the destination of notification, transport source, transport destination, planned user, robot ID responsible for transport, status, use start time, and use end time. Figure 6 As shown, these types of information can be associated with each other by a transportation management number and managed as a table.

[0158] The transport source indicates the location where the mobile robot 20 loads the loaned device. The transport destination indicates the delivery destination (usage location) of the loaned device. Although this example shows a case where the number of storage locations used as the transport source is one, of course, the number of storage locations is not limited to one, and the number of transport destinations is not limited to two. The planned user indicates the person who uses the loaned device. For example, the planned user indicates the name or ID of the patient. Alternatively, the planned user may indicate the name or ID of a staff member such as a nurse or doctor. Of course, the planned user may include information about both the patient and the staff member.

[0159] As described above, transport target information 126 is generated based on the transport request information. Therefore, transport target information 126 can be generated based on information including equipment loan information 324 (and information regarding other transport targets) and information about the mobile robot 20 determined based on the equipment loan information 324, taking into account task execution efficiency. The robot ID is the ID of the mobile robot 20 responsible for transporting the loaned equipment. The robot ID is set based on route planning that takes into account task execution efficiency. The status is information indicating whether the loaned equipment is before, during, or after transportation. The status is updated when the mobile robot 20 loads the loaned equipment and when the loaned equipment is received.

[0160] The transport target information 126 is sent to the corresponding mobile robot 20 responsible for transporting the loaned equipment. For example, the transport target information 226 of the mobile robot 20 includes information about the loaned equipment that the mobile robot 20 is responsible for transporting. That is, the transport target information of the loaned equipment with robot ID "BBB" does not need to be sent to the mobile robot 20 with robot ID "AAA".

[0161] Will refer to Figures 7 to 9 describe Figure 5 and Figure 6 The transportation of loan equipment E001 in Figure 5 and Figure 6 In the example, the time is displayed based on the current day for convenience, but the time display is actually managed by date and time (year, month, day and time). This is because, for example, some equipment may be loaned out for several days or months. Generally, since the equipment is transported from the storage location S001, Figure 6 As described above, the route itself is determined by the route planning unit 115 and is set in the corresponding mobile robot 20.

[0162] like Figure 7 As shown in FIG, for transport management number 001, mobile robot 20 (robot ID: AAA) first moves from through point M1, indicating the current location, to through point M2, which serves as storage location 800 for loan device E001. Mobile robot 20 then receives loan device E001 at storage location 800 and moves along route R, sequentially passing through through points M3 and M4, toward transport destination G001 (M5). At transport destination G001, planned user U001 receives loan device E001. Mobile robot 20 can then move as needed for other tasks.

[0163] The loaned equipment E001 will be used at the transport destination until the use end time 15:30. After that, according to the transport management number 003, the loaned equipment E001 will be transported to the transport destination G002 to catch up with the use start time 16:00, but will only be idle for 30 minutes.

[0164] When the scheduled time is set to 20 minutes, the transport destination of the loaned device E001 is set by the determination process so that the loaned device E001 returns to the storage location 800 after the use after the transportation corresponding to the transport management number 001 ends. Such a transport destination is notified to the notification destination of the maintenance personnel type MA001 together with the arrival time. In this case, the transport source of the transport management number 002 is S001, and the route R passing through the through points M1, M2, M3, M4, M5 and M6 is set as follows. Figure 8 However, here, this example shows a case where, after delivery of the transport management number 001, the mobile robot 20 with the robot ID AAA passes Figure 6 The transport not shown in the figure (referred to as transport V) returns to the original position (M1). In this case, the transport destination of transport V is notified to the notification destination of the maintenance personnel type (for example, MA001, the same maintenance personnel type as transport management number 001) together with the arrival time.

[0165] However, there may be cases where, with a margin of only 30 minutes, Figure 8 In this case, for example, when the predetermined time is set to 40 minutes and the above-mentioned determination process is performed, the above-mentioned transport V ( Figure 6 The transport V is deleted so that the loan equipment E001 remains in G001 even after use, and the transport source of the transport management number 002 is changed from S001 to G001. That is, since there is not enough time before the expected arrival time at the transport destination G002, the transport V is deleted so that the loan equipment E001 is transported directly to the transport destination G002, and therefore the transport source of the transport management number 003 is also changed from S001 to G001.

[0166] With this setting of the transport source, the mobile robot 20 (robot ID AAA or possibly another robot) moves sequentially through the following Figure 9 , and arrives at G001 (M5) where the loan device E001 is located. In G001, the loan device E001 is loaded into the mobile robot 20 by the previously planned user U001 and the like. Next, the mobile robot 20 moves through the passing points M6 and M7 in sequence, and arrives at the transport destination G002 (M8) in time for the use start time 16:00. At the transport destination G002, the planned user U004 receives the loan device E001. When Figure 9When the route R shown is determined, the transport destination G002 is notified together with the arrival time to the notification destination of the maintenance personnel type MA001.

[0167] It should be noted that here, this example shows a case where the mobile robot 20 with robot ID AAA returns to the original position (M1) after being delivered to the transport management number 001. After the loan equipment E001 is unloaded at the transport destination G002, the mobile robot 20 can move as needed for other tasks.

[0168] For transport management number 005, mobile robot 20 (robot ID: BBB) is set to Figure 8 A route in the opposite direction of the route R shown. For simplicity, it is assumed that the position of this point is the passing point M6, from which the mobile robot 20 moves through the passing points M5, M4, and M3. Thereafter, on the way, the loan equipment E001 is unloaded at the transport destination S001 (passing point M2), and the mobile robot 20 arrives at the passing point M1. Similarly, for the transport management number 005, when the route is decided, the transport destination S001 is notified to the notification destination of the maintenance personnel type MA001 together with the arrival time. Since the transport management number 005 is for transporting to return the loan equipment E001 to the storage location, the scheduled return time is set as the use start time, the same time is set as the use end time, and the planned user is not set.

[0169] For transport management number 006, Figure 7 Similar to the route R shown, the mobile robot 20 (robot ID: BBB) moves from the passing point M1 indicating the current point, and on the way, loads the lending equipment E001 at the passing point M2, moves through the passing points M3, M4 and M5, and arrives at the transportation destination G001.

[0170] The time from the end time of use of the loan device E001 for transport management number 003 at 18:30 to the start time of use of the loan device E001 for transport management number 006 at 22:00 is equal to or greater than the predetermined time (40 minutes). Therefore, through the above-mentioned determination processing, the route is determined so that after the use of the loan device E001 for transport management number 003 is completed, the transportation for transport management number 005 is performed, and the loan device E001 is transported to the storage location 800. The maintenance personnel is notified and the transportation is performed. Since the loan device E001 is located at the storage location 800, the transportation source of transport management number 006 is S001. Similarly, for transport management number 006, when the route R is determined, the transportation destination G001 is notified to the notification destination of the maintenance personnel type MA001 together with the arrival time.

[0171] Next, the same applies to Figure 5 and Figure 6 For example, loan device E002 is first transported to transport destination G001 for transport management number 002, and after being used, it is returned to storage location 800 because there is a surplus before the expected arrival time of G002. For transport management number 004, loan device E002 is transported from transport source S001 to transport destination G002. However, since the necessity of maintenance is set to "optional" for both transport management numbers 002 and 004, maintenance personnel do not need to be notified, and the scheduled time can be set to a longer time than the scheduled time for loan device E001.

[0172] Shipping Method

[0173] Figure 10 First, the host management device 10 or the equipment lending system 30 stores management information including usage start time, usage end time, and usage location for each equipment to be lent as a transportation object transported by the mobile robot 20 (S1001).

[0174] Next, the host management apparatus 10 or the device lending system 30 performs a determination process for each device based on the management information to determine whether the interval from the use end time to the next use start time is equal to or greater than a predetermined time ( S1002 ).

[0175] If the interval is equal to or greater than the predetermined time ("Yes" in step S1002), the host management device 10 causes the mobile robot 20 to transport the device to the storage location after the use of the device ends (S1003), and the process ends. If the interval is less than the predetermined time ("No" in step S1002), the host management device 10 causes the mobile robot 20 to transport the device to the next use location of the device after the use of the device ends (S1004), and the process ends.

[0176] Part or all of the processing in the above-mentioned host management device 10, mobile robot 20, equipment lending system 30, etc. can be implemented as a computer program. Such a program can be stored and provided to the computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of physical recording media. Examples of non-transitory computer-readable media include magnetic recording media (such as floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (such as magneto-optical disks), compact disk read-only memories (CD-ROMs), recordable compact disks (CD-Rs), rewritable compact disks (CD-R / Ws), semiconductor memories (such as mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, random access memories (RAMs)). The program is also provided to the computer through various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via a wired communication path such as an electric wire and an optical fiber or a wireless communication path.

[0177] The present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist.

[0178] For example, in the above embodiments, the system has been primarily described as one in which a mobile robot autonomously moves within a hospital. However, the above-described transportation system can transport items such as equipment to be loaned out in hotels, restaurants, office buildings, event venues, or complexes as luggage. Furthermore, while the description has been based on the premise that equipment is transported within a single facility, the present invention can similarly be applied to transportation between multiple facilities when the mobile robot is capable of moving between multiple facilities. Furthermore, examples of maintenance personnel have been described as clinical engineering technicians, nurses, and the like, but these designations vary depending on the country, and the classifications and the equipment that personnel in each classification can handle also differ.

[0179] Furthermore, the transport system according to the present embodiment is not limited to the case of using the mobile robot 20 having the above-described configuration, and mobile robots having various configurations may be used instead of or in addition to the mobile robot 20. Figure 11 and Figure 12 Describe an example of such a mobile robot.

[0180] Figure 11 is a schematic diagram illustrating another example of a mobile robot and an example of a lending device. Figure 11 The transport robot 20a shown in FIG is a robot for transporting the large-scale loan equipment E003. Figure 11 A right-handed Cartesian coordinate system is shown in .

[0181] The lending device E003 is constructed by connecting multiple frames E003a to form a quadrangular prism-shaped frame, with casters E003c positioned at the four corners of the bottom portion. A base plate E003b is positioned parallel to the ground at a predetermined height from the bottom portion. The height from the ground to the lower surface of the base plate E003b is ensured to allow the main body block 210a of the transport robot 20a to enter the space between the ground and the lower surface of the base plate E003b. The contact surface of the transport robot 20a contacts the lower surface of the base plate E003b.

[0182] The transport robot 20a is an autonomous mobile robot that moves on the hospital floor. The transport robot 20a transports large equipment, such as the loan equipment E003, from a predetermined location (departure point) to another location (destination point). The transport robot 20a primarily comprises a main body block 210a, a handle block 220a, and a control block 230a. Examples of the loan equipment E003 include various devices, such as an electrocardiogram monitor (bedside monitor).

[0183] The main body block 210a has a flat rectangular parallelepiped shape with its main surface grounded. The height of the main surface of the main body block 210a is set so that the main body block 210a can enter the lower part of the lending device E003. Therefore, the main body block 210a enters the lower part of the lending device E003 to lift the lending device E003 from below. The main body block 210a includes a lifting unit 211a, a distance measurement sensor 212a, a driving wheel 213a, a driven wheel 214a, and a speaker 215a as its main components.

[0184] The lifting part 211a is a flat plate-shaped component provided at the center of the upper surface of the main body block 210a and has a substantially smooth contact surface on the upper side (positive side of the z-axis). The contact surface is arranged to be parallel to the ground (xy plane) and facing upward. A lifting mechanism (not shown) for lifting the lifting part 211a is provided below the lifting part 211a. The lifting mechanism allows the contact surface of the lifting part 211a to move up and down and stop at a preset position. In this way, the lifting part 211a is configured to contact the lower part of the lending device E003, lift the lending device E003 parallel to the ground, and maintain the lending device E003.

[0185] The distance measurement sensors 212a are sensors capable of detecting the transport robot 20a and objects around it, and measuring the distance between the detected objects. The distance measurement sensors 212a detect the relative position between the transport robot 20a and surrounding objects using, for example, infrared light, laser light, or millimeter waves. The distance measurement sensors 212a can be referred to as object sensors. Each distance measurement sensor 212a is located in the front and rear of the main body block 210. Therefore, the distance measurement sensors 212a can detect obstacles in any direction of movement of the transport robot 20a.

[0186] The transport robot 20a sets a safe distance to the obstacle detected by the distance measurement sensor 212a. The transport robot 20a controls its autonomous movement so that the obstacle is located farther than the safe distance. Furthermore, if the obstacle is closer than the safe distance, the transport robot 20a temporarily stops its movement or issues a warning regarding the obstacle.

[0187] The driving wheels 213a are in contact with the ground to support the main body block 210a and enable the main body block 210a to move. At the center of the main body block 210a in the front-to-back direction (x-axis direction) of the transport robot 20a, the main body block 210a has two driving wheels 213a axially supported on a rotation axis extending in the left-right direction (y-axis direction) so as to be separated from each other. The two driving wheels 213a are configured to rotate independently around the rotation axis. The transport robot 20a moves forward or backward by driving the driving wheels 213a arranged on the left and right sides at the same rotation speed, and turns by generating a difference in rotation speed or rotation direction between the left and right driving wheels 213a.

[0188] The driven wheels 214a contact the ground to support the main body block 210a, and freely rotate according to the movement of the driving wheels 213a. The main body block 210a has driven wheels 214a in each of the front and rear directions of the driving wheels 213a. In other words, the main body block 210a has driven wheels 214a at each of the four corners of the rectangular contact surface.

[0189] The speaker 215a is used to transmit a preset voice. The speaker 215a is provided so that the transmitted voice can be recognized by pedestrians and the like present around the transport robot 20a. Therefore, the transport robot 20a can issue a warning such as a reminder of the presence of the transport robot 20a to pedestrians and the like via the speaker 215a.

[0190] The handle block 220a is used when the user manually tows the transport robot 20a. The handle block 220a includes two columnar members 221a extending parallel to each other on the upper surface and rear end of the main body block 210a, separated from each other in the left-right direction, and a grip portion 222a suspended from the upper ends of the two columnar members 221a. A stop button 223a is provided at the upper end of one of the two columnar members 221a. Pressing the stop button 223a stops the transport robot 20a from moving autonomously.

[0191] The control block 230a includes a CPU, circuits, and the like for controlling the driving of the transport robot 20a. The control block 230a is installed at a desired location of the transport robot 20a and controls the transport robot 20a according to instructions received from the user terminal 400. Furthermore, the control block 230a appropriately transmits information acquired from sensors and the like of the transport robot 20a to the user terminal 400.

[0192] Transport robot 20a includes a posture sensor 231a. Position sensor 231a is fixed to a desired location on transport robot 20a and is a six-axis sensor that detects acceleration in each of three orthogonal axes and angular velocity about each axis to detect changes in the posture of transport robot 20a. For example, when transport robot 20a travels over a slope, posture sensor 231a detects the tilt of transport robot 20a caused by the inclination of the ground.

[0193] Figure 12 is a schematic diagram showing another example of a mobile robot. Figure 2 , a right-handed Cartesian coordinate system is shown. Figure 12 The mobile robot 20b shown is configured so that a housing (not shown) is covered by a safety cover 200b. Wheels are provided in a lower portion of the housing, and a drive unit for driving the wheels is also installed in the housing.

[0194] like Figure 12 As shown, the mobile robot 20 has a substantially rectangular shape when viewed from above. In the mobile robot 20b, the surface in the x direction faces the shelf surface that is the object loading / unloading surface of the shelf. An arm opening 204b is provided on one surface in the x direction.

[0195] The robot arm 201b is attached to a housing covered by a safety cover 200b. The robot arm 201b moves its arm in and out from an arm opening 204b provided on a predetermined surface of the safety cover 200b to extract objects to be stored on a shelf (not shown) and store the objects in storage boxes 202b and 203b. The storage boxes 202b and 203b are placed in the housing inside the safety cover 200b. The storage boxes 202b and 203b can be taken in and out by a staff member, a mechanism of the mobile robot 20b, etc. In addition, although description and illustration are omitted, the mobile robot 20b may be provided with a Figure 4 Various functions shown.

Claims

1. A transport system for transporting a transport object using a mobile robot capable of autonomous movement, wherein: The transport system stores management information including a usage start time, a usage end time, and a usage location for each device to be loaned that is transported by the mobile robot as the transport object; the transport system executing a determination process for determining, for each device based on the management information, whether an interval from the use end time to the next use start time is equal to or greater than a predetermined time; When the interval is equal to or greater than the predetermined time, the transport system transports the device to a registered storage location of the device after use of the device ends; and When the interval is less than the predetermined time, the transport system transports the device to a next use location of the device after the use of the device is completed; The predetermined time is determined based on a difference between a moving time of the mobile robot from the use position to the storage position and a moving time of the mobile robot from the use position to the next use position.

2. The transport system according to claim 1, wherein: The transport system notifies contact information of a maintenance person who performs maintenance of the equipment of a transport destination of the equipment determined as a result of the determination process.

3. The transport system according to claim 2, wherein: When it is determined as a result of the determination process that the transport destination of the equipment is the next use location of the equipment, the transport system notifies the contact information of the maintenance person of the transport destination and arrival time of the equipment.

4. The transport system according to claim 2, wherein: When it is determined as a result of the determination process that the transport destination of the equipment is the storage location of the equipment, the transport system notifies the contact information of the maintenance person of the transport destination and arrival time of the equipment.

5. The transport system of claim 2, wherein: when it is determined as a result of the determination processing that the transport destination of the equipment is the storage location of the equipment, the transport system notifies contact information of a first maintenance person who performs maintenance of the equipment of the transport destination of the equipment; and When it is determined as a result of the determination processing that the transport destination of the equipment is the next use location of the equipment, the transport system notifies contact information of a second maintenance person who performs maintenance of the equipment and is different from the first maintenance person of the transport destination of the equipment.

6. The transport system according to any one of claims 2 to 5, wherein: The transportation system makes a notification destination for the transportation destination of the device determined as a result of the determination process different depending on the type of the device.

7. A method for transporting an object using an autonomously movable mobile robot, the method comprising: storing management information including usage start time, usage end time, and usage location for each device to be loaned out and transported by the mobile robot as the transport object; executing a determination process for determining, for each device based on the management information, whether an interval from the use end time to the next use start time is equal to or greater than a predetermined time; transporting the device to a registered storage location of the device after use of the device ends when the interval is equal to or greater than the predetermined time; as well as When the interval is less than the predetermined time, transporting the device to a next use location of the device after the use of the device is completed; The predetermined time is determined based on a difference between a moving time of the mobile robot from the use position to the storage position and a moving time of the mobile robot from the use position to the next use position.

8. The transportation method according to claim 7, further comprising: The transport destination of the equipment determined as a result of the determination process is notified to contact information of a maintenance person who performs maintenance of the equipment.

9. The transportation method according to claim 8, further comprising: When it is determined as a result of the determination process that the transport destination of the equipment is the next use location of the equipment, the transport destination and arrival time of the equipment are notified to the contact information of the maintenance person.

10. The transportation method according to claim 8, further comprising: When it is determined as a result of the determination process that the transport destination of the equipment is the storage location of the equipment, the transport destination and arrival time of the equipment are notified to the contact information of the maintenance person.

11. The transportation method according to claim 8, further comprising: when it is determined as a result of the determination processing that the transport destination of the device is the storage location of the device, notifying contact information of a first maintenance person who performs maintenance of the device of the transport destination of the device; as well as When it is determined as a result of the determination process that the transport destination of the equipment is the next use location of the equipment, contact information of a second maintenance person who performs maintenance of the equipment and is different from the first maintenance person is notified of the transport destination of the equipment.

12. The method of transport according to any one of claims 8 to 11, further comprising: A notification destination for the transport destination of the device determined as a result of the determination process is made different depending on the type of the device.

13. A non-transitory computer-readable medium storing a program for causing a computer to execute transport management for transporting a transport object using a mobile robot capable of autonomous movement, wherein: The transportation management includes: storing management information including usage start time, usage end time, and usage location for each device to be loaned out and transported by the mobile robot as the transport object; executing a determination process for determining, for each device based on the management information, whether an interval from the use end time to the next use start time is equal to or greater than a predetermined time; When the interval is equal to or greater than the predetermined time, transporting the device to a registered storage location of the device after use of the device ends; and When the interval is less than the predetermined time, transporting the device to a next use location of the device after the use of the device is completed; The predetermined time is determined based on a difference between a moving time of the mobile robot from the use position to the storage position and a moving time of the mobile robot from the use position to the next use position.

14. The non-transitory computer-readable medium of claim 13, wherein: The transport management includes a notification process for notifying contact information of a maintenance person who performs maintenance of the equipment of a transport destination of the equipment determined as a result of the determination process.

15. The non-transitory computer-readable medium of claim 14, wherein: When it is determined as a result of the determination processing that the transport destination of the equipment is the next use location of the equipment, the notification processing notifies the contact information of the maintenance person of the transport destination and arrival time of the equipment.

16. The non-transitory computer-readable medium of claim 14, wherein: When it is determined as a result of the determination processing that the transport destination of the equipment is the storage location of the equipment, the notification processing notifies the contact information of the maintenance person of the transport destination and arrival time of the equipment.

17. The non-transitory computer-readable medium of claim 14, wherein: The notification process: When it is determined as a result of the determination process that the transport destination of the device is the storage location of the device, notifying the contact information of a first maintenance person who performs maintenance of the device of the transport destination of the device, and When it is determined as a result of the determination process that the transport destination of the equipment is the next use location of the equipment, contact information of a second maintenance person who performs maintenance of the equipment and is different from the first maintenance person is notified of the transport destination of the equipment.

18. The non-transitory computer-readable medium according to any one of claims 14 to 17, wherein: The notification process makes a notification destination for the transport destination of the device determined as a result of the determination process different depending on the type of the device.

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