Robot control system, robot control method and computer readable medium

Abstract

The present disclosure relates to a robot control system, a robot control method and a computer-readable medium. The robot control system according to the present embodiment is a robot control system that controls a plurality of transport robots that can autonomously move in a facility. The robot control system: obtains error information indicating that an error has occurred in a first transport robot; obtains transport object information related to the transport object of the first transport robot; based on the transport object information and the error information, determines a second transport robot among the plurality of transport robots that can transport the transport object of the first transport robot; and moves the second transport robot to the transfer position of the transport object of the first transport robot.

Description

Technical Field

[0001] The present disclosure relates to a robot control system, a robot control method and a computer-readable medium. Background Art

[0002] WO 2015 / 59739 discloses a transport system including a plurality of transport vehicles. In the system disclosed in WO 2015 / 59739, a transport object is handed over from one handover vehicle to one handover vehicle among the transport vehicles. The above-mentioned transport system determines a handover area to which the transport object is transported by the handover vehicle. The transport system determines a transport vehicle to be used as a handover vehicle based on the handover area and the position information of the transport vehicle. The transport system instructs the handover vehicle to perform the task of transporting the transport object to the handover area, and instructs the handover vehicle to perform the task of transporting the transport object from the handover area. Summary of the invention

[0003] In the above-mentioned transport system, it is expected to transport the transported object more efficiently. For example, when a transport vehicle breaks down, the transport vehicle cannot move to the handover area. Therefore, there is a problem that the transported object cannot be transported.

[0004] The present disclosure has been made to solve such problems, and provides a robot control system, a robot control method, and a computer-readable medium capable of appropriately controlling a robot.

[0005] The robot control system according to the present embodiment is a robot control system that controls a plurality of transport robots that can autonomously move in a facility. The robot control system: obtains error information indicating that an error has occurred in a first transport robot; obtains transport object information related to a transport object of the first transport robot; based on the transport object information and the error information, determines a second transport robot among the plurality of transport robots that can transport the transport object of the first transport robot; and moves the second transport robot to a transfer position of the transport object of the first transport robot.

[0006] In the above robot control system, the robot control system may determine the priority of the transfer of the transported object based on the transported object information.

[0007] In the above-mentioned robot control system, the robot control system may output a transfer request message for requesting transfer of the transport object to a worker of the facility.

[0008] In the above robot control system, the robot control system can set the worker to whom the transfer request message is output based on the transport object information.

[0009] In the above robot control system, the robot control system may determine the necessity of the transfer based on the transport object information.

[0010] In the above-mentioned robot control system, the robot control system may determine the necessity of the transfer based on the error information.

[0011] In the above-mentioned robot control system, when the robot control system determines that the transfer is unnecessary based on the transport object information, the robot control system may output a transport request message for making a transport request to a worker of the facility.

[0012] The robot control method according to the present embodiment is a robot control method for controlling multiple transport robots capable of moving autonomously in a facility, and the robot control method includes: obtaining error information indicating that an error has occurred in a first transport robot; obtaining transport object information related to the transport object of the first transport robot; based on the transport object information and the error information, determining a second transport robot among the multiple transport robots that can transport the transport object of the first transport robot; and moving the second transport robot to the transfer position of the transport object of the first transport robot.

[0013] The robot control method may further include determining a priority of transferring the transport object based on the transport object information.

[0014] The above robot control method may further include outputting a transfer request message for requesting transfer of the transport object to a worker of the facility.

[0015] The robot control method may further include setting the worker to whom the transfer request message is outputted according to the transport object information.

[0016] The robot control method may further include determining the necessity of the transfer based on the transport object information.

[0017] The robot control method may further include determining the necessity of the transfer based on the error information.

[0018] The above robot control method may further include: when it is determined that the transfer is unnecessary according to the transport object information, outputting a transport request message for making a transport request to a staff of the facility.

[0019] According to the present embodiment, the computer-readable medium stores a program that enables a computer to execute a robot control method, which controls multiple transport robots capable of traveling in a facility and includes: obtaining error information indicating that an error has occurred in a first transport robot; obtaining transport object information related to the transport object of the first transport robot; based on the transport object information and the error information, determining a second transport robot among the transport robots that is capable of transporting the transport object of the first transport robot; and moving the second transport robot to a transfer position of the transport object of the first transport robot.

[0020] In the above-mentioned computer-readable medium, the priority of the transfer of the transport object may be determined based on the transport object information.

[0021] In the above-mentioned computer-readable medium, a transfer request message for requesting the transfer of the transport object may be output to a staff of the facility.

[0022] In the above-mentioned computer-readable medium, the staff member to whom the transfer request message is outputted may be set according to the transport object information.

[0023] In the above-mentioned computer-readable medium, the necessity of the transfer may be determined based on the transport object information.

[0024] In the above-mentioned computer-readable medium, the necessity of the transfer may be determined based on the error information.

[0025] In the above-mentioned computer-readable medium, when it is determined based on the transport object information that the transfer is unnecessary, a transport request message for making a transport request may be output to a staff of the facility.

[0026] The present disclosure may provide a robot control system, a robot control method, and a computer-readable medium capable of appropriately controlling a transport robot. 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 the overall configuration of a system in which the mobile robot according to the present embodiment is used;

[0029] Figure 2 is a control block diagram of a control system according to this embodiment;

[0030] Figure 3 is a schematic diagram showing an example of a mobile robot;

[0031] Figure 4 is a flow chart showing a control method according to the present embodiment;

[0032] Figure 5 is a schematic diagram for explaining the operation of the robot; and

[0033] Figure 6 This is a schematic diagram for explaining the operation of the robot. DETAILED DESCRIPTION

[0034] Hereinafter, the present invention will be described by way of embodiments of the present invention, but the invention according to the scope of the claims is not limited to the following embodiments. In addition, not all configurations described in the embodiments are essential as means for solving the problems.

[0035] Schematic configuration

[0036] Figure 1 2 is a conceptual diagram showing the overall configuration of the system 1 using the mobile robot 20 according to the present embodiment. For example, the mobile robot 20 is a transport robot that performs the transport of transport objects as a mission. The mobile robot 20 autonomously travels to transport transport objects in medical welfare facilities such as hospitals, rehabilitation centers, nursing facilities, and elderly care facilities. The system 1 according to the present embodiment can also be used in commercial facilities such as shopping malls.

[0037] The user U1 places the transport object in the mobile robot 20 and requests transportation. The mobile robot 20 moves autonomously to the set destination to transport the transport object. That is, the mobile robot 20 performs a luggage transportation task (hereinafter also referred to as a task). In the following description, the location where the transport object is loaded is referred to as a transport source, and the location where the transport object is delivered is referred to as a transport destination.

[0038] For example, it is assumed that the mobile robot 20 moves in a general hospital with multiple clinical departments. The mobile robot 20 transports equipment, consumables, medical equipment, etc. between clinical departments. For example, the mobile robot 20 delivers the transported items from the nurse station of one clinical department to the nurse station of another clinical department. Alternatively, the mobile robot 20 delivers the transported items from the warehouse of equipment and medical equipment to the nurse station of the clinical department. The mobile robot 20 also delivers the medicines dispensed in the dispensing department to the clinical department or patient who plans to use the medicines.

[0039] Examples of transported items include medicines, consumables such as packaging bags, samples, test instruments, medical equipment, hospital food, and equipment such as stationery. Medical equipment includes sphygmomanometers, blood transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed leave sensors, low-pressure continuous inhalers, electrocardiogram monitors, drug injection controllers, enteral nutrition pumps, artificial respirators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, artificial resuscitators, sterile devices, echo machines, etc. Food such as hospital food and examination meals can also be transported. In addition, the mobile robot 20 can transport used equipment, tableware that has been used during meals, etc. When the transport destination is on a different floor, the mobile robot 20 can move using an elevator, etc.

[0040] The system 1 includes a mobile robot 20, a host management device 10, a network 600, a communication unit 610, and a user terminal 400. A user U1 or a user U2 can make a transport request for a transport object using the user terminal 400. For example, the user terminal 400 is a tablet computer, a smart phone, etc. The user terminal 400 only needs to be an information processing device capable of wireless or wired communication.

[0041] In the present embodiment, the mobile robot 20 and the user terminal 400 are connected to the host management device 10 via the network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via the communication unit 610. The network 600 is a wired or wireless local area network (LAN) or a wide area network (WAN). The 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 may be a general communication device such as a Wi-Fi router.

[0042] Various signals sent from the user terminals 400 of users U1 and U2 are temporarily sent to the host management device 10 via the network 600, and are sent from the host management device 10 to the target mobile robot 20. Similarly, various signals sent from the mobile robot 20 are temporarily sent to the host management device 10 via the network 600, and are sent from the host management device 10 to the target user terminal 400. The host management device 10 is a server connected to each device, and collects data from each device. The host management device 10 is not limited to a single device physically, and may have multiple devices that perform distributed processing. In addition, the host management device 10 may be distributedly arranged in edge devices such as the mobile robot 20. For example, a part or all of the system 1 may be installed in the mobile robot 20.

[0043] The user terminal 400 and the mobile robot 20 may send and receive signals without passing through the host management device 10. For example, the user terminal 400 and the mobile robot 20 may directly send and receive signals through wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 may send and receive signals via the communication unit 610.

[0044] User U1 or user U2 uses user terminal 400 to request transportation of the transported object. In the following, it is assumed that user U1 is a transportation requester at the transportation source and user U2 is a planned recipient at the transportation destination (destination). Of course, user U2 at the transportation destination can also issue a transportation request. In addition, users at locations other than the transportation source or transportation destination can make transportation requests.

[0045] When the user U1 makes a transport request, the user U1 uses the user terminal 400 to input the content of the transported object, the receiving point of the transported object (hereinafter also referred to as the transport source), the delivery destination of the transported object (hereinafter also referred to as the transport destination), the estimated arrival time of the transport source (the receiving time of the transported object), the estimated arrival time of the transport destination (transportation deadline), etc. In the following, these types of information are also referred to as transport request information. The user U1 can input the transport request information by operating the touch panel of the user terminal 400. The transport source can be the location where the user U1 is located, or the storage location of the transported object. The transport destination is the location where the user U2 or the patient who plans to use the transported object is located.

[0046] The user terminal 400 sends the transport request information input by the user U1 to the host management device 10. The host management device 10 is a management system that manages a plurality of mobile robots 20. The host management device 10 sends an operation command for performing a transport task to the mobile robot 20. The host management device 10 determines the mobile robot 20 that performs the transport task for each transport request. Then, the host management device 10 sends a control signal including the operation command to the mobile robot 20. The mobile robot 20 moves from the transport source to reach the transport destination according to the operation command.

[0047] For example, the host management device 10 assigns the transport task to the mobile robot 20 at or near the transport source. Alternatively, the host management device 10 assigns the transport task to the mobile robot 20 heading toward or near the transport source. The mobile robot 20 assigned the task goes to the transport source to pick up the transported object. The transport source is, for example, the location of the user U1 who requested the task.

[0048] When the mobile robot 20 arrives at the transport source, the user U1 or another staff member loads the transport object onto the mobile robot 20. The mobile robot 20 loaded with the transport object moves autonomously with the transport destination set as the destination. The host management device 10 sends a signal to the terminal 400 of the user U2 at the transport destination. Therefore, the user U2 can know that the transport object is being transported and the estimated arrival time. When the mobile robot 20 arrives at the set transport destination, the user U2 can receive the transport object stored in the mobile robot 20. As described above, the mobile robot 20 performs a transport task.

[0049] In the above overall configuration, the various elements of the control system can be distributed to the mobile robot 20, the user terminal 400 and the host management device 10 to construct a control system as a whole. In addition, the physical elements for realizing the transportation of the transported object can be concentrated in a single device to construct a transportation system. The host management device 10 controls more than one mobile robot 20.

[0050] In the present embodiment, when an error occurs in the mobile robot 20 and the mobile robot 20 cannot move, the host management device 10 causes another mobile robot 20 to move toward the mobile robot 20 that cannot move. Then, the other mobile robot 20 takes over the transport object that the mobile robot 20 that cannot move is transporting, and transports the object to the transport destination. That is, the transport object loaded on the mobile robot 20 that cannot move is transferred to the other mobile robot 20. Then, the other mobile robot 20 moves to the transport destination of the transport object that has been transferred.

[0051] Control block diagram

[0052] Figure 2 FIG. 2 shows a control block diagram of a control system of the system 1. Figure 2 As shown, the system 1 includes a host management device 10 , a mobile robot 20 , and an environment camera 300 .

[0053] The system 1 effectively controls a plurality of mobile robots 20 while making the mobile robots 20 move autonomously in a predetermined facility. Therefore, a plurality of environment cameras 300 are installed in the facility. For example, the environment cameras 300 are each installed in passages, corridors, elevators, entrances / exits, etc. in the facility.

[0054] The environment camera 300 acquires an image of the range in which the mobile robot 20 moves. In the system 1, the host management device 10 collects images acquired by the environment camera 300 and information based on the images. Alternatively, the images acquired by the environment camera 300 and the like may be directly sent to the mobile robot. The environment camera 300 may be a surveillance camera or the like set in a passage or an entrance / exit of a facility. The environment camera 300 may be used to determine the distribution of the congestion state in the facility.

[0055] In the system 1 according to the first embodiment, the host management device 10 plans a route based on the transport request information. The host management device 10 indicates a destination for each mobile robot 20 based on the route planning information created by the host management device 10. Then, the mobile robot 20 moves autonomously toward the destination specified by the host management device 10. The mobile robot 20 moves autonomously toward the destination using sensors, floor maps, location information, etc. provided in the mobile robot 20 itself.

[0056] For example, the mobile robot 20 travels 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 travels while maintaining a distance (defined as a distance threshold) above the surrounding objects. When the distance to the surrounding objects becomes equal to or less than the distance threshold, the mobile robot 20 decelerates or stops. With this configuration, the mobile robot 20 can travel without coming into contact with the surrounding objects. Since contact can be avoided, safe and efficient transportation can be performed.

[0057] The host management device 10 includes an arithmetic processing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The arithmetic processing unit 11 performs arithmetic for controlling and managing the mobile robot 20. For example, the arithmetic processing unit 11 can be implemented as a device capable of executing a program, such as a central processing unit (CPU) of a computer. Various functions can also be implemented by one program. Figure 2 Only the robot control unit 111, the route planning unit 115, the transported object information acquiring unit 116, and the error information acquiring unit 118 that are features of the arithmetic processing unit 11 are shown, but other processing blocks may also be provided.

[0058] The robot control unit 111 executes an algorithm for remotely controlling the mobile robot 20 and generates a control signal. The robot control unit 111 generates a control signal based on route planning information 125, etc., which will be described later. In addition, the robot control unit 111 generates a control signal based on various types of information obtained from the environment camera 300 and the mobile robot 20. The control signal may include update information such as a floor map 121, robot information 123, and robot control parameters 122, which will be described later. That is, when various types of information are updated, the robot control unit 111 generates a control signal according to the updated information.

[0059] The error information acquisition unit 118 acquires error information related to an error that has occurred in the mobile robot 20. The error information indicates that the mobile robot 20 has become unable to move. In addition, for example, the error information may include information such as the identification (ID) of the mobile robot 20 in which the error has occurred, the content of the error, the location where the error occurred, or the time when the error occurred. In addition, the error information may include the severity of the error.

[0060] The transport object information acquisition unit 116 acquires information related to the transport object. The transport object information acquisition unit 116 only needs to include information related to the content (type) of the transport object being transported by the mobile robot 20. The transport object information acquisition unit 116 only needs to include information related to the transport object being transported by the mobile robot 20.

[0061] The route planning unit 115 plans routes for each mobile robot 20. When a transport task is input, the route planning unit 115 plans a route for transporting the transported object 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 transported object, etc. The destination is the transport destination of the transported object, the standby position, the charging position, etc.

[0062] Here, the route planning unit 115 sets the passing points from the starting point to the destination of the mobile robot 20. The route planning unit 115 sets the passing order of the passing points for each mobile robot 20. The passing points are set at, for example, branch points, intersections, halls in front of elevators and their surroundings. In a narrow passage, it may be difficult for the mobile robots 20 to pass each other. In this case, the passing point can be set at a position before the narrow passage. Candidates for the passing points can be registered in the floor map 121 in advance.

[0063] 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 task can be performed efficiently as the entire system. The route planning unit 115 preferentially assigns the transport task to a mobile robot 20 in a standby state or a mobile robot 20 located near a transport source.

[0064] The route planning unit 115 sets a passing point including a starting point and a destination for the mobile robot 20 assigned a transport task. For example, when there are two or more moving routes from a transport source to a transport destination, setting a passing point allows movement to be performed in a shorter time. Therefore, the host management device 10 updates information indicating the congestion state of a passage based on an image of a camera, etc. Specifically, a location where other mobile robots 20 are passing and a location where there are many people have a high degree of congestion. Therefore, the route planning unit 115 sets a passing point to avoid a location with a high degree of congestion.

[0065] The mobile robot 20 can move to the destination through a counterclockwise moving route or a clockwise moving route. In this case, the route planning unit 115 sets a passing point to pass through a less crowded moving route. The route planning unit 115 sets more than one passing point to the destination, whereby the mobile robot 20 can move along an uncrowded moving route. For example, when a passage is divided at a branch point or an intersection, the route planning unit 115 appropriately sets passing points at the branch point, the intersection, the corner, and the surroundings. Therefore, the transportation efficiency can be improved.

[0066] The route planning unit 115 can set the passing point in consideration of the crowded state, 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 at the estimated moment when the mobile robot 20 passes through a certain location. Then, the route planning unit 115 sets the passing point according to the estimated crowded state. In addition, the route planning unit 115 can dynamically change the passing point according to the change of the crowded state. The route planning unit 115 sets the passing point for the mobile robot 20 to which the transportation task is assigned. The passing point may include a transportation source and a transportation destination. As will be described later, the mobile robot 20 moves autonomously to pass through the passing points set by the route planning unit 115 in sequence.

[0067] 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. 1 , 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 arithmetic processing unit 11 performs arithmetic when performing various processes using the information stored in the storage unit 12. In addition, various types of information stored in the storage unit 12 can be updated to the latest information.

[0068] The floor map 121 is map information of a 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.

[0069] The robot information 123 indicates the ID, model, specification, 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 about whether the mobile robot 20 is performing a task or in a standby state. In addition, the robot information 123 may include information indicating whether the mobile robot 20 is operating or in a fault, etc. In addition, the robot information 123 may include information about transport objects that can be transported and transport objects that cannot be transported.

[0070] The robot control parameter 122 indicates control parameters such as a threshold distance from surrounding objects of 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 people. In addition, the robot control parameter 122 may include information on the operation intensity, such as a speed upper limit value of the moving speed of the mobile robot 20.

[0071] The robot control parameter 122 may be updated according to the situation. The robot control parameter 122 may include information indicating the availability and usage status of the storage space of the storage section 291. The robot control parameter 122 may include information about transportable objects and transportable objects that cannot be transported. The robot control parameter 122 is associated with the above-mentioned various types of information of each mobile robot 20.

[0072] The route planning information 125 includes the route planning information planned by the route planning unit 115. The route planning information 125 includes, for example, information indicating the transport task. The route planning information 125 may include the ID of the mobile robot 20 to which the task is assigned, the starting point, the content of the transport object, the transport destination, the transport source, the estimated arrival time of the transport destination, the estimated arrival time of the transport source, the arrival deadline, etc. In the route planning information 125, the above-mentioned various types of information may be associated with each transport task. The route planning information 125 may include at least a portion of the transport request information input from the user U1.

[0073] In addition, the route planning information 125 may include information about the passing points of each mobile robot 20 and each transport task. For example, the route planning information 125 includes information indicating the passing order of the passing points of each mobile robot 20. The route planning information 125 may include the coordinates of each passing point on the floor map 121 and information about whether the mobile robot 20 has passed the passing point.

[0074] The error information 128 is error information acquired by the error information acquisition unit 118. For example, the error information includes the ID of the mobile robot 20 that has become unable to travel due to the error. In addition, the error information may include the content of the error, the time of occurrence, the location of occurrence, etc. In addition, the error information may include the severity of the error.

[0075] Transport object information 126 is information about the transport object for which a transport request has been made. For example, transport object information 126 includes information such as the content (type), transportation source and transportation destination of the transport object. Transport object information 126 can include the ID of the mobile robot 20 responsible for transportation. In addition, transport object information 126 can include information indicating states such as in transportation, before transportation (before loading) and after transportation. Transport object information 126 is associated with information of these types of each transport object. Transport object information 126 will be described later.

[0076] The route planning unit 115 makes a route plan with reference to various types of information stored in the storage unit 12. For example, the route planning unit 115 determines the mobile robot 20 that performs the task based on the floor map 121, the robot information 123, the robot control parameter 122, and the route planning information 125. Then, the route planning unit 115 sets the passing points to the transportation destination and the passing order thereof with reference to the plan view 121, etc. Candidates for the passing points are pre-registered in the floor map 121. The route planning unit 115 sets the passing points according to the congestion state, etc. In the case of continuously processing tasks, the route planning unit 115 can set the transportation source and the transportation destination as passing points.

[0077] More than two mobile robots 20 may be assigned to one transport task. For example, when the transport object is larger than the transportable capacity of the mobile robot 20, one transport object is divided into two and loaded on two mobile robots 20. Alternatively, when the transport object is heavier than the transportable weight of the mobile robot 20, one transport object is divided into two and loaded on two mobile robots 20. With this configuration, one transport task can be shared and performed by more than two 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 transport object receives the transport object.

[0078] In addition, one mobile robot 20 can perform more than two transport tasks in parallel. For example, one mobile robot 20 can load more than two transport objects at the same time and transport these objects to different transport destinations in sequence. Alternatively, when one mobile robot 20 is transporting one transport object, another transport object can be loaded on the mobile robot 20. In addition, the transport destinations of the transport objects loaded at different locations can be the same or different. With this configuration, tasks can be efficiently performed.

[0079] 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 loading or receiving transport objects, 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 with a space for loading transport objects to receive the transport objects. With this configuration, one mobile robot 20 can perform multiple transport tasks at the same time, and more than two 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 transport object can be registered in advance.

[0080] The buffer memory 13 is a memory for storing intermediate information generated in the processing of the arithmetic processing unit 11. The communication unit 14 is a communication interface for communicating with a plurality of environment cameras 300 and at least one mobile robot 20 provided in a facility using the system 1. The communication unit 14 can perform both wired communication and wireless communication. For example, the communication unit 14 transmits a control signal required to control the mobile robot 20 to each mobile robot 20. The communication unit 14 receives information collected by the mobile robot 20 and the environment camera 300.

[0081] The mobile robot 20 includes an arithmetic 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.

[0082] The communication unit 23 is a communication interface for communicating with the communication unit 14 of the host management device 10. The communication unit 23 communicates with the communication unit 14 using, for example, a wireless signal. The distance sensor group 24 is, for example, a proximity sensor, and outputs proximity object distance information indicating the distance to an object or a person existing around the mobile robot 20. For example, the camera 25 captures an image for grasping the surrounding situation of the mobile robot 20. For example, the camera 25 can also capture an image of a position marker, for example, set on the ceiling of a facility, etc. The mobile robot 20 can grasp the position of the mobile robot 20 itself using the position marker.

[0083] The driving unit 26 drives the driving wheels provided on the mobile robot 20. The driving unit 26 may include an encoder for detecting the number of rotations of the driving wheels and their driving motors, etc. The position (current position) of the mobile robot 20 may be estimated based on the output of the encoder. The mobile robot 20 detects its current position and sends the information to the host management device 10.

[0084] The display unit 27 and the operation receiving unit 28 are implemented by a touch panel display. The display unit 27 displays a user interface screen serving as the operation receiving unit 28. In addition, the display unit 27 can display information indicating the destination of the mobile robot 20 and the state of the mobile robot 20. The operation receiving unit 28 receives an operation from a 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.

[0085] The arithmetic processing unit 21 performs arithmetic for controlling the mobile robot 20. For example, the arithmetic 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 one program. The arithmetic processing unit 21 includes a movement command extraction unit 211, a drive control unit 212, and a detection unit 218. Although Figure 2 Only representative processing blocks included in the arithmetic processing unit 21 are shown, but the arithmetic processing unit 21 includes processing blocks not shown. The arithmetic processing unit 21 can search for a route between passing points.

[0086] The movement command extraction unit 211 extracts the movement command from the control signal given by the host management device 10. For example, the movement command includes information about the next passing point. For example, the control signal may include information about the coordinates of the passing point and the passing order of the passing point. The movement command extraction unit 211 extracts these types of information as the movement command.

[0087] In addition, the movement command may include information indicating that it has become possible to move to the next passing point. When the channel width is narrow, the mobile robots 20 may not be able to pass each other. There are also cases where the channel cannot be used temporarily. In this case, the control signal includes a command to stop the mobile robot 20 at a passing point before the position where the mobile robot 20 should stop. After another mobile robot 20 has passed or has become able to move in the channel, the host management device 10 outputs a control signal notifying the mobile robot 20 that the mobile robot 20 can move in the channel. Therefore, the mobile robot 20 that has temporarily stopped resumes movement.

[0088] The drive control unit 212 controls the drive unit 26 so that the drive unit 26 moves the mobile robot 20 based on the movement command given from the movement command extraction unit 211. For example, the drive unit 26 includes a drive wheel that rotates according to the control command 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 rotationally drives the drive wheel. The mobile robot 20 moves autonomously toward the next passing point. With this configuration, 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.

[0089] The detection unit 218 is provided to detect an error that has occurred in the mobile robot 20. For example, the detection unit 218 detects an abnormality of a sensor, a camera 25, etc. provided in the distance sensor group 24 as an error. The detection unit 218 detects the occurrence of a motor abnormality in the drive unit 26 as an error. Alternatively, the detection unit 218 detects a low battery or a battery abnormality as an error. In addition, the detection unit 218 may detect a mechanical failure as an error. The detection unit 218 may detect a communication abnormality in the communication unit 23 as an error. In addition, the detection unit 218 detects an apparatus abnormality that has occurred in various devices of the processor, the memory, the display unit 27, and the operation receiving unit 28 as an error. For example, when various devices such as sensors fail, an error signal indicating that the device has failed is output to the detection unit 218. The detection unit 218 detects an error based on an error signal output from the failed device. Alternatively, the detection unit 218 detects an error when the mobile robot 20 collides with an obstacle and becomes unable to travel.

[0090] The storage unit 22 stores a floor map 221 , robot control parameters 222 , and transport object information 226 . Figure 2Only a portion of the information stored in the storage unit 22 is shown, but the storage unit 22 also includes Figure 2 The floor map 221, the robot control parameters 222, and the transport object information 226 shown are information other than the floor map 221, the robot control parameters 222, and the transport object information 226. The floor map 221 is map information of the facility in which the mobile robot 20 moves. The floor map 221 is, for example, a product obtained by downloading the floor map 121 of the host management device 10. The floor map 221 may be created in advance. In addition, the floor map 221 may not be map information of the entire facility, but map information including a portion of the area in which the mobile robot 20 is planned to move.

[0091] The robot control parameter 222 is a parameter for operating the mobile robot 20. The robot control parameter 222 includes, for example, a distance threshold to a surrounding object and an upper speed limit of the mobile robot 20.

[0092] Similar to transport object information 126, transport object information 226 includes information about transport objects. Transport object information 226 includes information such as the content (type), transportation source and transportation destination of the transport object. Transport object information 226 can include information indicating states such as in transportation, before transportation (before loading) and after transportation. Transport object information 226 is associated with these types of information of each transport object. Transport object information 126 will be described later. Transport object information 226 only needs to include information about the transport object transported by mobile robot 20. Therefore, transport object information 226 is a part of transport object information 126. That is to say, transport object information 226 does not have to include information about the transportation performed by other mobile robots 20.

[0093] The drive control unit 212 refers to the robot control parameter 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 dropped 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 speed upper limit value. The drive control unit 212 limits the rotation speed of the drive wheel so that the mobile robot 20 does not move at a speed equal to or higher than the speed upper limit value.

[0094] Error information 228 is information related to the error detected by detection unit 218. Error information includes, for example, the type of error, the location where it occurred, and the time when it occurred. In addition, the error information may include the severity of the error.

[0095] Error information 228 related to the error detected by the detection unit 218 is transmitted to the host management device 10 via the communication unit 23. In addition, the communication unit 23 attaches the ID of the mobile robot 20 in which the error has occurred to the error information 228, and transmits the error information 228 to the host management device 10. Therefore, the error information acquisition unit 118 can acquire the error information.

[0096] Alternatively, the error information acquisition unit 118 may acquire error information based on an image of the environment camera 300 or the like. For example, the error information acquisition unit 118 may acquire error information based on an image of the environment camera 300. The error information acquisition unit 118 analyzes the image of the environment camera 300. Then, when the mobile robot 20 has not operated for more than a certain period of time in the image of the environment camera 300, the error information acquisition unit 118 acquires error information assuming that a malfunction has occurred in the mobile robot 20. Then, the error information acquisition unit 118 specifies the ID of the mobile robot 20 in which an error has occurred, the location where the error has occurred, the time at which the error has occurred, and the like.

[0097] Alternatively, the error information acquisition unit 118 may acquire error information using another method. When a communication abnormality or a battery abnormality occurs in the mobile robot 20, the host management device 10 cannot receive a signal from the mobile robot 20. Therefore, when a signal cannot be received from the mobile robot 20 for more than a certain period of time, the error information acquisition unit 118 determines that the mobile robot has a fault and acquires error information.

[0098] Here, when the error information is acquired, the host management device 10 guides another mobile robot 20 (hereinafter also referred to as the "transfer destination robot") to the mobile robot 20 where the error occurs (hereinafter also referred to as the "transfer source robot"). For example, the error occurrence location included in the error information is set as the transfer location. The route planning unit 115 plans a route so that the transfer destination robot moves to the transfer location. Therefore, the transfer destination robot moves to the transfer location, whereby the transport object of the transfer source robot can be transferred to the transfer destination robot. In addition, the route planning unit 115 plans a route so that the transfer destination robot moves to the transport destination of the transport object. The control of the transfer destination robot will be described later.

[0099] Configuration of the mobile robot 20

[0100] Here, the appearance of the mobile robot 20 will be described. Figure 3 A schematic diagram of a mobile robot 20 is shown. Figure 3 The mobile robot 20 shown is one of the modes of the mobile robot 20, and may be in another form. Figure 3, 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 .

[0101] The mobile robot 20 includes a main body 290 and a carriage 260. The main body 290 is mounted on the carriage 260. The main body 290 and the carriage 260 each have a rectangular parallelepiped housing, and various components are mounted in the housing. For example, the drive unit 26 is accommodated in the carriage 260.

[0102] The main body 290 is provided with a receiving portion 291 used as a receiving space and a door 292 that seals the receiving portion 291. The receiving portion 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 transported objects contained in the receiving portion 291 to a destination indicated by the host management device 10. The main body 290 may include a control box or the like in a housing (not shown). In addition, the door 292 may be locked with an electronic key or the like. Upon arriving at the transport destination, the user U2 unlocks the door 292 with the electronic key. Alternatively, when the mobile robot 20 arrives at the transport destination, the door 292 may be automatically unlocked.

[0103] like Figure 3 As shown, the front-to-back distance sensor 241 and the left-to-right distance sensor 242 are arranged on the outside of the mobile robot 20 as the distance sensor group 24. The mobile robot 20 measures the distance of the 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 distance of the surrounding objects in the left-to-right direction of the mobile robot 20 through the left-to-right distance sensor 242.

[0104] For example, the front-rear distance sensor 241 is disposed on the front surface and the rear surface of the shell of the main body 290. The left-right distance sensor 242 is disposed on the left surface and the right surface of the shell of the main body 290. The front-rear distance sensor 241 and the left-right distance sensor 242 are, for example, ultrasonic distance sensors and laser rangefinders. The front-rear distance sensor 241 and the left-right distance sensor 242 detect the distance to the surrounding objects. When the distance to the surrounding objects detected by the front-rear distance sensor 241 or the left-right distance sensor 242 is equal to or less than the distance threshold, the mobile robot 20 decelerates or stops.

[0105] 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, rightward, and leftward. The caster 262 is a driven wheel that rolls following the drive wheel 261 without being given a driving force. The drive unit 26 includes a drive motor (not shown) and drives the drive wheel 261.

[0106] 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 to rotate by a motor (not shown). The drive wheels 261 are driven according to the rotation of the motor from the motor. 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 pivotally 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.

[0107] For example, when the two drive wheels 261 rotate in the same direction at the same rotation speed, the mobile robot 20 travels in a straight line, and when the two drive wheels 261 rotate in opposite directions at the same rotation speed, the mobile robot 20 pivots around a vertical axis extending through the approximate center of the two drive wheels 261. In addition, by rotating the two drive wheels 261 in the same direction at different rotation speeds, the mobile robot 20 can move forward while turning left or right. For example, by making the rotation speed of the left drive wheel 261 higher than the rotation speed of the right drive wheel 261, the mobile robot 20 can make a right turn. On the contrary, by making the rotation speed of the right drive wheel 261 higher than the rotation speed of the left drive wheel 261, the mobile robot 20 can make a left turn. That is, by controlling the rotation direction and rotation speed of each of the two drive wheels 261, the mobile robot 20 can travel in a straight line, pivot, turn left or right, etc. in any direction.

[0108] In addition, in the mobile robot 20, a display unit 27 and an operation interface 281 are provided on the upper surface of the main body 290. The operation interface 281 is displayed on the display unit 27. When the user operates the touch screen of the operation interface 281 displayed on the display unit 27, the operation receiving unit 28 can receive the instruction input from the user. An emergency stop button 282 is provided on the upper surface of the display unit 27. The emergency stop button 282 and the operation interface 281 serve as the operation receiving unit 28.

[0109] The display unit 27 is, for example, a liquid crystal panel, which displays the face of a person as an illustration, or presents information about the mobile robot 20 in text or icons. By displaying the face of a person on the display unit 27, it is possible to give the impression to surrounding observers that the display unit 27 is a pseudo-face. It is also possible to use the display unit 27 installed in the mobile robot 20 or the like as the user terminal 400.

[0110] The camera 25 is mounted on the front surface of the main body 290. Here, the two cameras 25 are used as stereo cameras. That is, the two cameras 25 having the same viewing angle are arranged so as to be spaced apart from each other in the horizontal direction. 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 arithmetic processing unit 21 can detect a person, an obstacle, etc. at a front position in the moving direction by analyzing the image of the camera 25. When there is a person or an obstacle at a front position in the traveling direction, the mobile robot 20 moves along the route while avoiding the person or the obstacle. The image data of the camera 25 is sent to the host management device 10.

[0111] The mobile robot 20 identifies surrounding objects and the position of the mobile robot 20 itself by analyzing the image data output by the camera 25 and the detection signals output by the front-rear distance sensor 241 and the left-right distance sensor 242. The camera 25 captures an image of the front of the mobile robot 20 in the traveling direction. Figure 3 As shown, 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.

[0112] Next, the operation when an error occurs will be described. Figure 4 is a flowchart showing the control method in this system. Figure 5 2 is a schematic diagram for explaining the control method, and shows a part of a facility where the mobile robot 20 moves. Figure 5 In the example, the mobile robot 20 where the error has occurred is the transfer source robot 20A, and the mobile robot heading to the location where the error has occurred is the transfer destination robot 20B. Figure 5 , a mobile robot 20 that is not the transfer source robot 20A and the transfer destination robot 20B is illustrated as a mobile robot 20C.

[0113] The error information acquisition unit 118 acquires error information indicating that an error has occurred in the transfer source robot 20A (S401). For example, the detection unit 218 of the transfer source robot 20A detects abnormalities in various devices. Then, error information 228 related to the error is written in the storage unit 22. The error information 228 includes the type of error, the occurrence location, the occurrence time, etc.

[0114] The communication unit 23 transmits the error information 228 to the host management device 10. Here, the communication unit 23 transmits the error information together with the ID of the transfer source robot 20A. Therefore, the error information acquisition unit 118 acquires error information indicating that an error has occurred in the transfer source robot 20A. Alternatively, as described above, the error information acquisition unit 118 may acquire error information based on the image and communication status of the environment camera 300.

[0115] Next, the transport object information acquisition unit 116 acquires transport object information related to the transport object transported by the transfer source robot 20A (S402). The transport object information acquisition unit 116 may acquire the transport object information related to the transport object being transported by the transfer source robot 20A from the transport object information 126 stored in the storage unit 12. The transport object information acquisition unit 116 acquires the transport object information with reference to the ID of the transfer source robot 20A. Alternatively, the transfer source robot 20A may send the transport object information together with the error information to the host management device 10. Then, the transport object information acquisition unit 116 may acquire the transport object information related to the transport object of the transfer source robot 20A by receiving the transport object information from the transfer source robot 20A.

[0116] The route planning unit 115 determines the transfer destination robot 20B that can transport the transport object of the transfer source robot 20A based on the transport object information and the error information (S403). Here, the mobile robot 20 having a free capacity for loading the transport object in the accommodation section 291 is a candidate for the transfer destination robot 20B. Therefore, the mobile robot 20 that cannot transport the transport object of the transfer source robot 20A and the mobile robot 20 that does not have enough free space can be excluded from the candidates of the transfer destination robot 20B. In addition, the mobile robot 20 in which an error occurs is excluded from the candidates of the transfer destination robot 20B.

[0117] Then, among the candidate mobile robots 20, the mobile robot close to the transfer position is set as the transfer destination robot 20B. Here, the transfer position of the transported object is set near the error occurrence position. The route planning unit 115 can determine the transfer destination robot 20B according to the distance to the transfer position. Therefore, the mobile robot 20C, which is farther from the transfer source robot 20A than the transfer destination robot 20B, is not set as the transfer destination robot.

[0118] Alternatively, the route planning unit 115 may determine the transfer destination robot 20B according to the situation of other transport tasks. For example, the mobile robot 20 waiting for the task may be set as the transfer destination robot 20B. The route planning unit 115 may determine the transfer destination robot 20B with reference to the floor map 121, the robot information 123, the robot control parameter 122, the error information 128, or the route planning information 125.

[0119] In addition, the route planning unit 115 may determine the mobile robot 20 that transports the transport object to the transport destination of the transport object of the transfer source robot 20A or its vicinity as the transfer destination robot 20B. In other words, the route planning unit 115 may not set the mobile robot that is currently performing a task while traveling in the opposite direction to the transport destination of the transport object of the transfer source robot 20A as the transfer destination robot 20B. In this case, the mobile robot 20 with insufficient free space in the accommodating section 291 may be a candidate for the transfer destination robot 20B. For example, when the mobile robot 20 whose transport destination is the transfer location or its vicinity arrives at the transport destination, the transport object is taken out. After the transport object is transported, the free capacity of the accommodating section 291 increases. Therefore, the transport object to be transferred can be loaded.

[0120] As described above, the route planning unit 115 can determine the transfer destination robot 20B among the mobile robots 20 according to the distance to the transfer location of each mobile robot 20, route planning, mission status, etc. Here, the route planning unit 115 determines the transfer destination robot 20B so that the transport object can be efficiently transported as the entire system.

[0121] Next, the host management device 10 moves the transfer destination robot 20B to the transfer position of the transport object of the first transport robot (S404). Therefore, the route planning unit 115 first plans a route for the transfer destination robot 20B. Specifically, the route planning unit 115 plans a route so that the transfer destination robot 20B moves to the transport destination via the transfer position. The route planning planned by the route planning unit 115 is written into the route planning information 125. That is, the transfer destination robot 20B and the route of the transfer destination robot 20B are written into the route planning information 125 as a transport task. The transfer position is the position from which the transport object is transported. Then, the host management device 10 sends a signal including a movement command to the transfer destination robot 20B according to the route planning information 125. Therefore, the transfer destination robot 20B starts to move to the transfer position.

[0122] exist Figure 5, the route planning unit 115 plans the route R of the transfer destination robot 20B so that the transfer destination robot 20B passes through the passing points M1, M2, M3, M4 and M5 in order. The route planning unit 115 plans the route R of the transfer destination robot 20B with reference to the floor map 121, the robot information 123, the robot control parameter 122, the error information 128 or the route planning information 125.

[0123] The through point M1 is the position of the transfer destination robot 20B when an error occurs. The through point M3 is a transfer position. Specifically, the through point M3 is near the error occurrence position of the transfer source robot 20A. The through point M3 serves as a transport source of the transport object to be transferred. The through point M2 is a corner from the through point M1 to the through point M3. Then, when the transfer destination robot 20B arrives at the through point M3, the transport object of the transfer source robot 20A is transferred to the transfer destination robot 20B.

[0124] For example, when there is a user (also referred to as a facility worker or worker) near the transfer location, the user transfers the transport object. That is, the user takes out the transport object from the transfer source robot 20A and loads the transport object on the transfer destination robot 20B. Alternatively, when the transfer source robot 20A or the transfer destination robot 20B has a transfer function, the transfer operation may be automatically performed. For example, some mobile robots 20 may have a transfer robot arm or a transfer mechanism.

[0125] The through points M4 and M5 are the transportation destinations of the transported objects, respectively. For example, the through point M4 is the transportation destination of the transported objects loaded before the transfer (i.e., the transported objects loaded when passing through the point M1). The through point M5 is the transportation destination of the transported objects that have been transferred (i.e., the transported objects loaded at the through point M3). Of course, the through point M5 can be the transportation destination of the transported objects loaded before the transfer, and the through point M5 can be the transportation destination of the transported objects that have been transferred. In addition, when there are more than two transported objects that have been transferred, the route planning unit 115 sets the through points to each transportation destination. Of course, the through points M1 to M5 shown in the drawings are illustrative examples and are not particularly limited.

[0126] With this configuration, the transport object can be transported without delay even when an error occurs in the mobile robot 20. Therefore, the transport efficiency can be improved, and the convenience can be improved.

[0127] Here, the host management device 10, the mobile robot 20, the user terminal 400, etc. may output a request message for requesting the facility staff to transfer. Figure 6As shown, it is assumed that the transfer destination robot 20B arrives at the passing point M3 as the transfer location. In this case, the transfer destination robot 20B may send a signal for outputting a transfer request message to the user terminal 400 of the user UA near the passing point M3. In this case, the host management device 10 may send a signal for outputting a transfer request message to the user terminal 400 of the user UA near the passing point M3. The user terminal 400 displays the request message on the display. The request message may be displayed by the display unit 27 of the mobile robot 20 instead of by the user terminal 400.

[0128] The request message may be a voice message, an alarm sound, or the like. That is, the request message may be output by a speaker or the like. For example, a speaker of the user terminal 400 or the mobile robot 20 or a speaker installed in a facility may output the request message. In addition, the timing of outputting the request message is not limited to the timing of the transfer destination robot 20B arriving at the transfer location, and may be before or after the arrival. In addition, the user terminal 400 may output the request message when an error occurs. In this case, the user terminal 400 may output the request message together with the estimated time when the transfer destination robot 20B arrives at the transfer location.

[0129] In addition, the host management device 10, the mobile robot 20, the user terminal 400, etc. can set the staff to whom the request message for transfer is output according to the transport information. For example, the users (staff) who can handle samples, blood transfusion bags, drugs, medical devices, etc. are limited. In this case, the request message may be output only to qualified staff, such as doctors, nurses and pharmacists. That is, the host management device 10 or the transfer destination robot 20B only sends a command for outputting the request message to the staff whose processing is approved. In this case, the user terminal 400 and the user using the user terminal 400 can be associated with each other. Alternatively, the user can be associated with the login ID of the user terminal 400, etc. Then, the user terminal 400 of the staff who is qualified to handle outputs the request message. Of course, the number of staff to whom the request message is output is not limited to one, but can be more than two.

[0130] The host management device 10 can determine the priority of transferring the transported object based on the transported object information. For example, when a transport deadline is set for the transported object, the route planning unit 115 increases the priority of the transported object with a short transport deadline and determines the transfer destination robot 20B. Alternatively, when a transport deadline is set for the transported object, the route planning unit 115 increases the priority of the transported object with a short transport deadline and plans a route for the transfer destination robot 20B. For example, for drugs and medical devices with a scheduled use time, the transport deadline is set to meet the use time. Then, the host management device 10 sets the transfer priority according to the transport deadline included in the transported object information.

[0131] When an error occurs in two or more mobile robots 20, a plurality of transfer source robots 20A appear at different locations. When the priority of the transported object of the transfer source robot 20A is low, the route planning unit 115 plans a route so that the transported object of another transfer source robot 20A is transported first, although the transfer source robot 20A has an early error occurrence time. Robot control is performed so that the transported object with an early transport deadline is transferred before the transported object with no transport deadline or the transported object with a late transport deadline. With this configuration, the transported object can be transported without delaying the transport deadline.

[0132] Note that the route planning unit 115 can determine the necessity of transfer based on the transport object information. For example, in the case of urgent medicines or samples, the transfer destination robot 20B is guided to the transfer location. That is, in the case of highly urgent transport objects such as medicines or samples, the route planning unit 115 determines that transfer is necessary and determines the transfer destination robot 20B. Alternatively, for medical devices with fixed uses, etc., the route planning unit 115 determines that transfer is necessary. For other transport objects with low urgency, the route planning unit 115 determines that transfer is unnecessary and does not determine the transfer destination robot 20B. That is, the other mobile robots 20 do not move to the transfer location.

[0133] The route planning unit 115 can determine the necessity of transfer based on the error information. For example, in the case of a minor error, the mobile robot 20 can recover by itself. When the mobile robot 20 resets or restarts the device, the mobile robot 20 is restored. Therefore, the error state of the mobile robot 20 is eliminated, and the transport object can be transported again. In this case, it is determined that the transfer destination robot 20B is unnecessary.

[0134] In the case of battery exhaustion, hardware failure, etc., where the severity of the error is high, the route planning unit 115 determines that transfer is necessary. In this case, the host management device 10 determines the transfer destination robot 20B and guides the transfer destination robot 20B to the transfer location. In addition, when the transport robot can recover by itself due to traffic congestion of the transport robot, momentary interruption of the device, etc. (in the case where the severity of the error is small), the host management device 10 does not have to determine the transfer destination robot 20B. As described above, the route planning unit 115 can determine the necessity of transfer according to the severity of the error.

[0135] When the route planning unit 115 determines that the transfer is unnecessary according to the transport object information and the error information, a transport request message for making a transport request to the staff (user) of the facility can be output. For example, when an error occurs in the mobile robot 20 near the transport destination, the transport request message is output to the nearby staff. The transport request message can be displayed on the display unit 27 of the mobile robot 20, or can be output to the user terminal 400. In addition, the request message can be a voice message, an alarm sound, etc. In other words, the transport request message can be output by a speaker, etc. The route planning unit 115 determines that the transport object with low urgency does not need to be transferred. Alternatively, when the time required for the transfer is longer than a certain period of time, it is more efficient for the staff to carry the transport object. Therefore, the route planning unit 115 determines that the transfer is unnecessary. With this configuration, the staff can take out the transport object at an appropriate time according to the situation of the staff.

[0136] When the route planning unit 115 determines that the transfer is necessary based on the transport object information and the error information, a transport request message for making a transport request to the staff (user) of the facility can be output. For example, there may be a situation where the transport object is a highly urgent transport object and the transfer destination robot 20B may not arrive in time before the transport deadline. In this case, the user terminal 400 outputs a transport request message to the staff of the facility near the location where the error occurred. With this configuration, the staff can quickly take out the transport object.

[0137] The host management device 10 can control the mobile robot 20 so that two or more transfer destination robots 20B are guided to one transfer source robot 20A. That is, when there are multiple transfer source robots 20A, the host management device 10 determines two or more mobile robots 20 as the transfer destination robots 20B. Alternatively, when the transfer source robot 20A is transporting multiple transport objects and their transport destinations are different, the host management device 10 determines two or more mobile robots 20 as the transfer destination robots 20B based on the transport object information including the transport destinations. With this configuration, the transportation efficiency can be further improved.

[0138] Of course, one transfer destination robot 20B can transfer the transported objects of two or more transfer source robots 20A. That is, the route planning unit 115 can determine one mobile robot 20 as the transfer destination robot 20B for performing the transport task of the transported objects of two or more transfer source robots 20A. For example, when the transfer destination robot 20B has sufficient free capacity, the transfer destination robot 20B can move to the transfer positions of two or more transfer source robots 20A in sequence. With this configuration, the transportation efficiency can be further improved.

[0139] In addition, part or all of the processing in the above-mentioned host management device 10, mobile robot 20, etc. can be implemented as a computer program. Such a program can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), compact disk read-only memories (CD-ROMs), recordable compact disks (CD-Rs), rewritable compact disks (CD-R / Ws), and semiconductor memories (e.g., mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, random access memories (RAMs)). The program can also be provided to a computer via 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 programs to a computer via wired communication paths such as wires and optical fibers or wireless communication paths.

[0140] The present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit. For example, in the above-described embodiments, a system in which a transport robot autonomously travels in a hospital has been described, but the above-described system can transport predetermined items as luggage in a hotel, restaurant, office building, event venue, or complex facility.

Claims

1. A robot control system that controls a plurality of transport robots capable of autonomously traveling in a facility, wherein the robot control system: acquiring error information indicating that an error has occurred in the first transport robot; Acquire transport object information related to the transport object of the first transport robot; determining, based on the transport object information and the error information, a second transport robot among the plurality of transport robots that is capable of transporting the transport object of the first transport robot; and Move the second transport robot to a transfer position of the transport object of the first transport robot, in, The robot control system determines the necessity of the transfer based on the error information, wherein in the case of a minor error, the first transport robot recovers by itself or the first transport robot is recovered when the first transport robot resets or restarts a device, and the transfer is determined to be unnecessary, and in the case of a battery exhaustion, a hardware failure, etc., where the severity of the error is high, the transfer is determined to be necessary, and When the robot control system determines that the transfer is unnecessary based on the error information, the robot control system outputs a transport request message for making a transport request to a worker of the facility.

2. The robot control system according to claim 1, wherein: The robot control system determines a priority for transfer of the transported object based on the transported object information.

3. The robot control system according to claim 1, wherein: The robot control system outputs a transfer request message for requesting transfer of the transport object to a worker of the facility.

4. The robot control system according to claim 3, wherein: The robot control system sets the worker to whom the transfer request message is output based on the transport object information.

5. The robot control system according to claim 1, wherein: The robot control system determines the necessity of the transfer based on the transport object information.

6. The robot control system according to any one of claims 1 to 5, wherein: When the robot control system determines that the transfer is unnecessary based on the transport object information, the robot control system outputs a transport request message for making a transport request to a worker of the facility.

7. A robot control method for controlling a plurality of transport robots capable of autonomously traveling in a facility, the robot control method comprising: acquiring error information indicating that an error has occurred in the first transport robot; Acquire transport object information related to the transport object of the first transport robot; determining, based on the transport object information and the error information, a second transport robot among the plurality of transport robots that is capable of transporting the transport object of the first transport robot; as well as Move the second transport robot to a transfer position of the transport object of the first transport robot, wherein the necessity of the transfer is determined based on the error information, wherein in the case of a minor error, the first transport robot recovers by itself, or when the first transport robot resets or restarts a device, the first transport robot is recovered, and the transfer is determined to be unnecessary, and in the case of a battery exhaustion, hardware failure, etc., where the severity of the error is high, the transfer is determined to be necessary, and When it is determined that the transfer is unnecessary based on the error information, a transport request message for making a transport request is output to a staff of the facility. 8 . The robot control method according to claim 7 , further comprising determining a priority of transfer of the transport object based on the transport object information.

9. The robot control method according to claim 7, further comprising outputting a transfer request message for requesting transfer of the transport object to a worker of the facility. 10 . The robot control method according to claim 9 , further comprising setting the worker to whom the transfer request message is outputted according to the transport object information.

11. The robot control method according to claim 7, further comprising determining necessity of the transfer based on the transport object information.

12. The robot control method according to any one of claims 7 to 11, further comprising: When it is determined that the transfer is unnecessary based on the transport object information, a transport request message for making a transport request is output to a staff of the facility.

13. A computer-readable medium storing a program for causing a computer to execute a robot control method for controlling a plurality of transport robots capable of traveling in a facility, wherein: The robot control method comprises: acquiring error information indicating that an error has occurred in the first transport robot; Acquire transport object information related to the transport object of the first transport robot; determining, based on the transport object information and the error information, a second transport robot among the plurality of transport robots that is capable of transporting the transport object of the first transport robot; and Move the second transport robot to a transfer position of the transport object of the first transport robot, wherein the necessity of the transfer is determined based on the error information, wherein in the case of a minor error, the first transport robot recovers by itself, or when the first transport robot resets or restarts a device, the first transport robot is recovered, and the transfer is determined to be unnecessary, and in the case of a battery exhaustion, hardware failure, etc., where the severity of the error is high, the transfer is determined to be necessary, and When it is determined that the transfer is unnecessary based on the error information, a transport request message for making a transport request is output to a staff of the facility.

14. The computer-readable medium of claim 13, wherein: The priority of the transfer of the transport object is determined based on the transport object information.

15. The computer-readable medium of claim 13, wherein: A transfer request message for requesting transfer of the transported object is output to a staff of the facility.

16. The computer-readable medium of claim 15, wherein: The staff member to whom the transfer request message is output is set based on the transport object information.

17. The computer-readable medium of claim 13, wherein: The necessity of the transfer is determined based on the transport object information.

18. The computer readable medium according to any one of claims 13 to 17, wherein: When it is determined that the transfer is unnecessary based on the transport object information, a transport request message for making a transport request is output to a staff of the facility.

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