Mobile robot, transport system, method and computer readable medium

Abstract

A mobile robot, a transport system, a method, and a computer readable medium are disclosed. The mobile robot receives first transmission information for managing the mobile robot, which is transmitted from a server device, in a case where wireless communication with the server device is possible, directly performs wireless communication with another mobile robot among a plurality of mobile robots in a state where wireless communication with the server device is not possible, and performs reception processing of receiving the first transmission information for managing the mobile robot, which is transmitted from the server device, from the other mobile robot.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a mobile robot, a transport system, a method, and a computer-readable medium. BACKGROUND

[0002] Japanese Unexamined Patent Application Publication No. 2007-249735 (JP 2007-249735 A) discloses a technology in which, in a robot that autonomously travels in a predetermined area, in the event of an error and loss of the robot's own position and direction, the robot's own position is grasped by reading an RFID tag installed in the travel area by a reader or by a camera installed in the robot to take a landmark. SUMMARY

[0003] The present inventors have developed a technology for receiving information such as a position or an instruction by wireless communication with a server in a mobile robot that autonomously travels in a facility or a predetermined area of a facility. In summary, the present inventors have investigated a case in which wireless communication with the server is interrupted due to a fire or an earthquake.

[0004] In the case in which wireless communication with the server is interrupted, the mobile robot cannot receive information such as a position or an instruction from the server, and therefore countermeasures are required. In the case in which the mobile robot is used to transport a transport object, unless the above problem is solved, it can be impossible to transport the transport object.

[0005] In the technology disclosed in JP 2007-249735 A, since only position information can be grasped and an instruction or the like given to the mobile robot cannot be grasped, it is difficult to continue to perform the instructed work, and it is also necessary to install an RFID tag or a landmark for grasping position information.

[0006] The present disclosure is to provide a mobile robot, a transport system, a method, and a computer-readable medium in which, in a transport system in which a transport object is transported by using a plurality of mobile robots that can autonomously move in a facility, even in the case in which wireless communication with a server device that manages the mobile robots is not possible, the mobile robots can receive information necessary for management.

[0007] A first aspect of the present disclosure relates to a mobile robot in a transport system including a server device and transporting objects by using a plurality of mobile robots, the server device being configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility by wireless communication. The mobile robot is configured to receive first transmission information for managing the mobile robot transmitted from the server device in a state capable of wireless communication with the server device. The mobile robot is configured to directly perform wireless communication with another mobile robot of the plurality of mobile robots in a state incapable of wireless communication with the server device, and perform reception processing of receiving the first transmission information for managing the mobile robot transmitted from the server device from the other mobile robot. With this configuration, the mobile robot can receive information necessary for management even in a case where wireless communication with the server device is not possible.

[0008] A second aspect of the present disclosure relates to a mobile robot in a transport system including a server device and transporting objects by using a plurality of mobile robots, the server device being configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility by wireless communication. The mobile robot is configured to receive first transmission information for managing the mobile robot transmitted from the server device and second transmission information for managing another mobile robot of the plurality of mobile robots transmitted from the server device in a state capable of wireless communication with the server device. The mobile robot is configured to directly perform wireless communication with the other mobile robot in a case where the other mobile robot is incapable of wireless communication with the server device, and perform transmission processing of transmitting the second transmission information to the other mobile robot. With this configuration, the other mobile robot can obtain information necessary for management even in a case where wireless communication with the server device is not possible.

[0009] A third aspect of the present disclosure relates to a transportation system including a server device configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility through wireless communication. The transportation system transports a transported object by using the plurality of mobile robots. The mobile robot is configured to, in a state capable of wireless communication with the server device, receive first transmission information for managing the mobile robot transmitted from the server device and second transmission information for managing another mobile robot of the plurality of mobile robots transmitted from the server device. The other mobile robot is configured to, in a state capable of wireless communication with the server device, receive the first transmission information and the second transmission information. The mobile robot is configured to, in a case where wireless communication with the server device is not possible, directly perform wireless communication with the other mobile robot, receive the first transmission information from the other mobile robot, and perform first communication processing of transmitting first position information indicating a position of the mobile robot to the other mobile robot. The other mobile robot is configured to, in a case where wireless communication with the server device is not possible, directly perform wireless communication with the mobile robot, receive the second transmission information from the mobile robot, and perform second communication processing of transmitting second position information indicating a position of the other mobile robot to the mobile robot. The other mobile robot is configured to, in a state capable of wireless communication with the server device, transmit the first position information received in the first communication processing to the server device. The mobile robot is configured to, in a state capable of wireless communication with the server device, transmit the second position information received in the second communication processing to the server device. The server device is configured to, in a case where wireless communication with the mobile robot is not possible, search for the mobile robot based on the first position information. The server device is configured to, in a case where wireless communication with the other mobile robot is not possible, search for the other mobile robot based on the second position information. With this configuration, in the transportation system, it is possible to search for the mobile robot or the other mobile robot that is unable to communicate with the server device.

[0010] The fourth aspect of the present disclosure relates to a method for a mobile robot in a transportation system including a server device and transporting objects by using a plurality of mobile robots, the server device being configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility through wireless communication. The method includes, in a state capable of wireless communication with the server device, causing the mobile robot to receive first transmission information for managing the mobile robot transmitted from the server device, and in a case where wireless communication with the server device is not possible, causing the mobile robot to directly perform wireless communication with another mobile robot of the plurality of mobile robots and perform reception processing of receiving first transmission information for managing the mobile robot transmitted from the server device from the other mobile robot. With this processing, even in a case where wireless communication with the server device is not possible, the mobile robot can receive information necessary for management.

[0011] The fifth aspect of the present disclosure relates to a method for a mobile robot in a transportation system including a server device and transporting objects by using a plurality of mobile robots, the server device being configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility through wireless communication. The method includes, in a state capable of wireless communication with the server device, causing the mobile robot to receive first transmission information for managing the mobile robot transmitted from the server device and second transmission information for managing another mobile robot of the plurality of mobile robots transmitted from the server device, and in a state where wireless communication of the other mobile robot with the server device is not possible, causing the mobile robot to directly perform wireless communication with the other mobile robot and perform transmission processing of transmitting the second transmission information to the other mobile robot. With this processing, even in a case where wireless communication with the server device is not possible, the other mobile robot can receive information necessary for management.

[0012] A sixth aspect of the present disclosure relates to a method for a server device in a transportation system including the server device and transporting objects by using a plurality of mobile robots, the server device being configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility through wireless communication. The method includes: causing a mobile robot to receive first transmission information for managing the mobile robot transmitted from the server device and second transmission information for managing another mobile robot of the plurality of mobile robots transmitted from the server device in a state capable of wireless communication with the server device; causing the other mobile robot to receive the first transmission information and the second transmission information in a state capable of wireless communication with the server device; causing the mobile robot to directly perform wireless communication with the other mobile robot, receive the first transmission information from the other mobile robot, and perform first communication processing of transmitting first position information indicating a position of the mobile robot to the other mobile robot in a case where wireless communication with the server device is not possible; causing the other mobile robot to directly perform wireless communication with the mobile robot, receive the second transmission information from the mobile robot, and perform second communication processing of transmitting second position information indicating a position of the other mobile robot to the mobile robot in a case where wireless communication with the server device is not possible; causing the server device to receive the first position information received by the other mobile robot in the first communication processing from the other mobile robot in a state capable of wireless communication with the other mobile robot; causing the server device to receive the second position information received by the mobile robot in the second communication processing from the mobile robot in a state capable of wireless communication with the mobile robot; causing the server device to search for the mobile robot based on the first position information in a state where wireless communication with the mobile robot is not possible; and causing the server device to search for the other mobile robot based on the second position information in a state where wireless communication with the other mobile robot is not possible. With this processing, in the method, a mobile robot or the other mobile robot that is not possible to perform wireless communication with the server device can be searched for.

[0013] A seventh aspect of the present disclosure relates to a computer readable medium storing a program causing a computer mounted on a mobile robot to execute communication processing in a transport system including a server device configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility by wireless communication, and transport objects by using the plurality of mobile robots. The communication processing includes, in a state capable of wireless communication with the server device, receiving first transmission information for managing the mobile robot transmitted from the server device, and in a state incapable of wireless communication with the server device, directly executing wireless communication with another mobile robot of the plurality of mobile robots and executing reception processing of receiving the first transmission information for managing the mobile robot transmitted from the server device from the other mobile robot. With this processing, the mobile robot can receive information necessary for management even in a case where wireless communication with the server device is not possible.

[0014] An eighth aspect of the present disclosure relates to a computer readable medium storing a program causing a computer mounted on a mobile robot to execute communication processing in a transport system including a server device configured to exchange information with and manage a plurality of mobile robots capable of moving autonomously within a facility by wireless communication, and transport objects by using the plurality of mobile robots. The communication processing includes, in a state capable of wireless communication with the server device, receiving first transmission information for managing the mobile robot transmitted from the server device and second transmission information for managing another mobile robot of the plurality of mobile robots transmitted from the server device, and in a case where the other mobile robot is incapable of wireless communication with the server device, directly executing wireless communication with the other mobile robot and executing transmission processing of transmitting the second transmission information to the other mobile robot. With this processing, the other mobile robot can receive information necessary for management even in a case where wireless communication with the server device is not possible.

[0015] A ninth aspect of the present disclosure relates to a computer-readable medium storing a program that causes a server computer to execute a management process in a transport system including the server computer and transporting a transport object by using a plurality of mobile robots, the server computer being configured to exchange information with and manage a plurality of mobile robots capable of autonomously moving within a facility through wireless communication. The program causes the server computer to execute: causing a mobile robot to receive, in a state capable of wireless communication with the server computer, first transmission information transmitted from the server computer for managing the mobile robot and second transmission information transmitted from the server computer for managing another mobile robot of the plurality of mobile robots; causing the other mobile robot to receive, in the state capable of wireless communication with the server computer, the first transmission information and the second transmission information; causing the mobile robot to directly execute wireless communication with the other mobile robot, receive the first transmission information from the other mobile robot, and execute first communication processing of transmitting first position information indicating a position of the mobile robot to the other mobile robot, in a case where wireless communication with the server computer is not possible; and causing the other mobile robot to directly execute wireless communication with the mobile robot, receive the second transmission information from the mobile robot, and execute second communication processing of transmitting second position information indicating a position of the other mobile robot to the mobile robot, in the case where wireless communication with the server computer is not possible. The management process includes: receiving, from the other mobile robot, the first position information received by the other mobile robot in the first communication processing, in a case where wireless communication with the other mobile robot is possible; receiving, from the mobile robot, the second position information received by the mobile robot in the second communication processing, in the state capable of wireless communication with the mobile robot; executing a search for the mobile robot based on the first position information, in a case where wireless communication with the mobile robot is not possible; and executing a search for the other mobile robot based on the second position information, in a case where wireless communication with the other mobile robot is not possible. With this processing, in the program, the mobile robot or the other mobile robot that cannot perform wireless communication with the server device can be searched.

[0016] In the method according to the first, fourth, and seventh aspects of the present disclosure, the mobile robot can receive, in a state capable of wireless communication with the server device, the first transmission information and second transmission information transmitted from the server device for managing the other mobile robot, and the mobile robot can directly execute wireless communication with the other mobile robot and execute transmission processing of transmitting the second transmission information to the other mobile robot, in a case where wireless communication of the other mobile robot with the server device is not possible. Thus, even in a case where wireless communication with the server device is not possible, the other mobile robot can receive information necessary for management.

[0017] In the first, second, fourth, fifth, seventh, and eighth aspects of the present disclosure, the following configurations can be employed.

[0018] In a case where the server device is closed, the transmission processing can be executed, and the second transmission information transmitted in the transmission processing can be information received from the server device before the server device is closed. Therefore, even in a case where wireless communication is not possible due to the server device being down, another mobile robot can receive information necessary for management.

[0019] In a case where the server device is closed, the reception processing can be executed, and the first transmission information received in the reception processing can be information received by another mobile robot from the server device before the server device is closed. Therefore, even in a case where wireless communication is not possible due to the server device being down, a mobile robot can receive information necessary for management.

[0020] The mobile robot can transmit, to the server device, state information indicating a state of another mobile robot in a state where the mobile robot can perform wireless communication with the server device in a case where another mobile robot cannot perform wireless communication with the server device, the state information being transmitted from another mobile robot. Therefore, it is possible to manage the state of another mobile robot that cannot perform wireless communication with the server device.

[0021] According to the present disclosure, it is possible to provide a mobile robot, a transportation system, a method, and a computer-readable medium in which, in a transportation system that transports a transported object by using a mobile robot that can autonomously move within a facility, even in a case where wireless communication with a server device that manages the mobile robot is not possible, the mobile robot can receive information necessary for management. BRIEF DESCRIPTION OF DRAWINGS

[0022] Features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described below with reference to the accompanying drawings, wherein the same reference numerals denote the same elements, and wherein:

[0023] Figure 1 is a conceptual diagram for describing an example of an overall configuration of a transportation system in which a mobile robot according to the present embodiment is used;

[0024] Figure 2 is a control block diagram illustrating an example of a transportation system according to the present embodiment;

[0025] Figure 3 is a control block diagram illustrating an example of a facility management system;

[0026] Figure 4 is a schematic diagram illustrating an example of a mobile robot;

[0027] Figure 5 It is shown by Figure 1 A schematic diagram illustrating an example of a managed area under the facility management system;

[0028] Figure 6 This is a flowchart illustrating an example of a method according to this embodiment; and

[0029] Figure 7 This is a flowchart illustrating another example of the method according to this embodiment. Detailed Implementation

[0030] The present invention will now be described through embodiments thereof; however, the present invention according to the claims is not limited to the embodiments described below. Furthermore, all configurations described in the embodiments are not always necessary to solve the problem.

[0031] General Configuration

[0032] Figure 1 This is a conceptual diagram illustrating an example of the overall configuration of a transportation system 1, in which a mobile robot 20 according to this embodiment is used. The transportation system 1 according to this embodiment is a system for transporting objects using multiple mobile robots capable of autonomous movement within a facility. For example, a mobile robot will be described here as follows: Figure 1 The mobile robot 20 shown is described on the premise that each mobile robot 20 independently transports one or more transport objects, but multiple mobile robots 20 can cooperate to transport one or more transport objects.

[0033] In addition to the mobile robot 20, the transportation system 1 may also include a host management device 10, a facility management system 30, a network 600, a communication unit 610, and a user terminal 400.

[0034] The mobile robot 20 is a transport robot that performs the task of transporting objects. This mobile robot 20 moves autonomously to transport objects within medical and welfare facilities such as hospitals, rehabilitation centers, nursing facilities, or elderly care facilities. Furthermore, the transport system 1 according to this embodiment can also be used within facilities (within buildings) of commercial facilities such as shopping malls. Needless to say, in addition to being within facilities, the mobile robot 20 can also move autonomously outside of facilities.

[0035] The user U1 who makes the request for transporting the transport object is, for example, a user who transports the transport object or a user assistant or a manager who manages the transport object. The user U1 includes the transport object into the mobile robot 20 at a request site at the time of the transport request or a reception destination (transport source) included in information of the transport request. Needless to say, the inclusion of the transport object can also be performed by an inclusion robot or the like. In some cases, the user U1 loads the transport object on another example (not shown) of the mobile robot in a state of being exposed and transported, and it is assumed that the transport object is transported in a state of being included in the mobile robot 20 for the sake of simplicity of description.

[0036] Examples of the transport object include a device to be lent (hereinafter referred to as a lending device), and description will be made taking the lending device as an example. Examples of the lending device include a medical device such as an examination device or a medical device. Note that the mobile robot 20 can also transport a device other than the lending device or a transport object other than the device, for example, a supply such as a medicine, a consumable such as a packaging bag, a sample, a hospital meal, or stationery.

[0037] The user U1 can make a request for transporting the lending device in response to a plan for lending (lending plan). The lending plan can be managed by a device lending system (not shown) connected to the network 600, can be referred to from the user terminal 400 by the user U1 for the transport request, and can also be referred to from the host management device 10.

[0038] The mobile robot 20 autonomously moves to a set destination and transports the lending device. That is, the mobile robot 20 performs a package transport task (hereinafter simply referred to as a task). In the following description, a place where the lending device is loaded is a transport source, and a place where the lending device is transported to is a transport destination.

[0039] For example, it is assumed that the mobile robot 20 moves within a general hospital having a plurality of clinical departments. The mobile robot 20 transports the lending device between the clinical departments. For example, the mobile robot 20 transports the lending device from a nurse station of one clinical department to a nurse station of another clinical department. Alternatively, the mobile robot 20 transports the lending device from a warehouse thereof to a nurse station of a clinical department. Further, in a case where the transport destination is on a different floor, the mobile robot 20 can move by using an elevator or the like.

[0040] In Figure 1In the transport system shown in FIG. 1, the facility management system 30, the mobile robots 20, and the user terminals 400 are connected to the host management apparatus 10 via the network 600. The mobile robots 20 and the user terminals 400 are connected to the network 600 via the communication units 610. The network 600 is a wired or wireless local area network (LAN) or a wide area network (WAN). In addition, the host management apparatus 10 is connected to the network 600 by wire or wirelessly. For example, the communication units 610 are wireless LAN units installed in each environment. The communication units 610 can be general-purpose communication apparatuses such as Wi-Fi routers.

[0041] The host management apparatus 10 is a server (server apparatus) connected to each apparatus and collects data from each apparatus. In addition, the host management apparatus 10 is not limited to a single apparatus in terms of physics, and can have a plurality of apparatuses that perform distributed processing. In addition, the host management apparatus 10 can be configured by being distributed to edge apparatuses such as the mobile robots 20. For example, part or all of the transport system 1 can be installed on the mobile robots 20.

[0042] The user terminals 400 are, for example, tablet computers or smartphones, but can also be stationary computers. The user terminals 400 only need to be information processing apparatuses capable of performing communication by wire or wirelessly.

[0043] The user U1 or the user U2 can issue a transport request by using the user terminal 400. For example, for a transport request from the user terminal 400, the user U1 can refer to a schedule by accessing a device lending system (may be via the host management apparatus 10) and perform a transport request for a lending device to the host management apparatus 10 based on a result of the reference. In the transport request, transport request information including, for example, contents of the lending device, a transport source, a transport destination, a scheduled time of arrival at the transport source (a reception time of the lending device), and a scheduled time of arrival at the transport destination (a transport deadline) can be transported to the host management apparatus 10. For example, at a time before and after the transport request from the user terminal 400 is sent, the lending device can be loaded on the mobile robot 20.

[0044] The host management apparatus 10 that receives the transport request can make a transport request to the mobile robots 20. The host management apparatus 10 is a management apparatus that manages the mobile robots 20 and sends operation instructions to perform a transport task to each of the mobile robots 20. In this case, the host management apparatus 10 decides the mobile robots 20 that perform the transport task for each transport request. Then, the host management apparatus 10 sends a control signal including the operation instructions to the mobile robots 20. The mobile robots 20 move in response to the operation instructions to arrive at the transport destination from the transport source.

[0045] For example, the host management device 10 assigns a transportation task to a mobile robot 20 at or near a transportation source. Alternatively, the host management device 10 assigns a transportation task to a mobile robot 20 moving toward or near a transportation source. The mobile robot 20 assigned with the task moves to the transportation source to pick up a lending device. Examples of the transportation source include a storage place or a place where the user U1 making the task request is located.

[0046] When the mobile robot 20 reaches the transportation source, the user U1 or other staff loads the lending device on the mobile robot 20. The mobile robot 20 loaded with the lending device autonomously moves to a transportation destination as a destination. The host management device 10 transmits a signal to the user terminal 400 of the user U2 at the transportation destination. Accordingly, the user U2 can know that the lending device is being transported or a scheduled arrival time. When the mobile robot 20 reaches the set transportation destination, the user U2 can receive the lending device housed in the mobile robot 20. As described above, the mobile robot 20 performs a transportation task.

[0047] As described above, various signals transmitted from the user terminals 400 of the users U1, U2 can be transmitted to the host management device 10 once via the network 600, and can be transferred from the host management device 10 to the target mobile robot 20. Similarly, various signals transmitted from the mobile robot 20 are transmitted to the host management device 10 once via the network 600, and are transferred from the host management device 10 to the target user terminal 400.

[0048] The user terminal 400 and the mobile robot 20 can transmit and receive signals without using the host management device 10. For example, the user terminal 400 and the mobile robot 20 can directly transmit and receive signals through wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 can transmit and receive signals via the communication unit 610.

[0049] The facility management system 30 is a system that manages a facility, and can manage, for example, a fire alarm, an earthquake detector (shaking detector), a lighting device, and an air conditioning device in each area within the facility. In addition to managing the devices of the management target, the facility management system 30 collects disaster information via the Internet or the like, and transmits the information to the host management device 10 only at any time or in a case where the degree of emergency is high.

[0050] The facility management system 30 can be arranged such that part of the functions thereof is assigned to the host management device 10, or can be arranged such that part of the functions thereof is incorporated into the host management device 10. The facility management system 30 can be arranged such that part of the functions is assigned to an edge device such as the mobile robot 20.

[0051] Further, the host management device 10 can be shut down (turned off) in a case where a notification from the facility management system 30 indicates a higher degree of urgency or due to a failure. In this case, the host management device 10 will be restarted, and after the restart, the host management device 10 can collect status information such as a position or a remaining battery level from the respective mobile robots 20, reset a task as necessary based on the collected status information, and transmit a signal such as an operation instruction to the respective mobile robots 20 after the reset.

[0052] Control block diagram

[0053] Figure 2 is a control block diagram illustrating an example of a control system of the transport system 1, and Figure 3 is a control block diagram illustrating an example of a control system of the transport system 1, and Figure 1 and Figure 2 is a control block diagram illustrating an example of a facility management system 30 in the transport system 1 of Figure 2 As shown in

[0054] The transport system 1 effectively controls the mobile robots 20 while causing the mobile robots 20 to move autonomously within a predetermined facility. Therefore, a plurality of environmental cameras 300 are installed within the facility. For example, the environmental cameras 300 are installed in a passageway, a hall, an elevator, and an exit within the facility.

[0055] The environmental cameras 300 acquire images of a range in which the mobile robots 20 move. In the transport system 1, the host management device 10 collects images acquired by the environmental cameras 300 or information based on the images. Alternatively, the images and the like acquired by the environmental cameras 300 can be directly transmitted to the mobile robots. The environmental cameras 300 can be surveillance cameras or the like provided in a passageway or an exit within the facility. The environmental cameras 300 can be used to obtain a distribution of a crowded state within the facility.

[0056] Here, an example in which the environmental cameras 300 are directly connected to the host management device 10 is described. However, a configuration can be employed in which the environmental cameras 300 are management targets of the facility management system 30, and data obtained by the environmental cameras 300 is received by the host management device 10 via the facility management system 30.

[0057] In the transportation system 1, the host management apparatus 10 performs route planning based on the transportation request information and generates route planning information. The route planning information can be generated as information for planning a transportation route corresponding to the above-described transportation planning. The host management apparatus 10 provides an indication of a destination to each mobile robot 20 based on the generated route planning information. Further, the mobile robot 20 autonomously moves toward the destination designated by the host management apparatus 10. The mobile robot 20 autonomously moves toward the destination by using a sensor, a floor map, position information, and the like provided in its own apparatus.

[0058] For example, the mobile robot 20 travels so as not to come into contact with surrounding apparatuses, 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 in a state where the distance to the surrounding objects is equal to or exceeds a certain distance (referred to as a distance threshold). When the distance to the surrounding objects is equal to or less than the distance threshold, the mobile robot 20 decelerates 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 can be performed.

[0059] Further, the host management apparatus 10 can transmit a restriction instruction (restriction command) for performing a restriction operation (for example, an emergency stop) to each mobile robot 20, and the mobile robot 20 that receives the restriction instruction can restrict the operation of its own apparatus based on the restriction instruction.

[0060] The host management apparatus 10 can have 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 robots 20. For example, the operation processing unit 11 can be implemented as an apparatus that can execute a program of a central processing unit (CPU) of a computer. Further, the program can implement various functions. In Figure 2 In the host management apparatus 10, only the robot controller 111, the route planning unit 115, and the detection unit 116, which are features of the operation processing unit 11, are illustrated, but other processing modules can also be provided.

[0061] The robot controller 111 performs operations for remotely controlling the mobile robots 20 and generates control signals. The robot controller 111 generates the control signals based on the route planning information 125 and the like to be described below. Further, the control signals are generated based on various information obtained from the environment camera 300 or the mobile robots 20. The control signals can include update information such as the floor map 121, the robot information 123, and the robot control parameters 122 to be described below. That is, in a case where various information is updated, the robot controller 111 generates the control signals in response to the updated information.

[0062] The update of information can be performed even in a case where communication with a certain mobile robot 20 is not possible. As one of the main features of the transport system 1 according to the present embodiment, inter-robot communication is performed in a case where the host management device 10 cannot perform communication with a certain mobile robot 20.

[0063] Through the inter-robot communication, the mobile robot 20 can obtain the required information. Further, the state information of another mobile robot 20 that cannot perform communication with the host management device 10 can be obtained by a mobile robot 20 that can perform communication with the host management device 10 through the inter-robot communication and that can transmit the obtained information to the host management device 10. The state information can also include self error information of the mobile robot 20, traffic closure information acquired by the self sensor of the mobile robot 20, and the like. Then, the robot controller 111 can update the robot information 123, the robot control parameter 122, the transport object information 126, and the like, based on the state information of another mobile robot 20 (other device state information 228) of another mobile robot 20 transmitted from the mobile robot 20 regarding another mobile robot 20 that cannot perform communication, and can generate a control signal in accordance with the updated information.

[0064] The route planning unit 115 formulates a route plan for each mobile robot 20. When a transport task is input, the route planning unit 115 formulates a route plan for transporting the lending device to a transport destination (destination) based on the transport request information. Specifically, the route planning unit 115 refers to the route plan information 125, the robot information 123, and the like that have been stored in the storage unit 12 to determine the mobile robot 20 that performs a new transport task. The departure place is the current position of the mobile robot 20, the transport destination of the immediately preceding transport task, the reception destination of the lending device, and the like. The destination is the transport destination of the lending device, but can also be a standby place, a charging place, and the like.

[0065] Here, the route planning unit 115 sets through points from the departure place of the mobile robot 20 to the destination. The route planning unit 115 sets the through order of the through points for each mobile robot 20. These through points are set, for example, at branch points, intersection points, a lobby in front of an elevator or its surrounding environment. Further, in a narrow passage, the mobile robots 20 can be difficult to pass each other. In this case, the through points can be set in front of the narrow passage. Candidates for the through points can be registered in advance in the floor map 121.

[0066] The route planning unit 115 determines the mobile robot 20 that is to perform each transport task from among the plurality of mobile robots 20 so that the task can be performed efficiently as a whole system. The route planning unit 115 preferentially assigns a transport task to a standby mobile robot 20 or a mobile robot 20 that is close to a transport source.

[0067] The route planning unit 115 sets a passing point including a departure place and a destination for the mobile robot 20 assigned with the transport task. For example, in a case where there are two or more moving routes from the transport source to the transport destination, the passing point is set to be able to perform movement in a short time. Thus, the host management device 10 updates information indicating a congestion state of a passage based on an image of a camera or the like. Specifically, a place where another mobile robot 20 passes and a place where many people are present are highly congested. Thus, the route planning unit 115 sets a passing point to avoid a highly congested place.

[0068] The mobile robot 20 can move to the destination by a counterclockwise moving route or a clockwise moving route. In this case, the route planning unit 115 sets a passing point to pass a moving route that is not congested. By setting the route planning unit 115 to one or more passing points to the destination, the mobile robot 20 can move on a moving route that is not congested. For example, in a case where a passage branches at a branch point or a crossing point, the route planning unit 115 sets a passing point at the branch point, the crossing point, a corner, and around thereof as appropriate. As a result, transport efficiency can be improved.

[0069] The route planning unit 115 can set a passing point according to a congestion state of an elevator, a moving distance, or the like. Further, the host management device 10 can estimate a number of mobile robots 20 or a number of people at a planned time when the mobile robot 20 passes a certain place. Then, the route planning unit 115 can set a passing point in response to the estimated congestion state. Further, the route planning unit 115 can dynamically change a passing point in response to a change in the congestion state. The route planning unit 115 can sequentially set a passing point for the mobile robot 20 assigned with the transport task. The passing point can include a transport source or a transport destination. As will be described below, the mobile robot 20 autonomously moves to sequentially pass the passing points set by the route planning unit 115.

[0070] The detection unit 116 detects emergency information transmitted from the facility management system 30 and received by the communication unit 14. The emergency information is to notify of occurrence of an emergency event such as a fire or an earthquake. When the detection unit 116 detects such a notification, the robot controller 111 transmits a control signal including a restriction instruction (restriction command) for executing a restriction operation (for example, emergency stop) to the mobile robot 20 via the communication unit 14. In addition, the robot control unit 111 can save a transmission history of the restriction instruction at a stage of detecting the control signal including the restriction instruction by the detection unit 116 before transmission or immediately after transmission. The robot controller 111 can also be configured to transmit a restriction release instruction to the mobile robot 20, and in this case, the release instruction can be given with reference to the transmission history. The release instruction can be an instruction for restarting the mobile robot 20. The instruction can be included in the control signal and transmitted to the mobile robot 20.

[0071] In addition, the operation processing unit 11 can perform a shutdown of the host management device 10 to protect the host management device 10, particularly in a case where the detection unit 116 detects a notification with a high degree of emergency (a notification of a fire or an earthquake equal to or greater than a certain level) in the above-described case where the detection unit 116 detects a notification. In addition, when the robot controller 111 of the operation processing unit 11 is restarted after the shutdown, the host management device 10 can collect state information such as a position or a remaining battery level from each mobile robot 20, reset a task as necessary on the basis of the collected state information, and transmit a signal such as an operation instruction to each mobile robot 20 after the reset.

[0072] The storage unit 12 is a storage unit that stores information required for management and control of the robots. In Figure 2 In the example, a floor map 121, robot information 123, robot control parameters 122, route planning information 125, and transported object information 126 are shown, but the information stored in the storage unit 12 can be information other than the above-described information, for example, a transmission history. The operation processing unit 11 uses the information stored in the storage unit 12 to perform operations when performing various processes. In addition, the various information stored in the storage unit 12 can be updated to the latest information.

[0073] The floor map 121 is map information of a facility in which the mobile robot 20 moves. The floor map 121 can be created in advance, can be generated from information obtained from the mobile robot 20, or can be obtained by adding map correction information generated from information obtained from the mobile robot 20 to a basic map created in advance.

[0074] The robot information 123 describes the ID, model, specifications, and the like of the mobile robot 20 managed by the host management device 10. The robot information 123 can include information on the lending device that can be transported and the lending device that cannot be transported.

[0075] Further, the robot information 123 can include state information such as position information indicating the current position of the mobile robot 20 or remaining capacity information indicating the current remaining battery capacity. The state information is information corresponding to the device state information 227 to be described below, and can be supplemented by the other device state information 228 in a case where communication with the host management device 10 is not possible. Further, the above-described state information can include information indicating whether the mobile robot 20 is in normal operation (in operation), whether it is restricted, or whether a failure has occurred, and in the case of being restricted, can include information indicating that the mobile robot 20 is being restricted as the above-described transmission history. Further, the state information can include information indicating whether the mobile robot 20 is executing a task or is in standby.

[0076] In the robot control parameter 122, a control parameter for the mobile robot 20 managed by the host management device 10, such as a threshold distance to a surrounding object, is described. The threshold distance is a margin distance to avoid contact with a surrounding object including a person. Further, the robot control parameter 122 can include information on the operation strength, such as a speed upper limit value of the moving speed of the mobile robot 20.

[0077] The robot control parameter 122 can be updated according to the state. The robot control parameter 122 can include information indicating the availability or use state of the accommodation space of the accommodation portion 291 to be described below. The robot control parameter 122 can include information on the lending device that can be transported or the lending device that cannot be transported. Needless to say, the robot control parameter 122 can also include information indicating the transport possibility of a transport object other than the lending device. The robot control parameter 122 is associated with various information described above for each mobile robot 20.

[0078] The route planning unit 125 includes route planning information planned by the route planning unit 115. The route planning information 125, for example, includes information indicating a transport task. The route planning information 125 can include information on the ID of the mobile robot 20 to which the task is assigned, the departure place, the contents of the lending device, the transport destination, the transport source, the planned time of arrival at the transport destination, the planned time of arrival at the transport source, the arrival deadline, and the like. In the route planning information 125, the above-described various information can be associated with each transport task. The route planning information 125 can include at least a part of the transport request information input from the user U1.

[0079] Further, the route planning unit 125 can include information on the passing points or the transport tasks of the respective mobile robots 20. For example, the route planning unit 125 includes information indicating the passing order of the passing points of the respective mobile robots 20. The route planning unit 125 can include the coordinates of the respective passing points on the floor map 121 or information on whether the passing point is passed.

[0080] The transport object information 126 is information on the lending device for which the transport request is made. For example, the transport object information 126 includes information such as the content (type) of the lending device, the transport source, and the transport destination. Needless to say, the transport object information 126 can include information of a transport object other than the lending device, and the same applies to information other than the transport object information 126 below. The transport object information 126 can include the ID of the mobile robot 20 in charge of the transport. Further, the transport object information 126 can include information indicating the state such as during the transport, before the transport (before loading), and completion of the transport. The transport object information 126 is associated with each of the lending devices with these information.

[0081] The route planning unit 115 makes route planning with reference to various information stored in the storage unit 12. For example, the mobile robot 20 that performs the task is decided on the basis of 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 transport destination and the passing order of the passing points with reference to the floor map 121 and the like. The candidates of the passing points are registered on the floor map 121 in advance. Then, the route planning unit 115 sets the passing points in response to the congestion state and the like. Further, in the case of a continuous processing task, the route planning unit 115 can set the transport source and the transport destination as the passing points.

[0082] The buffer storage 13 is a storage that stores intermediate information generated in the processing of the operation processing unit 11. The communication unit 14 is a communication interface that performs communication between the facility management system 30, the plurality of environment cameras 300 provided in the facility that operates the transport system 1, and the mobile robots 20. The communication unit 14 can perform wired communication and wireless communication. However, the communication with the mobile robots 20 is wireless communication. For example, the communication unit 14 transmits a control signal required to control the mobile robots 20 to the respective mobile robots 20. Further, the communication unit 14 receives information collected by the mobile robots 20 or the environment cameras 300. The communication unit 14 can be able to receive various information such as emergency information from the facility management system 30, and can be able to transmit a request for the information to the facility management system 30.

[0083] The mobile robot 20 can have an operation processing unit 21, a storage unit 22, a communication unit 23, a proximity sensor (e.g., a distance sensor group 24), a camera 25, a drive unit 26, a display unit 27, and an operation reception unit 28. Although Figure 2 Only representative processing modules provided in the mobile robot 20 are shown, and the mobile robot 20 also includes many other processing modules (not shown).

[0084] The communication unit 23 has a first communication interface that performs communication (wireless communication) with the communication unit 14 of the host management apparatus 10 and a second communication interface that performs wireless communication with the communication unit 23 of another mobile robot 20. The communication unit 23 performs communication with the communication unit 14 by using a wireless signal. The communication unit 23 receives first transmission information transmitted from the host management apparatus 10 in a state in which wireless communication with the host management apparatus 10 is possible, so as to manage the mobile robot 20. As described above, the first transmission information is information such as a command or other information, and can be received as a control signal.

[0085] In the second communication interface, inter-robot communication only needs to be performed as described above, and for example, short-range wireless communication such as Bluetooth (registered trademark; also applicable to the following) communication can be used. In the present embodiment, information transmitted and received through inter-robot communication can be position information about the own device and other devices of the mobile robot 20, state information such as a remaining battery level, or information (commands, etc.) transmitted from the host management apparatus 10 to the other devices.

[0086] The distance sensor group 24 is, for example, a proximity sensor, and outputs proximity object distance information indicating a distance to an object or a person existing around the mobile robot 20. The camera 25 captures an image, for example, for grasping a surrounding state of the mobile robot 20. Further, the camera 25 can also capture an image of a position marker provided on a ceiling or the like of a facility. The mobile robot 20 can grasp the position of the own device by using the position marker.

[0087] The drive unit 26 drives a drive wheel provided in the mobile robot 20. The drive unit 26 can have an encoder that detects the number of rotations of the drive wheel or a drive motor of the drive wheel. The position (current position) of the own device of the mobile robot 20 can be estimated in response to the output of the encoder. The mobile robot 20 detects the current position of itself, and transmits the detected current position to the host management apparatus 10.

[0088] 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. Further, the display unit 27 can display information indicating a destination of the mobile robot 20 or a 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 includes various switches provided in the mobile robot 20.

[0089] The operation processing unit 21 performs an operation for controlling the mobile robot 20. For example, the operation processing unit 21 can be implemented as a device that can execute a program of a central processing unit (CPU) of a computer. Further, the program can implement various functions. The operation processing unit 21 can include a communication controller 210, a command extraction unit 211, and a drive controller 212. Although Figure 2 Only representative processing modules provided in the operation processing unit 21 are shown, and processing modules (not shown) are also provided. The operation processing unit 21 can search for a route between points.

[0090] The communication controller 210 determines whether or not communication between the communication unit 23 and the communication unit 14 is possible. This determination itself can be performed by attempting communication and performing threshold processing on received radio waves, and it can be determined from this determination whether or not the mobile robot 20 is isolated from the host management device 10. Further, as a result of the determination, in a case where communication with the communication unit 14 is not possible, that is, in a state where communication with the host management device 10 is not possible, the communication controller 210 attempts inter-robot communication with another mobile robot 20. Then, when communication with the communication unit 23 of another mobile robot 20 in the communication unit 23 is possible, the communication controller 210 receives first transmission information from another mobile robot 20 through inter-robot communication or receives first transmission information and transmits device state information 227 to another mobile robot 20.

[0091] The first transmission information is information (a command or the like) transmitted from the host management device 10 so as to manage (control) the mobile robot 20 as described above, and can be transmitted to the mobile robot 20 as a control signal. Note that, in this case, since a state where communication with the host management device 10 is not possible is described, the first transmission information is received by another mobile robot 20 and transmitted from another mobile robot 20.

[0092] Further, in a mode where the mobile robot 20 transmits the device state information 227, the device state information 227 is received by another mobile robot 20 and transmitted to the host management device 10 as other device state information 228. Therefore, the host management device 10 can obtain the device state information 227 of the mobile robot 20 in a state where communication is not possible.

[0093] The command extraction unit 211 extracts a restriction command, such as a movement command or an emergency stop command, from the control signal given from the host management device 10. For example, the movement command includes information on the next passing point. For example, the control signal for the movement command can include information on the coordinates of the passing point or the passing order of the passing point. Then, the command extraction unit 211 extracts the information as the movement command.

[0094] Further, the movement command can include information indicating that the next passing point can be moved to. When the passage width is narrow, the mobile robots 20 can not be able to pass each other. Further, the mobile robots 20 can temporarily be unable to pass the passage. In this case, the control signal includes a command for stopping the mobile robot 20 at the passing point in front of the stop site. Then, after another mobile robot 20 passes or can pass, the host management device 10 outputs a control signal for giving a notification that the mobile robot 20 can move. As a result, the temporarily stopped mobile robot 20 resumes the movement.

[0095] The drive controller 212 controls the drive unit 26 to move and restrict the operation of the mobile robot 20 based on the movement command and the restriction command given from the command extraction unit 211, respectively. For example, the drive unit 26 has a drive wheel that rotates in response to a control instruction value from the drive controller 212. The command extraction unit 211 extracts the movement command so that the mobile robot 20 moves to the passing point received from the host management device 10. Further, the drive unit 26 rotationally drives the drive wheel. The mobile robot 20 autonomously moves to the next passing point. In this way, the mobile robot 20 passes the passing points in order and reaches the transport destination. Further, the mobile robot 20 can estimate the position of the own device and transmit a signal indicating that the mobile robot 20 passes the passing point to the host management device 10. Therefore, the host management device 10 can manage the current position or the transport state of each mobile robot 20.

[0096] Further, the command extraction unit 211 extracts the restriction command from the host management device 10, and the drive unit 26 performs control such as stopping the drive wheel. Further, the restriction command can include a command for guiding the mobile robot 20 to a specific area, and in this case, the drive unit 26 rotationally drives the drive wheel to guide the mobile robot 20 to the area.

[0097] The storage unit 22 can store a floor map 221, a robot control parameter 222, transport object information 226, own device state information 227, and other device state information 228. Although only a part of the information stored in the storage unit 22 is illustrated in FIG. 2, information other than the information illustrated in FIG. 2 can also be included. Figure 2 Further, the storage unit 22 can store a robot control parameter 222, transport object information 226, own device state information 227, and other device state information 228. Although only a part of the information stored in the storage unit 22 is illustrated in FIG. 2, information other than the information illustrated in FIG. 2 can also be included.

[0098] The floor map 221 is map information of a facility in which the mobile robot 20 moves. For example, the floor map 221 is data obtained by downloading a part or all of the floor map 121 of the host management apparatus 10. The floor map 221 can be created in advance. Further, the floor map 221 can be map information including a part of a mobile plan area, rather than map information of the entire facility. 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 value with respect to a surrounding object. Further, the robot control parameter 222 includes an upper limit value of a speed of the mobile robot 20.

[0099] The transport object information 226 includes information on the lending apparatus in the same manner as the transport object information 126. The transport object information 226 can include information such as contents (type, that is, model number) of the lending apparatus, a transport source, and a transport destination. The transport object information 226 can include information indicating states such as during transport, before transport (before loading), and completion of transport. The transport object information 226 is associated with each of these pieces of information of the lending apparatus. The transport object information 226 only needs to include information on the lending apparatus 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 necessarily include information transported by another mobile robot 20.

[0100] The apparatus state information 227 is the above-described state information indicating a state of a current position, a remaining battery level, and the like of the apparatus of the mobile robot, and can be stored at least in a case where communication with the host management apparatus 10 is not possible. Needless to say, the apparatus state information 227 can be updated at any time regardless of a communication state with the host management apparatus 10.

[0101] The other apparatus state information 228 is information transmitted from another mobile robot 20 in a case where the other mobile robot 20 cannot perform communication with the host management apparatus 10, and an information item can be a minimum item similar to or smaller than an item of the apparatus state information 227. Further, the other apparatus state information 228 can further include the transport object information 226 managed by the other mobile robot 20.

[0102] The drive controller 212 stops or decelerates the operation in response to a distance indicated by distance information obtained from the distance sensor group 24 being lower than the distance threshold value with reference to the robot control parameter 222. The drive controller 212 controls the drive unit 26 so that the mobile robot 20 travels at a speed equal to or less than the upper limit value of the speed. The drive controller 212 limits a rotation speed of the drive wheel so that the mobile robot 20 does not move at a speed equal to or greater than the upper limit value of the speed.

[0103] AsFigure 3 As shown in FIG. 3, the facility management system 30 can have an operation processing unit 31, a storage unit 32, a buffer memory 33, and a communication unit 34. The operation processing unit 31 performs an operation to manage equipment within a facility. For example, the operation processing unit 31 can be implemented as a device that can execute a program of a central processing unit (CPU) of a computer. Further, the program can also implement various functions. In Figure 3 In FIG. 3, only an emergency degree determination unit 311 and a transmission processing unit 312, which are features of the operation processing unit 31, are shown, but other processing modules can also be provided.

[0104] The emergency degree determination unit 311 determines an emergency degree of the facility with reference to disaster information received from the communication unit 34 via the Internet or facility management information 324 for managing various equipment (e.g., a fire alarm and a seismometer) within the facility. Here, the emergency degree can be information indicating a degree whether or not the host management device 10 needs to be shut down.

[0105] In a case where the emergency degree determination unit 311 determines that the emergency degree is higher than a predetermined threshold, the transmission processing unit 312 performs a process of transmitting emergency information indicating that the emergency degree is higher than the predetermined threshold to the host management device 10. The emergency information is used to notify that an emergency event to be handled, such as a fire or an earthquake, has occurred, and can be transmitted to the host management device 10 by the transmission processing unit 312 controlling the communication unit 34. That is, the transmission processing unit 312 transmits the emergency information to the host management device 10 via the communication unit 34. In a case where the emergency degree is higher than the predetermined threshold, the transmission processing unit 312 can also transmit the emergency information including a value of the emergency degree to the host management device 10.

[0106] The storage unit 32 is a storage unit that stores information required for the facility management system 30 to operate. In Figure 3 In the example of FIG. 3, a floor plan 321, manager information 322, facility information 323, and facility management information 324 are shown, but the information stored in the storage unit 32 can be information other than the above information. The operation processing unit 31 uses the information stored in the storage unit 32 to perform operations when performing various processes. Further, the various information stored in the storage unit 32 can be updated to the latest information.

[0107] The floor plan 321 can be a part or all of the floor plan 121. The facility information 323 is information indicating IDs, types, and the like of devices within the facility, can include information indicating installation sites of the devices, and the installation site information can be linked to the floor plan 321. The facility management information 324 includes information indicating operation states of the respective devices or values of the installed sensors indicated by the facility information 323, and can be updated at any time. For example, in a case where a fire alarm is provided as a device, when a fire is detected, information indicating the occurrence of the fire is written. The manager information 322 is information associated with the respective devices indicated by the facility information 323, and can include information indicating managers of the respective devices and information indicating notification destinations to each manager.

[0108] The buffer storage 33 is a storage that stores intermediate information generated in the processing of the operation processing unit 31. The communication unit 34 is a communication interface that performs communication with the host management device 10, and the communication interface can also be configured to perform communication with the user terminal 400 or the mobile robot 20. The communication unit 34 can perform wired communication and wireless communication. For example, the communication unit 34 can transmit information such as emergency information to the host management device 10, or receive various information from the host management device 10 or the user terminal 400.

[0109] Configuration of the mobile robot 20

[0110] Here, the appearance of the mobile robot 20 will be described. Figure 4 A schematic view of the mobile robot 20 is shown. Figure 4 The mobile robot 20 shown in FIG. 1 is one of modes of the mobile robot 20, and can be in another mode. In Figure 4 In FIG. 1, the x direction is a front-rear direction of the mobile robot 20, the y direction is a left-right direction of the mobile robot 20, and the z direction is a height direction of the mobile robot 20.

[0111] The mobile robot 20 includes a main body part 290 and a trolley part 260. The main body part 290 is mounted on the trolley part 260. The main body part 290 and the trolley part 260 each have a cuboid casing, and each component is mounted within the casing. For example, the drive unit 26 is housed within the trolley part 260.

[0112] The main body 290 is provided with a receiving section 291 serving as a storage space and a door 292 sealing the receiving section 291. Multiple shelves are arranged in the receiving section 291, and their availability is managed for each shelf. For example, availability can be updated by installing various sensors (e.g., weight sensors) in each shelf. The mobile robot 20 transports the lending device housed in the receiving section 291 by autonomously moving to its destination according to the instructions of the host management device 10. A control box (not shown) can be mounted on the housing of the main body 290. Furthermore, the door 292 can be locked using an electronic key or the like. When the mobile robot 20 arrives at the transport destination, the user U2 unlocks the door 292 using the electronic key. Optionally, the door 292 can be automatically unlocked when the mobile robot 20 arrives at the transport destination.

[0113] like Figure 4 As shown, the front-back distance sensor 241 and the left-right distance sensor 242 are configured as sensor group 24 on the exterior of the mobile robot 20. The mobile robot 20 measures the distance of surrounding objects in the front-back direction using the front-back distance sensor 241. Furthermore, the mobile robot 20 measures the distance of surrounding objects in the left-right direction using the left-right distance sensor 242.

[0114] For example, a front-to-back distance sensor 241 is arranged on each of the front and rear surfaces of the housing of the main body 290. A left-to-right distance sensor 242 is arranged on each of the left and right surfaces of the housing of the main body 290. The front-to-back distance sensor 241 and the left-to-right distance sensor 242 are, for example, ultrasonic distance sensors or laser rangefinders. The front-to-back distance sensor 241 and the left-to-right distance sensor 242 detect the distance to surrounding objects. When the distance to a surrounding object detected by the front-to-back distance sensor 241 or the left-to-right distance sensor 242 is equal to or less than a distance threshold, the mobile robot 20 decelerates or stops.

[0115] Drive wheels 261 and casters 262 are disposed in drive unit 26. Drive wheels 261 are wheels used to move the mobile robot 20 forward, backward, left, and right. Casters 262 are driven wheels that follow drive wheels 261 when no driving force is applied. Drive unit 26 has a drive motor (not shown) and drives drive wheels 261.

[0116] For example, drive unit 26 supports two drive wheels 261 and two casters 262 within a housing, each of which is in contact with a traveling surface. The two drive wheels 261 are arranged such that their axes of rotation coincide with each other. Each drive wheel 261 is independently driven to rotate by a motor (not shown). The drive wheels 261 respond to... Figure 2The caster 262 is a driven wheel having a rotation shaft extending in the vertical direction from the drive unit 26 and following the moving direction of the drive unit 26, the rotation shaft being disposed to support the wheel away from the wheel rotation shaft.

[0117] For example, when the two drive wheels 261 rotate in the same direction at the same rotational speed, the mobile robot 20 moves straight, and when the two drive wheels 261 rotate in opposite directions at the same rotational speed, the mobile robot 20 turns about a vertical axis substantially passing through the centers of the two drive wheels 261. Further, by rotating the two drive wheels 261 in the same direction at different rotational speeds, the mobile robot 20 moves while making a right or left turn. For example, by setting the rotational speed of the left drive wheel 261 higher than that of the right drive wheel 261, the mobile robot 20 can make a right turn. Conversely, by setting the rotational speed of the right drive wheel 261 higher than that of the left drive wheel 261, the mobile robot 20 can make a left turn. That is, the mobile robot 20 can translate, turn, and make right and left turns in any direction by controlling the rotational directions and rotational speeds of the two drive wheels 261.

[0118] Further, in the mobile robot 20, the display unit 27 and the operation interface 281 are disposed on the upper surface of the main body portion 290. The operation interface 281 is displayed on the display unit 27. By the user performing a touch operation of the operation interface 281 displayed on the display unit 27, the operation receiving unit 28 can receive an instruction input from the user. Further, an emergency stop button 282 is disposed 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.

[0119] The display unit 27 is, for example, a liquid crystal panel, and shows a face of a person as an illustration or presents information on the mobile robot 20 as text or an icon. By showing the face of the person on the display unit 27, an observer in the surroundings can be given an impression that the display unit 27 is a pseudo face portion. The display unit 27 or the like mounted on the mobile robot 20 can serve as the user terminal 400.

[0120] The cameras 25 are mounted on the front surface of the main body portion 290. Here, two cameras 25 serve as a stereo camera. That is, two cameras 25 having the same angle of view are arranged to be separated from each other in the horizontal direction. Images captured by each camera 25 are output as image data. A distance to an object or a size of the object can be calculated based on the image data of the two cameras 25. The operation processing unit 21 can detect a person, an obstacle, or the like in front of a travel direction by analyzing the images of the cameras 25. In a case where a person or an obstacle exists in front of the travel direction, the mobile robot 20 moves along the route while avoiding the person or the obstacle. Further, the image data of the cameras 25 is transmitted to the host management apparatus 10.

[0121] The mobile robot 20 discriminates a surrounding object or recognizes the position of the device itself by analyzing image data output from the camera 25 and detection signals output from the front and rear distance sensors 241 and the left and right distance sensors 242. The camera 25 captures the front in the traveling direction of the mobile robot 20. As shown in FIG. 1, the side on which the camera 25 is installed is regarded as the front of the device itself of the mobile robot 20. That is, during normal movement, the front of the device itself of the mobile robot 20 is the traveling direction indicated by the arrow. Figure 4

[0122] Main features of the present embodiment

[0123] Next, the main features of the present embodiment in the transport system 1 having the above-described configuration will be extracted and described. The main features of the present embodiment are that, in a case where the mobile robot 20 cannot perform wireless communication (Wi-Fi communication or the like) with the host management device 10, inter-robot communication (Bluetooth communication or the like) with another mobile robot 20 is performed.

[0124] As described above, the transport system 1 according to the present embodiment can include the mobile robot 20 that autonomously moves within a facility and the host management device 10 that manages the mobile robot 20. As described above, the host management device 10 manages the mobile robot 20 while exchanging information through wireless communication.

[0125] In the following, an example of the facility shown in FIG. 1 will be described. Figure 5 is a view showing an example of a facility in which the mobile robot 20 autonomously moves, and is a schematic view showing an example of a management area managed by the facility management system 30 Figure 5 is a view showing an example of a facility in which the mobile robot 20 autonomously moves, and is a schematic view showing an example of a management area managed by the facility management system 30

[0126] Figure 5 The example shown in FIG. 1 shows a management area 50 provided in a facility, in which the mobile robot 20 that can autonomously move operates, and includes an elevator hall 51, a corridor 52 connected to the elevator hall 51, a nurse station 53 arranged on both sides of the corridor 52, and rooms (wards) 54 to 57. In the example shown in FIG. 1, the management area 50 is a facility in which the mobile robot 20 that can autonomously move operates, and includes the elevator hall 51, the corridor 52 connected to the elevator hall 51, the nurse station 53 arranged on both sides of the corridor 52, and the rooms (wards) 54 to 57. Figure 5 In the example shown in FIG. 1, for the sake of simplicity of description, it is assumed that the following state: two mobile robots 20a, 20b exist as the mobile robots 20 that are management targets of the host management device 10, and inter-robot communication can be performed between the mobile robots 20a, 20b.

[0127] It goes without saying that three or more mobile robots 20 can be managed, and in this case, inter-robot communication can be performed on all the mobile robots 20 that can perform communication with each other, or the mobile robot 20 can perform inter-robot communication only with the closest other mobile robot 20, such as the other mobile robot 20 that responds earliest.​

[0128] Then, in the case where an emergency occurs, the facility management system 30 transmits emergency information to the host management device 10 when the degree of emergency is high. In the case where the detection unit 116 detects the emergency information, or in the case where emergency information indicating that the degree of emergency is particularly high is detected, the host management device 10 can perform a shutdown to protect its device. In addition to the shutdown based on such a notification, the host management device 10 can also shut down due to a failure, possibly accompanied by an earthquake or a fire. When the host management device 10 is shut down, wireless communication with the two mobile robots 20a, 20b is not possible. Furthermore, even in the case where the host management device 10 does not fail, wireless communication with at least one of the mobile robots 20a, 20b can be interrupted due to a failure of part or all of the plurality of communication units 610.

[0129] The main feature of the present embodiment is the processing in the case where the host management device 10 interrupts wireless communication with at least one of the mobile robots 20a, 20b due to some cause.

[0130] It is assumed that the mobile robot 20a receives first transmission information (such as information of an instruction or other information) transmitted from the host management device 10 so as to manage the mobile robot 20a in a state where wireless communication with the host management device 10 is possible, and performs drive control based on the first transmission information.

[0131] Then, in the case where wireless communication with the host management device 10 is not possible, the mobile robot 20a directly performs wireless communication (inter-robot communication) with the other mobile robot 20b, and performs reception processing of receiving the first transmission information transmitted from the host management device 10 so as to be managed by the mobile robot 20b. In the case where the mobile robot 20a cannot perform wireless communication with the host management device 10, inter-robot communication can be performed by issuing a request to the mobile robot 20b, but can also be performed at all times. It can be said that inter-robot communication between the mobile robots 20a, 20b is a roaming communication between the mobile robots 20a, 20b.

[0132] In the case where reception processing is performed when the host management device 10 is shut down due to an emergency or the like, the first transmission information received by the reception processing can be information received by the mobile robot 20b from the host management device 10 before the host management device 10 is shut down. Therefore, even in the case where wireless communication is not possible due to the host management device 10 being shut down, the mobile robot 20a can receive information necessary for management.

[0133] Here, it is assumed that the mobile robot 20b is obtained in a state capable of communicating with the host management apparatus 10. For example, even in a situation in which the host management apparatus 10 is turned off (shut down) and the mobile robots 20a, 20b are incapable of performing communication with the management apparatus 10, the first transmission information received before the above situation is transmitted from the surrounding mobile robot 20b to the mobile robot 20a. With such a configuration, even in a case in which wireless communication with the host management apparatus 10 is not possible, the mobile robot 20a can receive information (commands, etc.) necessary for management and can continue to perform a task.

[0134] In fact, in a case in which the mobile robot 20a is incapable of performing communication with the host management apparatus 10 that manages the mobile robot 20a, the mobile robot 20a cannot be controlled. However, in this case, information or instructions are received from another mobile robot 20b in the surroundings through inter-robot communication, and thus the mobile robot 20a can be controlled. As described above, in the present embodiment, since information such as instructions can be received from another mobile robot 20b, a task instructed can be continued to be performed even in a situation in which communication with the host management apparatus 10 is not possible.

[0135] It can be said that, even in a case in which the mobile robots 20a and 20b almost simultaneously interrupt communication with the host management apparatus 10, it is useful for the mobile robot 20a to receive the first transmission information received from the host management apparatus 10 from the mobile robot 20b immediately before the interruption in order to confirm the first transmission information as a final version thereof.

[0136] In particular, in a state capable of wireless communication with the host management apparatus 10, it is desirable for the mobile robot 20b to receive the first transmission information and the second transmission information transmitted from the host management apparatus 10 in order to manage the mobile robot 20b. Thus, a sudden interruption of communication between the host management apparatus 10 and the mobile robot 20a can be handled.

[0137] In addition, since it is not known which of the mobile robots 20a, 20b is incapable of performing wireless communication with the host management apparatus 10, the mobile robots 20a, 20b are preferably configured to perform the same processing. That is, it is preferable that the mobile robot 20a be configured to receive the second transmission information and the first transmission information in a state capable of wireless communication with the host management apparatus 10, and in a case in which the mobile robot 20b is incapable of performing wireless communication with the host management apparatus 10, to directly perform wireless communication with the mobile robot 20b and to perform transmission processing of transmitting the second transmission information to the mobile robot 20b.

[0138] When the transmission process is performed while the host management device 10 is shut down due to an emergency or other event, the second transmission information transmitted during the transmission process may be information received from the host management device 10 before it was shut down. Therefore, even when wireless communication is impossible due to the shutdown of the host management device 10, the mobile robot 20b can still receive the information required for management.

[0139] Mobile robot 20a or mobile robot 20b can be configured to perform only one of the above-described receiving and sending processes, and in this case, the process is assisted only by another mobile robot or only by another mobile robot.

[0140] method

[0141] In the transportation method (transportation handling) of the aforementioned transportation system 1, reference will be made to Figure 6 Here is an example of a communication method that is a key feature of this embodiment. Figure 6 This is a flowchart illustrating the method according to this embodiment.

[0142] First, the mobile robot 20a determines whether it can wirelessly communicate with the host management device 10 (S601). If the determination in step S601 is yes, the mobile robot 20a performs inter-robot communication with another adjacent mobile robot 20b and receives first transmission information from its own device (S602). Based on the received first transmission information, the mobile robot 20a performs drive control (S603).

[0143] Next, mobile robot 20a determines whether it has received an information request (such as a command from the host management device 10) from another mobile robot 20b (which may be different from the mobile robot 20b in S602) (S604). If the determination in step S604 is yes, mobile robot 20a sends the information of the requesting source to the requesting mobile robot 20b via inter-robot communication (S605) and terminates the process. Drive control will continue to be executed in the requesting mobile robot 20b through step S605.

[0144] Other processing examples

[0145] Next, we will refer to Figure 7 Describe another processing example in transportation system 1. Figure 7 This is a flowchart illustrating another example of the method according to this embodiment.

[0146] First, as in Figure 6In a case where the mobile robot 20a cannot perform wireless communication with the host management device 10 in steps S601 to S603 (Yes in S701), the mobile robot 20a receives the first transmission information from the mobile robot 20b and performs drive control based on the first transmission information (S702).

[0147] Next, the mobile robot 20a transmits the state information (apparatus state information 227) stored in a case where the mobile robot 20a cannot perform wireless communication with the host management device 10 to the mobile robot 20b through inter-robot communication (S703). Needless to say, the apparatus state information 227 is not limited to the above-described example, can include various types of information processed by the mobile robot 20a, and can also include information indicating an operation received by the operation reception unit 28 or the like from the mobile robot 20a or a process performed in response to the operation. Note that, in order to perform a search later in the host management device 10, it is desirable that the transmitted apparatus state information 227 include position information indicating the position of the apparatus (the mobile robot 20a) so that, for example, even in a case where the host management device 10 is turned off, a search can be performed after recovery. Further, from the viewpoint of the amount of information, it can be said that it is desirable to transmit the minimum amount of information to be left as the apparatus state information 227.

[0148] In a state where wireless communication with the host management device 10 is possible (in a case where the state of the mobile robot 20b is not the above-described state, when the state thereof reaches the above-described state), the mobile robot 20b transmits the apparatus state information 227 of the mobile robot 20a received in step S703 to the host management device 10. Thus, the host management device 10 can manage the state of the mobile robot 20a that cannot perform wireless communication (perform a search when position information is included).

[0149] Next, the mobile robot 20a determines whether a request for information (a command from the host management device 10 or the like) is received from another mobile robot 20b (which can be different from the mobile robot 20b in S702) (S704). In a stage where the determination in step S704 is Yes, the mobile robot 20a transmits the information of the request source to the mobile robot 20b of the request source through inter-robot communication (S705) as in step S605. Drive control will continue to be performed in the mobile robot 20b of the request source through step S705.

[0150] Next, the mobile robot 20a receives the state information (this-device state information 227) stored in the case where the mobile robot 20b cannot perform wireless communication with the host management device 10 from the mobile robot 20b through inter-robot communication, and stores the received state information as other-device state information 228 in the storage unit 22 (S706). The received this-device state information 227 is the state information of the mobile robot 20b, and can have, for example, the same content as the this-device state information 227 transmitted in step S703.

[0151] Next, the mobile robot 20a determines whether or not wireless communication with the host management device 10 is possible (S707). In the affirmative stage of the determination in step S707, in a state where wireless communication with the host management device 10 is possible (in the case where the state of the mobile robot 20a is not the above state, when its state reaches the above state), the mobile robot 20a transmits the other-device state information 228 (this-device state information 227 of the mobile robot 20a) received and stored in step S706 to the host management device 10 (S708), and terminates the process. Thus, the host management device 10 can manage the state of the mobile robot 20b that cannot perform wireless communication (perform search when position information is included).

[0152] Through the process of the mobile robot 20b after step S703 and the process of step S708, the host management device 10 can obtain the state information of the mobile robots 20a, 20b that cannot perform wireless communication, respectively. Thus, the host management device 10 can continue to manage (control) the mobile robots 20a, 20b that cannot perform wireless communication, respectively, and can be operated again, for example, even in the case where the host management device 10 stops in an emergency.

[0153] In particular, when position information is included in the state information, even if the mobile robots 20a, 20b that cannot perform wireless communication, respectively, are lost, the host management device 10 can search for the mobile robots 20a, 20b based on the received position information. Further, the host management device 10 can also perform control such as re-designing a route by using the search result and part or all of the state information other than the position information. Further, it is not necessary to install an RFID or a landmark in the facility for search.

[0154] Other

[0155] In addition, part or all of the processing in the host management apparatus 10, the mobile robot 20, the facility management system 30, and the like described above can be realized as a computer program. Such a program can be stored and provided to a computer by using various types of non-transitory computer-readable media. The non-transitory computer-readable media include various types of tangible recording media. Examples of the non-transitory computer-readable media include a magnetic recording medium (e.g., a floppy disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (e.g., a magneto-optical disk), a CD-ROM, a CD-R, a CD-R / W, and a semiconductor memory (e.g., a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, or a random access memory (RAM)). In addition, the program can also be provided to a computer by various types of transitory computer-readable media. Examples of the transitory computer-readable media include an electrical signal, an optical signal, and an electromagnetic wave. The transitory computer-readable media can provide the program to a computer via a wired communication channel such as an electrical wire and an optical fiber or a wireless communication channel.

[0156] The present application is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist.

[0157] For example, in the above-described embodiments, a system in which a mobile robot autonomously moves within a hospital has been mainly described, but the above-described transport system can also transport objects in a hotel, a restaurant, an office building, an event site, a complex facility, and the like. In addition, although described based on the assumption that transport of an object is performed within one facility, when a mobile robot is capable of moving between a plurality of facilities, the mobile robot can also be applied to inter-facility transport. Furthermore, the transport system according to the present embodiment is not limited to a case where the mobile robot 20 having the above-described configuration is used, and a mobile robot having various configurations can be used instead of or in addition to the mobile robot 20.

[0158] Furthermore, in the above-described embodiments, a mobile robot (i.e., a transport robot) in a transport system that transports an object or the transport system has been described. However, the same idea can be applied to other mobile robots such as a surveillance robot that can autonomously move, and a management system (control system) that manages other mobile robots.

Claims

1. A mobile robot in a transportation system, the transportation system including a server device and transporting objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, wherein the mobile robots are configured to: In a state where wireless communication with the server device is possible, the system receives first transmission information from the server device for managing the mobile robot, and... In the absence of wireless communication with the server device, wireless communication with another mobile robot among the plurality of mobile robots is directly performed, and receiving processing is performed to receive the first transmitted information sent from the server device for managing the mobile robot from the other mobile robot; in, The mobile robot is configured as follows: In a state where wireless communication with the server device is possible, the system receives the first transmitted information and a second transmitted information from the server device for managing the other mobile robot. In the event that wireless communication between the other mobile robot and the server device is not possible, wireless communication with the other mobile robot is performed directly, and the sending process of sending the second sending information to the other mobile robot is executed. The sending process is performed when the server device is shut down; and The second transmission information transmitted in the transmission process is information received from the server device before the server device is shut down; The receiving process is performed when the server device is shut down; and The first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device is shut down.

2. The mobile robot according to claim 1, wherein, The mobile robot is configured to, when it is able to wirelessly communicate with the server device, send status information indicating the status of the other mobile robot to the server device when the other mobile robot is unable to wirelessly communicate with the server device. The status information is sent from the other mobile robot.

3. A mobile robot in a transportation system, the transportation system including a server device and transporting objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, wherein the mobile robots are configured to: In a state where wireless communication with the server device is possible, the system receives first transmission information from the server device for managing the mobile robot and second transmission information from the server device for managing another mobile robot among a plurality of mobile robots. In the event that wireless communication between the other mobile robot and the server device is not possible, wireless communication with the other mobile robot is performed directly, and the sending process of sending the second sending information to the other mobile robot is performed. in, The sending process is performed when the server device is shut down; as well as The second transmission information transmitted in the transmission process is information received from the server device before the server device is shut down; The receiving process is performed when the server device is shut down. as well as The first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device is shut down.

4. A transportation system comprising a server device configured to exchange information with and manage a plurality of mobile robots capable of autonomous movement within a facility via wireless communication, wherein: The transportation system uses multiple mobile robots to transport objects; The mobile robot is configured to receive, while in a state where it is able to wirelessly communicate with the server device, first transmission information for managing the mobile robot and second transmission information for managing another mobile robot among a plurality of mobile robots, transmitted from the server device. The other mobile robot is configured to receive the first transmitted information and the second transmitted information when it is able to wirelessly communicate with the server device. The mobile robot is configured to directly perform wireless communication with the other mobile robot when wireless communication with the server device is not possible, receive the first transmission information from the other mobile robot, and perform a first communication process to send first location information indicating the location of the mobile robot to the other mobile robot; wherein, when the server device is turned off, the first transmission information received is information received by the other mobile robot from the server device before the server device is turned off; The other mobile robot is configured to directly perform wireless communication with the mobile robot when wireless communication with the server device is not possible, receive the second transmission information from the mobile robot, and perform a second communication process to send second location information indicating the location of the other mobile robot to the mobile robot; wherein, when the server device is turned off, the second transmission information is received from the mobile robot; the received second transmission information is information received from the server device before the server device was turned off; The other mobile robot is configured to send the first location information received in the first communication process to the server device when it is able to wirelessly communicate with the server device. The mobile robot is configured to, when capable of wireless communication with the server device, transmit the second location information received in the second communication process to the server device; and The server device is configured to: In the absence of wireless communication with the mobile robot, the mobile robot is searched based on the first location information, and In the event that wireless communication with the other mobile robot is not possible, the other mobile robot is searched based on the second location information.

5. A method for using mobile robots in a transportation system, the transportation system including a server device and transporting transport objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, the method comprising: In a state where wireless communication with the server device is possible, the mobile robot receives first transmission information sent from the server device for managing the mobile robot. as well as In the absence of wireless communication with the server device, the mobile robot directly performs wireless communication with another mobile robot among the plurality of mobile robots and performs receiving processing of receiving the first transmitted information for managing the mobile robot sent from the server device from the other mobile robot; In a state where wireless communication with the server device is possible, the mobile robot receives the first transmitted information and a second transmitted information from the server device for managing the other mobile robot. In the event that wireless communication between the other mobile robot and the server device is not possible, the mobile robot directly performs wireless communication with the other mobile robot and performs the transmission process of sending the second transmission information to the other mobile robot; The sending process is performed when the server device is shut down; and The second transmission information transmitted in the transmission process is information received from the server device before the server device is shut down; The receiving process is performed when the server device is shut down; and The first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device is shut down.

6. The method according to claim 5, wherein, When wireless communication with the server device is possible, but wireless communication between the other mobile robot and the server device is not possible, the mobile robot will send status information indicating the status of the other mobile robot to the server device. The status information is sent from the other mobile robot.

7. A method for using mobile robots in a transportation system, the transportation system including a server device and transporting transport objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, the method comprising: In a state where wireless communication with the server device is possible, the mobile robot receives first transmission information from the server device for managing the mobile robot and second transmission information from the server device for managing another mobile robot among a plurality of mobile robots. In the event that wireless communication between the other mobile robot and the server device is not possible, the mobile robot directly performs wireless communication with the other mobile robot and performs the sending process of sending the second sending information to the other mobile robot. The method further includes: When the server device is shut down, the mobile robot performs the sending process; the second sending information sent in the sending process is information received from the server device before the server device was shut down; and When the server device is shut down, the mobile robot performs the receiving process; the first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device was shut down.

8. A method for a server device in a transportation system, the transportation system including the server device and transporting transport objects using a plurality of mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, the method comprising: In a state where wireless communication with the server device is possible, the mobile robot receives first transmission information sent from the server device for managing the mobile robot and second transmission information sent from the server device for managing another mobile robot among a plurality of mobile robots. In a state where wireless communication with the server device is possible, the other mobile robot receives the first transmitted information and the second transmitted information. In the absence of wireless communication with the server device, the mobile robot directly performs wireless communication with the other mobile robot, receives the first transmitted information from the other mobile robot, and performs a first communication process that sends first location information indicating the location of the mobile robot to the other mobile robot; wherein, when the server device is turned off, the mobile robot receives the first transmitted information from the other mobile robot; the first transmitted information received is information that the other mobile robot received from the server device before the server device was turned off; In the absence of wireless communication with the server device, the other mobile robot directly performs wireless communication with the mobile robot, receives the second transmission information from the mobile robot, and performs a second communication process that sends second location information indicating the location of the other mobile robot to the mobile robot; wherein, when the server device is turned off, the other mobile robot receives the second transmission information from the mobile robot; the received second transmission information is information received from the server device before the server device was turned off; When wireless communication with the other mobile robot is possible, the server device receives the first location information received by the other mobile robot in the first communication process from the other mobile robot. In a state where wireless communication with the mobile robot is possible, the server device receives the second location information received by the mobile robot in the second communication process from the mobile robot. In the absence of wireless communication with the mobile robot, the server device searches for the mobile robot based on the first location information; and In the absence of wireless communication with the other mobile robot, the server device searches for the other mobile robot based on the second location information.

9. A computer-readable medium storing a program that causes a computer mounted on a mobile robot to perform communication processing in a transportation system, the transportation system including a server device and transporting objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, wherein the communication processing includes In a state where wireless communication with the server device is possible, the system receives first transmission information from the server device for managing the mobile robot, and... In the absence of wireless communication with the server device, wireless communication with another mobile robot among the plurality of mobile robots is directly performed, and receiving processing is performed to receive the first transmitted information sent from the server device for managing the mobile robot from the other mobile robot; in, The communication processing includes In a state where wireless communication with the server device is possible, the system receives the first transmitted information and a second transmitted information from the server device for managing the other mobile robot. In the event that wireless communication between the other mobile robot and the server device is not possible, wireless communication with the other mobile robot is performed directly, and the sending process of sending the second sending information to the other mobile robot is executed. The sending process is performed when the server device is shut down; and The second transmission information transmitted in the transmission process is information received from the server device before the server device is shut down; The receiving process is performed when the server device is shut down; and The first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device is shut down.

10. The computer-readable medium according to claim 9, wherein, The communication process includes: when wireless communication with the server device is possible, and when wireless communication between the other mobile robot and the server device is not possible, sending status information indicating the status of the other mobile robot to the server device, wherein the status information is sent from the other mobile robot.

11. A computer-readable medium storing a program that causes a computer mounted on a mobile robot to perform communication processing in a transportation system, the transportation system including a server device and transporting objects using a plurality of the mobile robots, the server device being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, wherein the communication processing includes In a state where wireless communication with the server device is possible, the system receives first transmission information from the server device for managing the mobile robot and second transmission information from the server device for managing another mobile robot among a plurality of mobile robots. In the event that wireless communication between the other mobile robot and the server device is not possible, wireless communication with the other mobile robot is performed directly, and the sending process of sending the second sending information to the other mobile robot is executed. in, The sending process is performed when the server device is shut down; as well as The second transmission information transmitted in the transmission process is information received from the server device before the server device is shut down; The receiving process is performed when the server device is shut down. as well as The first transmitted information received in the receiving process is information received by the other mobile robot from the server device before the server device is shut down.

12. A computer-readable medium storing a program that causes a server computer to perform management processing in a transportation system, the transportation system including the server computer and transporting objects using a plurality of mobile robots, the server computer being configured to exchange information wirelessly with and manage the plurality of mobile robots capable of autonomous movement within a facility, the program causing the server computer to perform: In a state where wireless communication with the server computer is possible, the mobile robot receives first transmission information sent from the server computer for managing the mobile robot and second transmission information sent from the server computer for managing another mobile robot among the plurality of mobile robots; In a state where wireless communication with the server computer is possible, the other mobile robot receives the first transmitted information and the second transmitted information. In the absence of wireless communication with the server computer, the mobile robot directly performs wireless communication with the other mobile robot, receives the first transmitted information from the other mobile robot, and performs a first communication process that sends first location information indicating the location of the mobile robot to the other mobile robot; wherein, when the server device is turned off, the mobile robot receives the first transmitted information from the other mobile robot, and the first transmitted information received is information that the other mobile robot received from the server device before the server device was turned off; In the absence of wireless communication with the server computer, the other mobile robot directly performs wireless communication with the mobile robot, receives the second transmitted information from the mobile robot, and performs a second communication process that sends second location information indicating the location of the other mobile robot to the mobile robot; wherein, when the server device is shut down, the other mobile robot receives the second transmitted information from the mobile robot; the received second transmitted information is information received from the server device before the server device was shut down; The management process includes: In a state where wireless communication with the other mobile robot is possible, the first location information received by the other mobile robot in the first communication process is received from the other mobile robot. In a state where wireless communication with the mobile robot is possible, the second location information received by the mobile robot in the second communication process is received from the mobile robot. In the absence of wireless communication with the mobile robot, a search for the mobile robot is performed based on the first location information; and In the event that wireless communication with the other mobile robot is not possible, a search for the other mobile robot is performed based on the second location information.

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