Transportation system, transportation method, and computer-readable medium

Abstract

The present disclosure relates to a transportation system, a transportation method, and a computer-readable medium. In the transportation system, a transportation object is transported by using a plurality of mobile robots capable of autonomously moving within a facility. In a case where a lockout request event occurs in at least one area within the facility, the transportation system receives occurrence information transmitted from a facility management system configured to manage the facility, and causes the plurality of mobile robots to execute a movement restriction that restricts movement of the plurality of mobile robots. In a case where a predetermined condition for the lockout request event is satisfied after the plurality of mobile robots execute the movement restriction, the transportation system causes the plurality of mobile robots to restart.

Description

Technical Field

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

[0002] Japanese Unexamined Patent Application Publication No. 2009-294832 (JP 2009-294832 A) describes a transport vehicle system in which, upon receiving an earthquake warning, the transport vehicle stops at a position away from the passageway used by people. Summary of the Invention

[0003] However, in the system described in JP 2009-294832 A, the transport vehicle can continue to operate depending on the severity of the earthquake or fire after it has stopped. Therefore, there is still room for improvement in subsequent operations.

[0004] This disclosure was made to solve such a problem. The purpose of this disclosure is to provide a transportation system, transportation method, and computer-readable medium, wherein, in the event that the operation of a mobile robot transporting goods is restricted due to a blockade request event occurring in a facility, transportation of goods can be immediately resumed in response to the cancellation of the event.

[0005] The transportation system according to the first aspect of this disclosure is a system in which goods are transported using multiple mobile robots capable of autonomous movement within a facility. In the event of a lockdown request event occurring in at least one area within the facility, the transportation system receives an occurrence information from a facility management system configured to manage the facility and causes the multiple mobile robots to execute operational restrictions limiting their operation. If predetermined conditions for the lockdown request event are met after the multiple mobile robots have executed the operational restrictions, the transportation system restarts the multiple mobile robots. With this configuration, if a lockdown request event occurs in the facility and the operation of the multiple mobile robots transporting the goods is restricted, the transportation system can immediately resume the transportation of the goods in response to the cancellation of the event.

[0006] The transportation method according to the second aspect of this disclosure is a method for transporting goods using multiple mobile robots capable of autonomous movement within a facility. The transportation method includes: upon the occurrence of a lockdown request event in at least one area within the facility, receiving an occurrence information from a facility management system configured to manage the facility, and causing the multiple mobile robots to execute operational restrictions limiting their operation; and, after the multiple mobile robots have executed the operational restrictions, restarting the multiple mobile robots if predetermined conditions for the lockdown request event are met. Using this process, if a lockdown request event occurs in the facility and the operation of the multiple mobile robots transporting the goods is restricted, the transportation method can immediately resume the transportation of the goods in response to the cancellation of the event.

[0007] The program according to a third aspect of this disclosure is a computer-readable medium storing a program for causing a computer to perform transportation management, in which goods are transported using multiple mobile robots capable of autonomous movement within a facility. The transportation management is performed as follows: in the event of a blockade request event occurring in at least one area within the facility, the computer receives occurrence information from a facility management system configured to manage the facility and causes the multiple mobile robots to execute operation restrictions limiting their operation; and after the multiple mobile robots have executed the operation restrictions, if predetermined conditions for the blockade request event are met, the computer causes the multiple mobile robots to restart. Using this process, in the event of a blockade request event occurring in the facility and the operation of the multiple mobile robots transporting the goods being restricted, the computer-readable medium can immediately restart the transportation of the goods in response to the cancellation of the event.

[0008] Any of the first, second, and third schemes disclosed herein can adopt the following configuration.

[0009] When the plurality of mobile robots receive a restriction command, they can notify an external device capable of communicating with them and then execute the operational restrictions. If the operational restrictions are lifted by restarting the plurality of mobile robots, they can obtain the information from the external device. Thus, by lifting the operational restrictions through restarting, the plurality of mobile robots can ensure the availability of necessary information.

[0010] The operational restrictions enforced by the plurality of mobile robots may include a unified restriction prohibiting the movement of the plurality of mobile robots. Thus, in the event of a lockdown request event occurring within the facility, all mobile robots can be stopped, allowing people to move safely within the facility.

[0011] The operational restrictions enforced by the plurality of mobile robots may include a unified restriction prohibiting the plurality of mobile robots from entering a specific area. Thus, in the event of a blockade request event occurring within the facility, the specific area can be secured, ensuring its various uses.

[0012] In the case where the facility is a hospital and the lockdown request event is the receipt of an emergency call, the specific area can be the area for which a lockdown request is made in response to the received emergency call. Thus, in the case of an emergency call originating from the hospital, it is possible to ensure the availability of the specific area in the event of an emergency.

[0013] A priority level can be set for the plurality of mobile robots, indicating the order in which the operational restrictions are enforced among them. The priority level of the plurality of mobile robots can be changed according to the operational necessity level indicating the necessity for their operation, such that information exchange through communication between the plurality of mobile robots is performed before the operational restrictions are enforced. Thus, in the event of a blockade request event within the facility, the mobile robot that needs to operate can secure the necessary information before other mobile robots.

[0014] If the plurality of mobile robots receive a restriction instruction while performing their respective tasks, the plurality of mobile robots can determine whether they have completed their respective remaining tasks before implementing the restriction corresponding to the restriction instruction, based on their respective remaining tasks required to complete their respective tasks. The plurality of mobile robots can then implement the restriction at their respective times based on their respective determinations. Thus, in the event of a blockade request event occurring within the facility, the operational restrictions can be implemented individually by the plurality of mobile robots according to their remaining tasks.

[0015] The transportation system can determine the level of panic within the facility based on at least one of image data and audio data acquired within the facility. The transportation system can then determine which mobile robots from the plurality of mobile robots should be restricted based on the level of panic. Thus, in the event of a lockdown request event occurring within the facility, the system can individually enforce the operational restrictions on the plurality of mobile robots based on the level of panic within the facility.

[0016] This disclosure may provide a transportation system, transportation method, and computer-readable medium, wherein, in the event that the operation of a mobile robot transporting goods is restricted due to a lockdown request event occurring in a facility, transportation of goods can be resumed immediately after the event is cancelled. Attached Figure Description

[0017] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0018] Figure 1 This is a schematic diagram illustrating an exemplary general configuration of a system used in a mobile robot according to this embodiment;

[0019] Figure 2 This is a control block diagram illustrating an example of a transportation system according to this embodiment;

[0020] Figure 3 This is a control block diagram illustrating an example of a facility management system;

[0021] Figure 4 This is a schematic diagram illustrating an example of a mobile robot;

[0022] Figure 5 This is a flowchart illustrating an example of a transportation method according to this embodiment;

[0023] Figure 6 It is shown that it should be made by Figure 1 A schematic diagram illustrating an example of a managed area within a facility management system;

[0024] Figure 7 This is a flowchart illustrating another example of a transportation method according to this embodiment;

[0025] Figure 8 It is to show that... Figure 7 The example view shows the priority settings for the mobile robot used in the example; and

[0026] Figure 9 It is to show the basis to be Figure 7 The example uses the necessary level of execution to change the priority of the example view. Detailed Implementation

[0027] The present invention is described below based on embodiments, but is not intended to limit the invention to the following embodiments. Furthermore, not all components described in the embodiments as means of solving the problems of the present invention are necessarily necessary.

[0028] General Configuration

[0029] Figure 1 This is a schematic diagram illustrating an exemplary overall configuration of the transportation system 1 used in the mobile robot 20 according to this embodiment. The transportation system 1 according to this embodiment is a system in which goods are transported using multiple mobile robots capable of autonomous movement within a facility. The following description relates to... Figure 1 The mobile robot 20 shown is used as an example of a mobile robot. Note that the following description assumes that one or more transport items are transported solely by the individual mobile robots 20. However, the mobile robots 20 can cooperate with each other to transport more than one transport item.

[0030] In addition to the mobile robot 20, the transportation system 1 also includes a superior management device 10, a facility management system 30, a network 600, a communication unit 610, and a user terminal 400.

[0031] Mobile robot 20 is a transport robot configured to perform the task of transporting goods. Mobile robot 20 moves autonomously to transport goods within medical and welfare facilities such as hospitals, rehabilitation centers, nursing facilities, or retirement homes. Furthermore, the transport system 1 according to this embodiment can also be used in facilities (within buildings) such as commercial facilities (e.g., shopping malls). Of course, mobile robot 20 can also move autonomously both outside and inside the facility.

[0032] User U1, such as a user of a transported item, or a user assistant or manager of the transported item, requests the mobile robot 20 to transport the item. When user U1 makes a transport request, user U1 stores the item in the mobile robot 20 at the transport request location or receiving destination (transport source) included in the information about the transport request. Of course, the item can be stored in the mobile robot 20 using a robot for storage or the like. Note that there are cases where the transported item is transported such that user U1 places the item on a mobile robot of another example (not shown) while the item is exposed. However, for the sake of simplicity, the following description assumes that the item is transported while it is stored in the mobile robot 20.

[0033] Examples of transported goods include devices intended for leasing (hereinafter referred to as rental devices), and the following description uses rental devices as an example. However, the mobile robot 20 is also capable of transporting devices other than rental devices or goods other than devices, such as medicines, consumables such as bandages, samples, hospital food, and office equipment such as stationery products.

[0034] User U1 can request the transport of the leased device according to the rental schedule. The rental schedule can be managed by a device rental system (not shown) connected to network 600. The rental schedule can also be referenced by user U1 from user terminal 400, enabling user U1 to make a transport request, and the rental schedule can also be referenced from the superior management device 10.

[0035] The mobile robot 20 autonomously moves to the designated destination and transports the rental device. That is, the mobile robot 20 performs an object transportation task (hereinafter referred to simply as a task). In the following description, the location where the rental device is placed in the mobile robot 20 is referred to as the transportation source, and the location where the rental device is delivered is referred to as the transportation destination.

[0036] For example, mobile robot 20 moves within a general hospital with multiple clinical departments. Mobile robot 20 transports rental devices between clinical departments. For instance, mobile robot 20 delivers rental devices from the nurses' station of one clinical department to the nurses' station of another. Alternatively, mobile robot 20 delivers rental devices from its storage room to the nurses' station of a clinical department. Furthermore, in cases where the transport destination is on a different floor, mobile robot 20 can move by using elevators or similar means.

[0037] Examples of rental devices include medical equipment, such as examination equipment and medical devices. Examples of medical equipment include pressure ulcer prevention devices, blood pressure monitors, transfusion pumps, intravenous infusion devices such as syringe pumps, foot pumps, nurse call buttons, bed exit sensors, low-pressure continuous inhalers, electrocardiogram monitors, medication injection controllers, enteral feeding pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, blood pressure monitors, ventilators, sterile operating tables, echocardiograms, etc. In addition, medical equipment also includes various types of intravenous infusion devices, various types of vital signs monitors, etc. Note that, for example, pumps with different flow rates can also be targeted for rental as transfusion pumps. Therefore, many machine types within various types of medical equipment can also be targeted for rental.

[0038] In addition, some rental units may be equipped with stands. Examples of rental units with stands include low-pressure continuous suction units, echocardiograms, electrocardiogram monitors (transmitters), electrocardiogram monitors (central monitors), electrocardiogram monitors (bedside monitors), ventilators, nebulizers, etc. Compared to rental units without stands, rental units with stands typically operate by connecting to commercial power rather than using batteries and are usually stored in a rental warehouse that serves as their storage location.

[0039] In this embodiment, as Figure 1As shown, the facility management system 30, mobile robot 20, and user terminal 400 are connected to the upper-level management device 10 via network 600. Mobile robot 20 and user terminal 400 are connected to network 600 via communication unit 610. Network 600 is a wired or wireless local area network (LAN) and a wired or wireless wide area network (WAN). Furthermore, the upper-level management device 10 is connected to network 600 via wired or wireless means. Communication unit 610 is, for example, a wireless LAN unit located in the various environments. For example, communication unit 610 can be a general-purpose communication device such as a Wi-Fi router.

[0040] The upper-level management device 10 is a server connected to the various devices and collects data from them. Furthermore, the upper-level management device 10 is not limited to a single physical device and can include multiple devices configured to perform distributed processing. Additionally, the upper-level management device 10 can be distributed across edge devices such as the mobile robot 20. For example, the transportation system 1 can be partially or entirely housed within the mobile robot 20.

[0041] User terminal 400 may be, for example, a tablet computer, a smartphone, or a fixed computer. User terminal 400 should be an information processing device capable of wireless or wired communication.

[0042] Users U1 and U2 can make transportation requests for rental devices using user terminal 400. For example, user U1 can make a transportation request by accessing the device rental system from user terminal 400 (user U1 can access the device rental system via the superior management device 10) and referring to the rental device's schedule. Then, user U1 can make a transportation request for the rental device to the superior management device 10 based on the referenced schedule. For example, a transportation request can be made by sending transportation request information to the superior management device 10, including details of the rental device, transportation source, transportation destination, estimated arrival time to the transportation source (rental device reception time), estimated arrival time to the transportation destination (transportation time limit), etc. Note that, for example, loading the rental device into the mobile robot 20 can be performed before or after sending the transportation request from user terminal 400.

[0043] The higher-level management device 10, upon receiving a transportation request, can issue a transportation request to the mobile robot 20. The higher-level management device 10 is a management system configured to manage multiple mobile robots 20, and it sends operation commands to each mobile robot 20 to execute the transportation task. Whenever the higher-level management device 10 receives a transportation request, it determines which mobile robot 20 will perform the transportation task corresponding to the request. The higher-level management device 10 then sends a control signal, including the operation command, to the determined mobile robot 20. The mobile robot 20 moves from the transportation source to the transportation destination according to the operation command.

[0044] For example, the upper-level management device 10 assigns transportation tasks to mobile robots 20 located at or near a transportation source. Alternatively, the upper-level management device 10 assigns transportation tasks to mobile robots 20 traveling to or near a transportation source. The assigned mobile robot 20 travels to the transportation source to receive the rental device. The transportation source is, for example, the location where the rental device is stored or the location of the user U1 who made the transportation request.

[0045] When the mobile robot 20 arrives at the transport source, user U1 or a staff member other than user U1 places the rental device inside the mobile robot 20. The mobile robot 20, containing the rental device, then autonomously moves to the transport destination. The upper-level management device 10 sends a signal to user terminal 400 of user U2, which is located at the transport destination. This notifies user U2 that the rental device is in transit or provides an estimated arrival time. When the mobile robot 20 arrives at the designated transport destination, user U2 can receive the rental device housed within the mobile robot 20. The mobile robot 20 performs the transport task in this manner.

[0046] As described above, various signals sent from user terminals 400 of users U1 and U2 can be transmitted to the upper management device 10 via network 600, and then from the upper management device 10 to the mobile robot 20 as the target. Similarly, various signals sent from the mobile robot 20 can be transmitted to the upper management device 10 via network 600, and then from the upper management device 10 to the user terminal 400 as the target.

[0047] User terminal 400 and mobile robot 20 can exchange signals with each other without going through the upper-level management device 10. For example, user terminal 400 and mobile robot 20 can exchange signals directly with each other via wireless communication. Alternatively, user terminal 400 and mobile robot 20 can exchange signals with each other via communication unit 610.

[0048] The facility management system 30 is a system configured to manage facilities. For example, the facility management system 30 can manage lighting fixtures, air conditioning, etc., in various areas within the facility. Furthermore, a key feature of this embodiment is the processing performed in the event of a lockdown request, such as a fire alarm. This lockdown may even involve events requiring a complete or partial lockdown of the facility.

[0049] Therefore, the facility management system 30 has the function of detecting blocking request events and notifying the superior management device 10. Thus, the facility management system 30 can be a server with this function connected to the superior management device 10, enabling the facility management system 30 to exchange data with the superior management device 10. Consequently, the superior management device 10 can receive notifications of blocking request events sent from the facility management system 30, and further, the superior management device 10 can obtain information (facility information, etc.) about the facilities controlled by the facility management system 30. The blocking request event and the processing to be performed upon detecting a blocking request event are the main features of this embodiment and will be described later.

[0050] Some functions of the facility management system 30 can be distributed across the upper-level management device 10, or the facility management system 30 can be integrated into the upper-level management device 10. Some functions of the facility management system 30 can be distributed across edge devices such as the mobile robot 20.

[0051] Control block diagram

[0052] Figure 2 This is a control block diagram illustrating an example of the control system of transportation system 1. Figure 3 It is shown Figure 1 , Figure 2 A control block diagram of an example of the facility management system 30 in transportation system 1. (See diagram below.) Figure 2 As shown, the transportation system 1 can include a superior management device 10, a mobile robot 20, a facility management system 30, and multiple environmental cameras 300.

[0053] While the transportation system 1 autonomously moves the mobile robot 20 within the predetermined facility, the transportation system 1 efficiently controls the mobile robot 20. Therefore, environmental cameras 300 are installed within the facility. For example, environmental cameras 300 are installed in passageways, lobbies, elevators, entrances, etc., within the facility.

[0054] An environmental camera 300 acquires images within the range of movement of the mobile robot 20. Note that in the transportation system 1, the images acquired by the environmental camera 300 and the information based on those images are collected by the higher-level management device 10. Alternatively, the images acquired by the environmental camera 300, etc., can be directly sent to the mobile robot. The environmental camera 300 can be a monitoring camera, etc., installed in a passageway or entrance of the facility. The environmental camera 300 can be used to determine the distribution of congestion within the facility.

[0055] This embodiment relates to an example where the environmental camera 300 is directly connected to the upper-level management device 10. However, it is also possible to adopt a configuration in which the environmental camera 300 is a target managed by the facility management system 30, and the upper-level management device 10 receives data obtained by the environmental camera 300 via the facility management system 30.

[0056] In transportation system 1, the upper-level management device 10 formulates route planning and generates route planning information based on transportation request information. The route planning information can be generated as information indicating a planned transportation route corresponding to the rental schedule described above. Based on the generated route planning information, the upper-level management device 10 instructs the mobile robot 20 to reach its destination. The mobile robot 20 moves autonomously toward the destination specified by the upper-level management device 10. The mobile robot 20 moves autonomously toward its destination using sensors, floor maps, location information, etc., installed in the mobile robot 20.

[0057] For example, mobile robot 20 travels in a manner that avoids contact with devices, objects, walls, and people (collectively referred to as neighboring objects) around it. More specifically, mobile robot 20 detects its distance to neighboring objects and travels at a given distance (called a distance threshold) from them. When the distance to a neighboring object is equal to or less than the distance threshold, mobile robot 20 slows down or stops. This allows mobile robot 20 to travel without contacting neighboring objects. Therefore, mobile robot 20 is able to avoid contact with neighboring objects, thus enabling safe and efficient transportation.

[0058] Furthermore, the upper-level management device 10 can send restriction instructions (restriction commands) to restrict the operation of the mobile robot 20, and the mobile robot 20 that receives the restriction instruction can restrict its own operation based on the restriction instruction. The upper-level management device 10 can send restriction instructions to the inactive mobile robot 20, so that the inactive mobile robot 20 can remain in a non-operational state according to the restriction instruction.

[0059] This restriction can be implemented as follows: In the event of a lockdown request event, the facility management system 30 sends information indicating the occurrence of the lockdown request event, and the upper-level management device 10 executes the restriction upon receiving the information. The following describes an example where the upper-level management device 10 sends operation instructions to the mobile robot 20. However, it is also possible to employ a configuration where the mobile robot 20 receives the event information from the facility management system 30, and in response, the mobile robot 20 executes the restriction. An example detailing the lockdown request event and operational restrictions will be described later.

[0060] The upper-level management device 10 may include a computing processing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The computing processing unit 11 performs calculations to control and manage the mobile robot 20. The computing processing unit 11 may be configured as a device capable of executing programs, such as the central processing unit (CPU) of a computer. Various functions can also be implemented through programs. Figure 2 Only the robot control unit 111, route planning unit 115, and detection unit 116, which are feature units in the computing processing unit 11, are shown in the diagram. However, the computing processing unit 11 may also include other processing blocks.

[0061] The robot control unit 111 performs calculations to remotely control the mobile robot 20 and generates control signals. The robot control unit 111 generates control signals based on route planning information 125 (described later), etc. Furthermore, the robot control unit 111 generates control signals based on various pieces of information acquired from the environmental camera 300 and the mobile robot 20. The control signals may include update information such as the floor map 121, robot information 123, and robot control parameters 122 (described later). That is, when each piece of information is updated, the robot control unit 111 generates a control signal corresponding to the update information about it. The update information may be the aforementioned occurrence information, and in this case, a restriction signal limiting operation is generated as the control signal.

[0062] The route planning unit 115 formulates route plans for each mobile robot 20. When a new transportation task for a rental device is input, the route planning unit 115 formulates a route plan based on the transportation request information to transport the rental device to its transportation destination. More specifically, the route planning unit 115 refers to the route planning information 125, robot information 123, etc., already stored in the storage unit 12, and determines the mobile robot 20 to be used to perform the new transportation task. The departure point is the current position of the mobile robot 20, the transportation destination of the previous transportation task, the receiving destination of the rental device, etc. The destination is the transportation destination of the rental device, but it can be a standby location, a charging location, etc.

[0063] Here, the route planning unit 115 sets the transit points from the starting point to the destination of the mobile robot 20. The route planning unit 115 sets the transit order for each mobile robot 20. Transit points are set at branch points, intersections, areas in front of elevators, and their surroundings. Furthermore, in narrow passages, the mobile robots 20 may have difficulty passing each other. In such cases, the area directly in front of the narrow passage can be set as a transit point. Possible transit points can be pre-registered in the floor plan 121.

[0064] The route planning unit 115 determines which mobile robot 20 will be used to perform each transportation task from among multiple mobile robots 20, so that multiple tasks can be performed efficiently as a whole system. The route planning unit 115 prioritizes assigning transportation tasks to mobile robots 20 that are in standby mode or mobile robots 20 that are near the transportation source of the transportation task.

[0065] The route planning unit 115 sets waypoints, including departure and destination points, for the mobile robots 20 assigned transportation tasks. For example, when there are two or more routes from the transportation source to the transportation destination, setting waypoints allows the mobile robots 20 to move in a shorter time. To this end, the upper-level management device 10 updates information indicating the congestion status of the passage based on images from cameras, etc. More specifically, locations traversed by other mobile robots 20 or locations with many people are highly congested. Therefore, the route planning unit 115 sets waypoints to avoid highly congested areas.

[0066] In some cases, the mobile robot 20 can move to its destination via a counter-clockwise or clockwise route. In this case, the route planning unit 115 sets waypoints so that the mobile robot 20 can travel along a less congested route. When the route planning unit 115 sets more than one waypoint to the destination, the mobile robot 20 can move along a less congested route. For example, when the passageway is divided at branch points or intersections, the route planning unit 115 appropriately sets waypoints at branch points, intersections, corners, and adjacent areas. This enables improved transportation efficiency.

[0067] The route planning unit 115 can set passing points considering factors such as elevator congestion and travel distance. Furthermore, when the mobile robot 20 passes a given location, the upper-level management device 10 can estimate the number of mobile robots 20 or the number of people involved within the estimated time. The route planning unit 115 can set passing points based on the estimated congestion level. Additionally, the route planning unit 115 can dynamically change passing points according to the congestion level. The route planning unit 115 sets passing points sequentially for the mobile robots 20 assigned transportation tasks. Passing points can include transportation sources or transportation destinations. As described later, the mobile robots 20 move autonomously to pass through the passing points set by the route planning unit 115 in sequence.

[0068] The detection unit 116 detects occurrence information sent from the facility management system 30 and received by the communication unit 14. The occurrence information is a notification of a blocking request event. Upon detection of such a notification by the detection unit 116, the robot control unit 111 sends a control signal to the mobile robot 20 via the communication unit 14. This control signal includes a restriction instruction (restriction command) to cause the mobile robot 20 to execute operational restrictions. Furthermore, before sending the control signal including the restriction instruction, the robot control unit 111 should save the transmission history of the restriction instruction either at the stage when the detection unit 116 detects the occurrence information or exactly after the robot control unit 111 sends the control signal. The robot control unit 111 can be configured to send a restriction cancellation instruction to the mobile robot 20. In this case, the robot control unit 111 can instruct cancellation by referring to the transmission history. The cancellation instruction is a feature of this embodiment and can be an instruction to restart the mobile robot 20. This instruction can be sent to the mobile robot 20 such that it is included in the control signal.

[0069] Storage unit 12 is a storage unit for information required for the management and control of the robot. Figure 2 The example shows floor plan 121, robot information 123, robot control parameters 122, route planning information 125, and transport information 126. However, the information stored in storage unit 12 can be other than these, and may include delivery history. When computing processing unit 11 performs various processes, it performs calculations using the information stored in storage unit 12. Furthermore, the various information stored in storage unit 12 can be updated to the latest information.

[0070] Floor map 121 is map information of the facilities in which the mobile robot 20 moves. Floor map 121 can be pre-formed, generated based on information obtained from the mobile robot 20, or formed by adding map correction information generated based on information obtained from the mobile robot 20 to a pre-formed base map.

[0071] Regarding robot information 123, it describes the ID, model, specifications, etc. of the mobile robot 20 managed by the superior management device 10. Robot information 123 may include location information indicating the current location of the mobile robot 20. Robot information 123 may also include information indicating whether the mobile robot 20 is performing a task or is in standby mode. Furthermore, it is expected that robot information 123 includes information indicating whether the mobile robot 20 is under restriction, malfunction, etc., during normal operation (running). Robot information 123 can include information indicating that the mobile robot 20 is under restriction, as a transmission history when the mobile robot 20 is under restriction. In addition, robot information 123 may include information about transportable or non-transportable rental devices.

[0072] Robot control parameters 122 describe control parameters such as a threshold distance from the mobile robot 20 to nearby objects, managed by the superior management device 10. The threshold distance is a margin distance to avoid contact with nearby objects, including people. Furthermore, robot control parameters 122 may include information about operational intensity, such as the upper speed limit of the mobile robot 20.

[0073] The robot control parameters 122 can be updated as needed. The robot control parameters 122 may include information indicating the vacancy or usage status of the storage space in the storage cabinet 291 (described later). The robot control parameters 122 may include information regarding whether the rental device is transportable or not. Of course, the robot control parameters 122 can also include information indicating whether transportable items other than rental devices are transportable. In the robot control parameters 122, the aforementioned information is correlated with each other for each mobile robot 20.

[0074] Route planning information 125 includes route planning information planned by route planning unit 115. For example, route planning information 125 includes information indicating transportation tasks. Route planning information 125 may include information about the ID of the mobile robot 20 assigned to the task, departure point, details of the rental device, transportation destination, transportation source, estimated arrival time to the transportation destination, estimated arrival time to the transportation source, arrival time restrictions, etc. In route planning information 125, the aforementioned information is correlated with each other for each transportation task. Route planning information 125 may include at least a portion of transportation request information input by user U1.

[0075] Furthermore, the route planning information 125 may include information about the transit points for each mobile robot 20 or each transportation task. For example, the route planning information 125 may include information indicating the transit order for each mobile robot 20. The route planning information 125 may include information about the coordinates of the transit points on the floor map 121 and information about whether each mobile robot 20 passes through the transit points.

[0076] Transport information 126 is information about the leased device requested for transport. For example, transport information 126 includes details about the leased device (type), transport source, transport destination, etc. Of course, transport information 126 can include information about transported items other than the leased device, and it can also include information beyond transport information 126. Transport information 126 may include the ID of the mobile robot 20 responsible for the transport. Furthermore, transport information 126 may include information indicating the status, such as transport period, before transport (before loading), transport completed, etc. In transport information 126, this information is correlated with each leased device.

[0077] Note that the route planning unit 115 refers to various information stored in the storage unit 12 and formulates a route plan. For example, the route planning unit 115 determines the mobile robot 20 to be used to perform the task based on the floor map 121, robot information 123, robot control parameters 122, and route planning information 125. Then, the route planning unit 115 sets the passing points and the passing order of the passing points to the transport destination by referring to the floor map 121, etc. Possible passing points are pre-registered in the floor map 121. The route planning unit 115 sets the passing points according to congestion conditions, etc. In addition, in the case of continuous task processing, the route planning unit 115 can set the transport source and transport destination of the task as passing points.

[0078] Buffer memory 13 is a memory that stores intermediate information generated during processing executed in computing processing unit 11. Communication unit 14 is a communication interface for communicating with facility management system 30, environmental cameras 300 installed in the facility operating the transportation system 1, and mobile robots 20. Communication unit 14 is capable of both wired and wireless communication. For example, communication unit 14 sends control signals required to control each mobile robot 20. Furthermore, communication unit 14 receives information collected by mobile robots 20 and environmental cameras 300. Communication unit 14 can receive various types of information, such as event information, from facility management system 30 and can send requests for this information to facility management system 30.

[0079] The mobile robot 20 may include a computing 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 receiving unit 28. Note that... Figure 2 Only a representative processing block set in the mobile robot 20 is shown, but the mobile robot 20 also includes many other processing blocks (not shown).

[0080] The communication unit 23 may include a first communication interface and a second communication interface. The communication unit 23 communicates with the communication unit 14 of the superior management device 10 via the first communication interface, and wirelessly communicates with the communication units 23 of other mobile robots via the second communication interface. The communication unit 23 communicates with the communication unit 14, for example, using radio signals. The second communication interface should perform communication between mobile robots (hereinafter also referred to as "robot-to-robot communication") as described above, and may use, for example, short-range wireless communication such as Bluetooth (registered trademark). The information exchanged through robot-to-robot communication may include position information about the master robot or other robots, status information such as battery capacity, and information (commands, etc.) sent from the superior management device 10 to other robots.

[0081] The distance sensor group 24 is, for example, a proximity sensor, and outputs proximity object distance information indicating the distance to objects or people present around the mobile robot 20. For example, camera 25 captures images to understand the surrounding environment of the mobile robot 20. Furthermore, camera 25 can capture images of location markers, such as those set on the ceiling of a facility. The mobile robot 20 can use these location markers to determine its own position.

[0082] The drive unit 26 drives the drive wheels installed in the mobile robot 20. Note that the drive unit 26 may include an encoder or the like configured to detect the number of rotations of the drive wheels or the drive motor for the drive wheels. The mobile robot 20's own position (current position) can be estimated based on the output from the encoder. The mobile robot 20 detects its own current position and sends it to the upper-level management device 10.

[0083] 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 that serves as the operation receiving unit 28. In addition, the display unit 27 can display information indicating the destination of the mobile robot 20 or the status of the mobile robot 20. The operation receiving unit 28 receives operations from the user. In addition to the user interface screen displayed on the display unit 27, the operation receiving unit 28 also includes various switches provided in the mobile robot 20.

[0084] The computing processing unit 21 performs calculations to control the mobile robot 20. The computing processing unit 21 can be implemented as a device capable of executing programs, such as the central processing unit (CPU) of a computer. Various functions can also be implemented through programs. The computing processing unit 21 includes a command extraction unit 211 and a drive control unit 212. Note that in... Figure 2 Only representative processing blocks set in the computing processing unit 21 are shown in the diagram, but the computing processing unit 21 includes processing blocks not shown here. The computing processing unit 21 can search for routes between points.

[0085] The command extraction unit 211 extracts movement commands or restriction commands from the control signals given by the superior management device 10. For example, a movement command includes information about the next passing point. The control signal regarding the movement command may include, for example, information about the coordinates of the passing point or information about the passing order of the passing points. The command extraction unit 211 extracts this information as a movement command.

[0086] The movement command may also include information instructing the mobile robot 20 to move to the next passage point. In narrow passages, the mobile robots 20 may not be able to pass each other. Furthermore, in some cases, the passage may be temporarily closed. In such cases, the control signal includes a command to stop the mobile robot 20 at the passage point before the point where it should have stopped. After the other mobile robot 20 has passed through the narrow passage or been removed from the closed passage, the superior management device 10 outputs a control signal to the mobile robot 20 instructing it to pass through the passage. In response, the temporarily stopped mobile robot 20 resumes movement.

[0087] The control signal regarding the restriction command (restriction instruction) includes information instructing the execution of operational restrictions, and the mobile robot 20 should respond to the control signal to execute the predetermined restrictions. However, the control signal may include information specifically instructing which restrictions to execute. The restriction command can be the aforementioned command that stops the mobile robot 20. The command extraction unit 211 extracts this information as a restriction command.

[0088] The drive control unit 212 controls the drive unit 26 based on movement commands or restriction commands given by the command extraction unit 211, causing the mobile robot 20 to move or execute operating restrictions. For example, the drive unit 26 includes drive wheels configured to rotate in response to control command values ​​from the drive control unit 212. The command extraction unit 211 extracts movement commands, causing the mobile robot 20 to move toward a pass point received from the upper management device 10. Then, the drive unit 26 drives the drive wheels to rotate. The mobile robot 20 moves autonomously toward the next pass point. In this way, the mobile robot 20 passes through the pass points sequentially and reaches the transport destination. Furthermore, the mobile robot 20 can estimate its own position and send a signal to the upper management device 10 indicating that the mobile robot 20 has passed through a pass point. Thus, the upper management device 10 can manage the current position or transport status of each of the mobile robots 20.

[0089] Furthermore, the command extraction unit 211 extracts a restriction command from the control signal given by the superior management device 10, and the drive unit 26 stops the drive wheels. Moreover, the restriction command can include a command to move the mobile robot 20 to a specific area. In this case, the drive unit 26 drives the drive wheels to rotate, causing the mobile robot 20 to move to that area.

[0090] Floor plan 221, robot control parameters 222, and transported item information 226 are stored in storage unit 22. Figure 2 Only some information stored in storage unit 22 is shown in the image. However, besides... Figure 2 Information other than the floor map 221, robot control parameters 222, and transport information 226 shown in the diagram is also included in the information stored in the storage unit 22. For example, if the details of the operating limitations are predetermined, information indicating those details can also be included in the information stored in the storage unit 22. The floor map 221 is map information of the facility in which the mobile robot 20 moves. For example, the floor map 221 is data obtained by downloading part or all of the floor map 121 from the upper management device 10. Note that the floor map 221 can be pre-formed. Furthermore, the floor map 221 may be map information that partially includes the area where the mobile robot 20 is planned to move, rather than map information about the entire facility.

[0091] Robot control parameters 222 are parameters for operating the mobile robot 20. Robot control parameters 222 include, for example, a distance threshold for the distance to nearby objects. Furthermore, robot control parameters 222 include an upper speed limit for the mobile robot 20.

[0092] Similar to transport information 126, transport information 226 includes information about the rental devices. Transport information 226 can include details about the rental devices (type, i.e., model), transport source, transport destination, etc. Transport information 226 can include information indicating status, such as transport period, before transport (before loading), transport completion, etc. Each rental device is associated with this information in transport information 226. Transport information 226 should include information about the rental devices to be transported by mobile robot 20. Therefore, transport information 226 is a part of transport information 126. That is, transport information 226 may not include information about rental devices to be transported by other mobile robots 20.

[0093] When the distance information obtained from the distance sensor group 24 indicates a distance lower than the distance threshold, the drive control unit 212 refers to the robot control parameters 222 and stops or slows down the operation of the mobile robot 20. The drive control unit 212 controls the drive unit 26 so that the mobile robot 20 moves at a speed equal to or less than the speed limit. The drive control unit 212 controls the rotational speed of the drive wheels so that the mobile robot 20 does not move at a speed equal to or greater than the speed limit.

[0094] like Figure 3 As shown, the facility management system 30 can include a computing processing unit 31, a storage unit 32, a buffer memory 33, and a communication unit 34. The computing processing unit 31 performs calculations to control the equipment in the facility. The computing processing unit 31 can be implemented as a device capable of executing programs, such as the central processing unit (CPU) of a computer. Various functions can also be implemented through programs. Figure 3 Only the blocking request determination unit 311 and the request sending processing unit 312, which are features of the computing processing unit 31, are shown in the diagram, but the computing processing unit 31 may also include other processing blocks.

[0095] The blockade request determination unit 311 determines whether a facility is in a state where a request to block the facility (facility blockade request) should be issued by referring to disaster information received from the communications unit 34 via the Internet or the facility management information 324 (described later) of various equipment in the management facility.

[0096] If the blockade request determination unit 311 determines that the facility is in a state where a facility blockade request should be issued, the request transmission processing unit 312 performs processing to send an indication of the determination result to the superior management device 10. The request transmission processing unit 312 can send the occurrence information to the superior management device 10 via the control communication unit 34. That is, the request transmission processing unit 312 sends the occurrence information to the superior management device 10 via the communication unit 34.

[0097] Storage unit 32 is a storage unit that stores information required by the control device management system 30. Figure 3 The example shows floor plan 321, manager information 322, facility information 323, and facility management information 324, but other information can also be stored in storage unit 32. When computing processing unit 31 performs various processes, it performs calculations using the information stored in storage unit 32. Furthermore, the various information stored in storage unit 32 can be updated to the latest information.

[0098] Floor plan 321 can be part or all of floor plan 121. Facility information 323 indicates the ID, type, etc., of each piece of equipment in the facility. Facility information 323 can include information indicating the installation location of each piece of equipment, and the information about the installation location can be associated with floor plan 321. Facility management information 324 includes information indicating the operating status of each piece of equipment indicated by facility information 323, the values ​​of installed sensors, etc., and can be updated at any time. For example, when a fire detector is set up as a device, when the fire detector detects a fire, information indicating that a fire has occurred is written into facility management information 324. In addition, if the facility is a hospital, when an emergency call is made, information about the emergency call (in the case of a designated area, this information includes information indicating the area) can also be written as part of facility management information 324. Manager information 322 is information associated with each piece of equipment indicated by facility information 323. Manager information 322 can include information indicating the manager of each piece of equipment and information indicating the destination of the notification to the manager.

[0099] The buffer memory 33 is a memory that stores intermediate information generated during processing executed in the computing processing unit 31. The communication unit 34 is the communication interface through which the facility management system 30 communicates with the superior management device 10. The communication interface can be configured to communicate with the user terminal 400 or the mobile robot 20. The communication unit 34 can perform both wired and wireless communication. For example, the communication unit 34 can send information such as event information to the superior management device 10, or it can receive various information from the superior management device 10 or the user terminal 400.

[0100] Construction of Mobile Robot 20

[0101] Here, the appearance of the mobile robot 20 will be described. Figure 4 This is a schematic diagram of mobile robot 20. Figure 4 The mobile robot 20 shown is one form of mobile robot 20, and it can be constructed in other forms. Note that in Figure 4In the diagram, the x-direction is along the forward and backward directions of the mobile robot 20, the y-direction is along the left and right directions of the mobile robot 20, and the z-direction is along the height direction of the mobile robot 20.

[0102] The mobile robot 20 includes a main body 290 and a trolley section 260. The main body 290 is mounted on the trolley section 260. Both the main body 290 and the trolley section 260 include their respective rectangular shells, and the components of the mobile robot 20 are housed within the shells. For example, the drive unit 26 is housed within the trolley section 260.

[0103] The main body 290 is provided with a storage cabinet 291 serving as a storage space and a door 292 configured to seal the storage cabinet 291. The storage cabinet 291 is provided with multiple shelves, and the vacancy status of each shelf is managed. For example, when various sensors, such as weight sensors, are installed in each shelf, the vacancy status of each shelf can be updated. The mobile robot 20 moves autonomously and transports the rental devices stored in the storage cabinet 291 to the destination designated by the upper-level management device 10. The main body 290 may be equipped with a control box (not shown) or the like within the housing. Furthermore, the door 292 can be locked by 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. Alternatively, the door 292 can be automatically unlocked when the mobile robot 20 arrives at the transport destination.

[0104] like Figure 4 As shown, the mobile robot 20 is equipped with a front-rear distance sensor 241 and a left-right distance sensor 242, which form a distance sensor group 24. The mobile robot 20 measures the distance to nearby objects in the front-rear direction using the front-rear distance sensor 241. Furthermore, the mobile robot 20 measures the distance to nearby objects in the left-right direction using the left-right distance sensor 242.

[0105] For example, the front and rear distance sensors 241 are respectively placed at the front and rear of the housing of the main body 290. The left and right distance sensors 242 are respectively placed on the left and right sides of the housing of the main body 290. For example, the front and rear distance sensors 241 and the left and right distance sensors 242 are ultrasonic distance sensors or laser rangefinders. The front and rear distance sensors 241 and the left and right distance sensors 242 detect the distance to nearby objects. If the distance to a nearby object detected by any one of the front and rear distance sensors 241 and the left and right distance sensors 242 is equal to or less than a distance threshold, the mobile robot 20 decelerates or stops.

[0106] The drive unit 26 is provided with drive wheels 261 and casters 262. Drive wheels 261 are configured to move the mobile robot 20 in the forward and backward directions and the left and right directions. Casters 262 are driven wheels configured to roll following drive wheels 261, and no driving force is applied to casters 262. The drive unit 26 includes a drive motor (not shown) and drives drive wheels 261.

[0107] For example, inside the housing, the drive unit 26 supports two drive wheels 261 and two casters 262, each in contact with the road surface. The two drive wheels 261 are arranged such that their axes of rotation are aligned with each other. The drive wheels 261 are driven by a motor (not shown) to rotate independently. The drive wheels 261 respond to a... Figure 2 The drive control unit 212 shown rotates according to the control command value. The caster 262 is a driven wheel. A pivot shaft extending vertically from the drive unit 26 is set as the rotation axis of the wheel away from the caster 262, so that the pivot shaft rotatably supports the wheel. The caster 262 follows the drive wheel 261 in the direction of movement of the drive unit 26.

[0108] For example, when the two drive wheels 261 rotate at the same speed in the same direction, the mobile robot 20 moves in a straight line; when the two drive wheels 261 rotate at the same speed in opposite directions, the mobile robot 20 rotates about a vertical axis passing through approximately the center between the two drive wheels 261. Furthermore, when the two drive wheels 261 rotate at different speeds in the same direction, the mobile robot 20 moves to turn right or left. For example, when the speed of the left drive wheel 261 is higher than that of the right drive wheel 261, the mobile robot 20 can turn right. Simultaneously, when the speed of the right drive wheel 261 is higher than that of the left drive wheel 261, the mobile robot 20 can turn left. In other words, by individually controlling the respective rotational direction and speed of the two drive wheels 261, the mobile robot 20 can perform translational motion, circle, or turn right or left in a given direction.

[0109] Furthermore, the mobile robot 20 has a display unit 27 and a control interface 281 provided on the top surface of its main body 290. The control interface 281 is displayed on the display unit 27. When a user performs a touch operation on the control interface 281 displayed on the display unit 27, the operation receiving unit 28 can receive the command input from the user. In addition, an emergency stop button 282 is provided on the top surface of the display unit 27. The emergency stop button 282 and the control interface 281 serve as the operation receiving unit 28.

[0110] For example, display unit 27 is a liquid crystal panel. Display unit 27 displays an image of a human face or displays information about the mobile robot 20 using text and icons. When a human face is displayed on display unit 27, it can give observers around the mobile robot 20 the impression that display unit 27 resembles a pseudo-face. Display unit 27 and the like provided in the mobile robot 20 can be used as a user terminal 400.

[0111] Cameras 25 are positioned in front of the main body 290. Here, two cameras 25 function as stereo cameras. That is, two cameras 25 with the same field of view are placed horizontally separated from each other. Images captured by each camera 25 are output as image data. Based on the image data from the two cameras 25, the distance to the subject or the size of the subject can be calculated. The computational processing unit 21 can detect people, obstacles, etc., present in front of the mobile robot 20 in its direction of movement by analyzing the images from the cameras 25. When people, obstacles, etc., are present in front of the mobile robot 20 in its direction of movement, the mobile robot 20 moves along its path while avoiding them. Furthermore, the image data from the cameras 25 is sent to the upper-level management device 10.

[0112] The mobile robot 20 analyzes image data output from the camera 25 or detection signals output from the front-to-back distance sensor 241 and the left-to-right distance sensor 242, enabling the mobile robot 20 to identify nearby objects or its own position. The camera 25 captures an image in front of the mobile robot 20 in its forward direction. As shown here, the mobile robot 20 assumes the side where the camera 25 is located is its front side. That is, during normal movement, the front side of the mobile robot 20 is the forward direction as indicated by the arrow.

[0113] Key features of this embodiment

[0114] The main features of this embodiment in the transportation system 1 configured as described above will be described next. The main features of this embodiment are the operational restrictions on the mobile robot 20 when a blockade request event occurs, and the restart of the mobile robot 20 after the operational restrictions are lifted.

[0115] As described above, the transportation system 1 according to this embodiment is a system in which a facility management system 30 is configured to manage facilities, and a mobile robot 20 is configured to move autonomously within the facilities. The transportation system 1 can also be referred to as a supervision and management system.

[0116] When a lockdown request event occurs in at least one area within the facility, the facility management system 30 in transportation system 1 sends an occurrence information indicating the occurrence of the lockdown request event to the superior management device 10. Having received the occurrence information, the superior management device 10 automatically restricts the operation of the mobile robot 20, which is the controlled object. The restriction can be enforced such that the superior management device 10 sends a restriction instruction (restriction instruction) to the mobile robot 20, and the mobile robot 20, having received the instruction, executes the operation restriction. Note that the following description pertains to an example where control is primarily performed by the superior management device 10. However, as mentioned above, the mobile robot 20 can directly receive the occurrence information, and the mobile robot 20 can automatically execute the operation restriction.

[0117] Here, the occurrence of a lockdown request event can indicate the circumstances under which a lockdown request was issued, such as the occurrence of emergency calls in various colors (such as blue codes), the receipt of an immediate earthquake report, the occurrence of an actual disaster (in conjunction with fire detectors, etc.), and other circumstances.

[0118] Furthermore, if predetermined conditions for a lockdown request event are met after the restrictions are enforced, the upper-level management device 10 restarts the mobile robot 20. A typical example of a predetermined condition is the case where a predetermined time period has elapsed since the occurrence of the lockdown request event. Other examples of predetermined conditions include, for instance, the case where the upper-level management device 10 receives cancellation information corresponding to the occurrence information from the facility management system 30. In the case of this example, the facility management system 30 should be configured such that when the lockdown request determination unit 311 determines that the lockdown request has become unnecessary, the request sending processing unit 312 sends cancellation information via the communication unit 34.

[0119] Therefore, when predetermined conditions are met after the restrictions are enforced, the upper-level management device 10 can control the mobile robot 20, causing it to be restarted remotely. This restart is automatically instructed to the mobile robot 20, and the mobile robot 20 responds to the instruction to restart. When the mobile robot 20 restarts, it performs the initial processing required for startup, returning it from its restricted state to its original state (normal state). This initial processing may include requesting routes from the upper-level management device 10 again. However, if the startup-required information is backed up in the mobile robot 20's storage unit 22 before restarting, route requesting is not required during restart.

[0120] Note that, unlike the description above, examples where control is not primarily performed by the superior management device 10 can also be used. For example, the mobile robot 20 can be configured to receive cancellation information corresponding to the occurrence information from the facility management system 30, and when the mobile robot 20 receives the cancellation information, it can perform a restart. Note that a configuration whereby the mobile robot 20 can be restarted remotely by a manager or other personnel after the restriction is enforced can also be added to the mobile robot 20. In this case, the mobile robot 20 can be restarted in two ways.

[0121] Using the above configuration, in the event of a lockdown request event such as an earthquake or fire occurring in at least one area within the facility, the transport system 1 restricts the operation of the mobile robot 20, thereby preventing dangerous situations where the mobile robot 20 remains in motion. Furthermore, when predetermined conditions are met, for example, when the impact of a lockdown request event such as an earthquake or fire is small or diminished, the transport system 1 restarts the mobile robot 20, allowing it to resume operation thereafter.

[0122] Therefore, in the event of a blockade request and the operation of the mobile robot transporting the goods being restricted, the transport system 1 can immediately resume the transport of the goods in response to the cancellation of the event.

[0123] Furthermore, the aforementioned operational restrictions may include restrictions on the uniform halt (i.e., emergency stop) of the movement of mobile robots 20, which are controlled objects (targets to be managed). Thus, in the event of a lockdown request event within the facility, all mobile robots 20 can be stopped, thereby allowing people to move safely within the facility.

[0124] Furthermore, regarding the aforementioned backup, when the mobile robot 20 receives a restriction command, after the mobile robot 20 notifies an external device (the upper-level management device 10 or its adjacent mobile robot 20) that it can communicate with, the mobile robot 20 can execute operational restrictions (e.g., movement stop). The information should be predefined as the minimum amount of information that should be saved. When the restrictions are lifted by restarting, the mobile robot 20 should retrieve the information from the external device. Thus, after the mobile robot 20 is restarted, it can retrieve or check the necessary information prior to the restart. Therefore, after the mobile robot 20 is restarted, it can more confidently continue the operation that continued before the operational restrictions (or precisely before the restart after the operational restrictions).

[0125] Furthermore, when notifying external devices, it is preferable to also notify external devices that have already implemented restrictions in special circumstances (such as when a blockade request event has occurred). Additionally, notification to external devices may be performed only when transporting a specific cargo (e.g., when restrictions are implemented while the mobile robot 20 is carrying medication).

[0126] Transportation methods

[0127] Reference Figure 5 An example describing the transportation method (transportation processing) in transportation system 1. Figure 5 This is a flowchart illustrating a transportation method according to this embodiment.

[0128] First, the upper-level management device 10 determines whether it has received the occurrence information from the facility management system 30 (S501). If the determination is yes in step S501, the upper-level management device 10 automatically sends a restriction command to the mobile robot 20, which is the controlled object, to restrict the operation of the mobile robot 20 (S502). Upon receiving the restriction command, the mobile robot 20 executes the operation restriction.

[0129] Subsequently, the upper-level management device 10 determines whether the predetermined conditions are met (S503). If the condition is met in step S503, the upper-level management device 10 instructs the mobile robot 20 to restart (S504) and terminates the process. In response to step S504, the mobile robot 20 is restarted, allowing it to continue operating before the running limit (or just before restarting after the running limit). Whenever the upper-level management device 10 receives an event notification, it can execute... Figure 5 The processing described in the text.

[0130] Example 1 of variant handling

[0131] The operation of the mobile robot 20 can be restricted to a specific area.

[0132] Reference Figure 6 Describe such an example. Figure 6 It is shown that it should be made by Figure 1 A schematic diagram illustrating an example of a managed area managed by the facility management system 30.

[0133] exist Figure 6 The example shown illustrates an administration area 60 within a facility where an autonomous mobile robot 20 operates. Administration area 60 includes an elevator lobby 61, a corridor 62 connected to the elevator lobby 61, nurse stations 63 located on either side of the corridor 62, and rooms (wards) 64-67.

[0134] For example, restrictions on the operation of the mobile robot 20 to be managed may include uniform restrictions prohibiting the mobile robot 20 from entering specific areas. For example, more than one area can be preset as a specific area, such as elevator hall 61 and corridor 62.

[0135] Therefore, in the event of a lockdown request in the facility, a specific area can be secured, allowing for different uses of that area. As a procedure to be performed under restrictions including a unified stop for mobile robot 20 and a unified prohibition of mobile robot 20 from entering a specific area, the following procedure can be executed: When a given mobile robot 20 enters a specific area, the given mobile robot 20 is controlled to leave the specific area and stop outside of it.

[0136] In addition, in the facilities Figure 6 In the case of the hospital shown, and where the lockdown request event is an emergency call received event (i.e., where a lockdown request event is determined to have occurred when an emergency call is made), the specific area can be the area for which a lockdown request is made in response to such an emergency call. Thus, in the case of an emergency call being made in a hospital, it is possible to ensure the specific area to be used when the emergency call is made.

[0137] Example 2 of variant handling

[0138] Subsequently, Figure 7 This is a flowchart illustrating another example of the transportation method according to this embodiment. Furthermore, Figure 8 It is shown in Figure 7 The example view shows the priority settings for the mobile robot used in the example. Figure 9 It is shown that, according to Figure 7 The example view used in the example is the one that shows the priority level of the runtime necessity level change.

[0139] First, the upper-level management device 10 sets a priority level for the operation restrictions of the mobile robot 20, which is the controlled object, and this priority level is stored in the storage unit 12 as part of, for example, robot information 123 (S701). There is no particular limitation on the timing of setting the priority level, but in this embodiment, the priority level should be set before receiving the occurrence information used to trigger the execution of the operation restrictions. The priority level is a value that indicates the priority level at which the mobile robot 20, as the controlled object, executes the operation restrictions. For example, such as... Figure 8 As shown, priority levels can be set to values ​​from 1 to 10 associated with the mobile robot ID. Note that in this example, priority level "1" is set to the minimum value, and priority level "10" is set to the maximum value. However, priority levels are not limited to these.

[0140] Similar to Figure 5 In step S501, the upper-level management device 10 determines whether it has received the occurrence information from the facility management system 30 (S702). If the determination is yes in step S702, the upper-level management device 10 calculates the operational necessity level for each mobile robot 20 (S703).

[0141] Here, the operational necessity level indicates the degree to which it is necessary to operate the target mobile robot 20. For example, the operational necessity level can indicate the survival degree of the mobile robot 20, such as the necessity level of the cargo transported by the mobile robot 20 or the battery capacity (whether the mobile robot 20 can reach a charging station (not shown)). The operational necessity level can increase as the necessity level of the cargo increases, and the operational necessity level can also increase as it becomes more difficult for the mobile robot 20 to reach the charging station (because the mobile robot 20 takes more time to reach the charging station).

[0142] When issuing a transport instruction, the upper-level management device 10 receives and stores information indicating the battery capacity from the mobile robot 20. When the determination is correct in step S702, the upper-level management device 10 can estimate the operational necessity level of the mobile robot 20 based on the battery capacity, transport route, etc. Alternatively, when the determination is correct in step S702, the upper-level management device 10 can request and obtain the battery capacity information from the mobile robot 20.

[0143] Subsequently, the upper-level management device 10 changes the priority level of the mobile robot 20 according to the calculated operational necessity level, so that information exchange via robot-to-robot communication is performed before operational restrictions are imposed (S704). As described above, for example, robot-to-robot communication can be performed using short-range wireless communication such as Bluetooth (registered trademark), and the information to be exchanged via communication can be location information about the mobile robot 20. By ensuring such information, the mobile robot 20 can obtain this information when it is subsequently restarted, or the upper-level management device 10 can obtain this information.

[0144] For example, the change in step S704 can be performed so that by using Figure 9The priority level change value shown is used to increase or decrease the priority level value according to the operational necessity level (1 to 5 in this case). Thus, for example, if the operational necessity level of mobile robot ID "R1" is "5" and the operational necessity level of mobile robot ID "R4" is "1", the priority level of mobile robot ID "R1" changes from "10" to "8", and the priority level of mobile robot ID "R4" changes from "7" to "9". Therefore, in the state before the priority level is changed, the operational restrictions on mobile robot ID "R1" are implemented before the operational restrictions on mobile robot ID "R4". However, in the state after the priority level is changed, in step S705 (described later), the operational restrictions on mobile robot ID "R4" are implemented before the operational restrictions on mobile robot ID "R1".

[0145] Following step S704, the upper-level management device 10 automatically sends restriction instructions to the mobile robot 20, which is the controlled target, to restrict the operation of the mobile robot 20 at the corresponding processing time based on the priority level of the mobile robot 20 (in the example above, the restriction instructions are sent to the mobile robot 20 at earlier times as the priority level of the mobile robot 20 is higher) (S705). Upon receiving the restriction instructions (at the respective times corresponding to the aforementioned times), the mobile robots 20 sequentially restrict their operation.

[0146] Furthermore, the restriction instruction in S705 can be an instruction to restrict the operation of the mobile robot 20 after it has performed robot-to-robot communication. However, basically, when robot-to-robot communication is set to be performed at regular intervals, the mobile robots 20 have sufficient time to communicate with each other before the restriction instruction is sent; therefore, it is not necessary to instruct the mobile robots 20 to communicate with each other before executing the operational restrictions.

[0147] Subsequently, similar to Figure 5 In steps S503 and S504, the upper-level management device 10 determines whether a predetermined condition is met (S706). If the condition is met in step S706, the upper-level management device 10 instructs the mobile robot 20 to restart (S707) and ends the process. In response to step S707, the mobile robot 20 is restarted, allowing it to perform operations that were previously in place before the operating limit (or just after the operating limit but before restarting). Whenever the upper-level management device 10 receives an event notification, it can execute... Figure 7The process described in [the document] is as follows. Furthermore, the timing of the instruction in step S707 can be determined based on priority level. More specifically, the higher the priority level of the mobile robot 20 for the restriction, the lower the restart priority level can be assigned to the mobile robot 20, and the earlier the mobile robot 20 can be restarted.

[0148] Using this processing, in the event of a lockdown request event in the facility, the mobile robot 20 that needs to be operated can prioritize other mobile robots 20 to ensure the necessary information.

[0149] Example 3 of variant handling

[0150] Furthermore, if the mobile robot 20 receives a restriction instruction during task execution, the mobile robot 20 can determine whether to complete the remaining task before executing the restriction corresponding to the restriction instruction, based on the remaining task required to complete the currently being processed. The mobile robot 20 can then execute the restriction at a certain time based on this determination. Here, the remaining task can be roughly considered as the workload of the remaining task, and includes, for example, the remaining travel distance, the remaining travel distance included in the current remaining transportation task, operations (whether the mobile robot 20 should pass through the elevator, etc.), and the type of task.

[0151] Therefore, in the event of a lockdown request in the facility, each mobile robot can execute operational restrictions based on the remaining tasks. That is, during the execution of a task, the mobile robot 20 will not immediately stop based on the remaining tasks required to complete the task being processed, and the mobile robot 20 can determine whether it has completed the remaining tasks, and then execute restrictions based on that determination.

[0152] Furthermore, the above determination can be made based on the battery capacity of the mobile robot 20. As the battery capacity increases, the execution of the restriction may be delayed to allow for the execution of the remaining tasks, or the execution of the restriction may be brought forward.

[0153] For example, regarding mobile robots 20 with higher priority in transporting their respective goods, those with battery capacity sufficient to complete the task can be determined not to stop immediately, allowing them to finish the task, while other mobile robots 20 can be determined to stop uniformly according to constraint instructions. In such a determination, the mobile robots 20 that do not stop immediately should have priority in sending information or instructions via robot-to-robot communication. Even if a mobile robot 20 in robot-to-robot communication is determined to stop uniformly with other mobile robots 20, when that mobile robot 20 receives a communication request from another mobile robot 20, it can prioritize communication and not stop immediately.

[0154] Furthermore, the aforementioned determinations can be made by the higher-level management device 10. In this case, the higher-level management device 10 can change the timing of issuing restriction commands to the mobile robot 20, so that the mobile robot 20 can restrict its operation after completing its remaining tasks.

[0155] Example 4 of variant handling

[0156] Furthermore, as a limitation on the operation of mobile robot 20, the upper-level management device 10 can restrict mobile robot 20, causing it to abandon the ongoing transportation task and return to a standby location. This restriction corresponds to the restriction of temporarily changing the destination to a standby location. Additionally, the upper-level management device 10 can be configured to return mobile robot 20 to a standby location only if the number of people included in the video images acquired from the environmental camera 300 is not equal to or greater than a given number (in the case of an empty office, etc.). In this case, upon restarting mobile robot 20, it should be set to resume the transportation task performed before the restriction from the standby location.

[0157] Example 5 of variant handling

[0158] Furthermore, image or audio data captured within the facility can be acquired by the environmental camera 300, and can be used by the mobile robot 20 to enforce operational restrictions in a manner different from that used in Example 4. More specifically, the upper-level management device 10 determines the level of panic within the facility based on at least one of the image and audio data acquired within the facility. Any standard can be used for this determination, but the upper-level management device 10 can make the determination based on a learning model, for example, obtained through machine learning.

[0159] Then, the upper-level management device 10 can determine which mobile robots 20, which are controlled objects, should be restricted based on the determined level of panic. Thus, in the event of a lockdown request event in the facility, the upper-level management device 10 can individually impose operational restrictions on each mobile robot 20 according to the level of panic in the facility.

[0160] other

[0161] Furthermore, some or all of the processing in the superior management equipment 10, mobile robot 20, facility management system 30, etc., can be implemented as computer programs. Such programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), optical magnetic recording media (e.g., magneto-optical disks), CD read-only memory (CD-ROM), CD-R, CD-R / W, semiconductor memory (e.g., mask ROM, programmable ROM (PROM)), erasable PROM (EPROM), flash memory ROM, and random access memory (RAM). In addition, programs can be provided to a computer via various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired communication channels (e.g., wires or optical fibers) or wireless communication channels.

[0162] Note that the present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the present invention.

[0163] For example, the above embodiments relate to various examples related to operational limitations on mobile robots. However, these examples can also be applied to systems that do not restart the mobile robot when predetermined conditions are met.

[0164] Furthermore, the above embodiments relate to a system for autonomous movement of mobile robots within a hospital. However, this transportation system can also transport goods in hotels, restaurants, office buildings, event venues, and complexes. Moreover, the above embodiments have been described with the premise that the mobile robot transports goods within a single facility. However, if the mobile robot is capable of moving between multiple facilities, the transportation system is also applicable to transportation between multiple facilities. Furthermore, the transportation system according to this embodiment is not limited to the use of the mobile robot 20 constructed as described above, and mobile robots with various constructions can be used instead or in addition.

Claims

1. A transport system, wherein, transporting transport objects by using a plurality of mobile robots capable of autonomously moving within a facility, wherein: in a case where a lock request event occurs in at least one area within the facility, the transport system receives occurrence information transmitted from a facility management system configured to manage the facility, and causes the plurality of mobile robots to execute a movement restriction that restricts movement of the plurality of mobile robots; and in a case where a predetermined condition for the lock request event is satisfied after the plurality of mobile robots execute the movement restriction, the transport system causes the plurality of mobile robots to restart; wherein a priority level indicating a priority order in which the movement restriction is executed among the plurality of mobile robots is set for the plurality of mobile robots; and the priority level of the plurality of mobile robots is changed according to a movement necessity level indicating necessity of causing the plurality of mobile robots to move, so that the movement restriction is executed before the movement restriction by using information exchange through communication among the plurality of mobile robots. 2.The transport system according to claim 1, wherein: in a case where the plurality of mobile robots receive a restriction instruction, the plurality of mobile robots notify an external device capable of communicating with the plurality of mobile robots of information, and then execute the movement restriction; and in a case where the movement restriction is canceled by causing the plurality of mobile robots to restart, the plurality of mobile robots acquire the information from the external device.

3. The transport system according to claim 1 or 2, wherein, the movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits movement of the plurality of mobile robots.

4. The transport system according to claim 1 or 2, wherein, the movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits the plurality of mobile robots from entering a specific area.

5. The transport system of claim 4, wherein, in a case where the facility is a hospital and the lock request event is an event in which an emergency call is received, the specific area is an area for which a lock request is made in response to the emergency call received thereby. 6.The transport system according to claim 1 or 2, wherein: in a case where the plurality of mobile robots receive a restriction instruction during execution of respective tasks, the plurality of mobile robots determine whether the plurality of mobile robots complete respective remaining tasks required to complete the respective tasks before executing a restriction corresponding to the restriction instruction, based on the respective remaining tasks; and the plurality of mobile robots execute the restriction at respective times based on respective determination results. 7.The transport system according to claim 1 or 2, wherein: the transport system determines a degree of panic within the facility based on at least one of photographed image data and recorded sound data acquired within the facility; and the transport system determines a mobile robot to be restricted from the plurality of mobile robots according to the degree of panic. 8.A transport method for transporting transport objects by using a plurality of mobile robots capable of autonomously moving within a facility, the transport method comprising: in a case where an event of a lock request occurs in at least one area in the facility, receiving occurrence information transmitted from a facility management system configured to manage the facility, and causing the plurality of mobile robots to execute a movement restriction that restricts movement of the plurality of mobile robots; in a case where a predetermined condition for the event of the lock request is satisfied after the plurality of mobile robots execute the movement restriction, causing the plurality of mobile robots to restart; wherein the transportation method further includes: setting a priority level that indicates a priority order in which the plurality of mobile robots execute the movement restriction among the plurality of mobile robots; and changing the priority level of the plurality of mobile robots according to a movement necessity level that indicates necessity of causing the plurality of mobile robots to move, so that the movement restriction is executed before the movement restriction by using information exchange through communication among the plurality of mobile robots.

9. The transportation method according to claim 8, comprising: in a case where the plurality of mobile robots receive a restriction instruction, causing the plurality of mobile robots to notify an external device that is capable of communicating with the plurality of mobile robots of information, and then execute the movement restriction; and in a case where the movement restriction is cancelled by causing the plurality of mobile robots to restart, causing the plurality of mobile robots to acquire the information from the external device.

10. The method of transporting according to claim 8 or 9, wherein, the movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits movement of the plurality of mobile robots.

11. The method of transporting according to claim 8 or 9, wherein, the movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits the plurality of mobile robots from entering a specific area.

12. The method of transporting of claim 11, wherein, in a case where the facility is a hospital and the event of the lock request is an event of receiving an emergency call, the specific area is an area for which a lock request is made in response to the emergency call received thereby.

13. The transportation method according to claim 8 or 9, comprising: in a case where the plurality of mobile robots receive a restriction instruction during execution of respective tasks, causing the plurality of mobile robots to determine whether the plurality of mobile robots complete respective remaining tasks required to complete the respective tasks before executing a restriction corresponding to the restriction instruction based on the respective remaining tasks; and causing the plurality of mobile robots to execute the restriction at respective times based on respective determination results.

14. The transportation method according to claim 8 or 9, comprising: determining a degree of panic in the facility based on at least one of photographed image data and recorded sound data acquired in the facility; and determining a mobile robot to be restricted from the plurality of mobile robots according to the degree of panic.

15. A computer-readable medium storing a program that causes a computer to execute transportation management in which a plurality of mobile robots that are capable of moving autonomously in a facility are used to transport a transportation object, the transportation management being executed as follows: ​ In a case where a lock request event occurs in at least one area in the facility, the computer receives occurrence information transmitted from a facility management system configured to manage the facility, and causes the plurality of mobile robots to execute a movement restriction that restricts movement of the plurality of mobile robots; and In a case where a predetermined condition for the lock request event is satisfied after the plurality of mobile robots execute the movement restriction, the computer causes the plurality of mobile robots to restart; wherein The transport management is further executed as follows: A priority level indicating a priority order in which the plurality of mobile robots execute the movement restriction is set to the plurality of mobile robots; and The priority level of the plurality of mobile robots is changed according to a movement necessity level indicating necessity of causing the plurality of mobile robots to move, so that the movement restriction is executed before the movement restriction by using information exchange through communication between the plurality of mobile robots.

16. The computer readable medium according to claim 15, wherein: In a case where the plurality of mobile robots receive a restriction instruction, the plurality of mobile robots notify an external device capable of communicating with the plurality of mobile robots of information, and then execute the movement restriction; and In a case where the movement restriction is cancelled by causing the plurality of mobile robots to restart, the plurality of mobile robots acquire the information from the external device.

17. The computer readable medium of claim 15 or 16, wherein, The movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits movement of the plurality of mobile robots.

18. The computer readable medium of claim 15 or 16, wherein, The movement restriction executed by the plurality of mobile robots includes a restriction that uniformly prohibits the plurality of mobile robots from entering a specific area.

19. The computer readable medium of claim 18, wherein, In a case where the facility is a hospital and the lock request event is an event in which an emergency call is received, the specific area is an area for which a lock request is made in response to the emergency call received thereby.

20. The computer readable medium according to claim 15 or 16, wherein: In a case where the plurality of mobile robots receive a restriction instruction during execution of respective tasks, the plurality of mobile robots determine whether the plurality of mobile robots complete respective remaining tasks required to complete the respective tasks before executing a restriction corresponding to the restriction instruction, based on the respective remaining tasks; and The plurality of mobile robots execute the restriction at respective times based on respective determination results.

21. The computer readable medium according to claim 15 or 16, wherein: The computer determines a degree of panic in the facility based on at least one of photographed image data and recorded sound data acquired in the facility; and The computer determines a mobile robot to be restricted from the plurality of mobile robots according to the degree of panic.

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