Control system, control method, and computer-readable storage medium

Abstract

A control system, a control method, and a computer-readable storage medium are provided. The control system controls the opening and closing of a safety gate provided in a facility where multiple mobile robots travel autonomously. The control system performs the following steps: receiving a passage reservation signal for passing through the safety gate; and upon receiving the passage reservation signal from the multiple mobile robots, allowing the multiple mobile robots to successively pass through the safety gate while the safety gate opens once.

Description

Technical Field

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

[0002] Japanese Unexamined Patent Application Publication No. 2019-108219 (JP2019-108219A) discloses a delivery system that uses an unmanned delivery vehicle (delivery robot) to transport objects within an apartment building. The unmanned delivery vehicle stores authentication information that allows it to pass through the apartment building's doors. Once the unmanned delivery vehicle transmits this authentication information to the apartment building's server, it is able to pass through the door. Summary of the Invention

[0003] When controlling a plurality of transport robots (also referred to as mobile robots), it is necessary to allow the mobile robots to move more efficiently. For example, it is preferable to perform control so that the plurality of mobile robots can pass through a door efficiently.

[0004] The present disclosure provides a control system, a control method, and a computer-readable storage medium capable of appropriately controlling passage through a security door.

[0005] According to an embodiment, a control system for controlling the opening and closing of a safety gate is provided, wherein the safety gate is arranged in a facility where multiple mobile robots walk autonomously, and the control system performs: receiving a pass reservation signal for passing through the safety gate; and when receiving a pass reservation signal from multiple mobile robots, allowing the multiple mobile robots to pass through the safety gate continuously while the safety gate opens the door once.

[0006] In the control system, the passage order of the plurality of mobile robots through the safety door may be determined based on a predetermined priority.

[0007] In the control system, it may be determined whether the plurality of mobile robots successively pass through the safety gate in the order in which the passage reservation signals have been received.

[0008] In the control system, each mobile robot may transmit the passage reservation signal when a movement time or a movement distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

[0009] In the control system, each mobile robot may transmit the passage reservation signal when the mobile robot has moved to a predetermined position in the facility.

[0010] In the control system, each mobile robot may transmit a passage start signal when the mobile robot has reached the safety gate, and control may be performed so that the door of the safety gate is opened according to the passage start signal.

[0011] In the control system, each mobile robot can send a passage completion signal indicating that the passage through the safety gate has been completed, and when the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety gate can allow the first mobile robot and the second mobile robot to pass through the gate continuously when the gate is opened once, and when the passage reservation signal is not received from the second mobile robot before the passage completion signal is received from the first mobile robot, after the first mobile robot has passed through the gate, before the second mobile robot passes through the gate, the safety gate can close the gate.

[0012] According to another embodiment, a control method for controlling the opening and closing of a safety door is provided, wherein the safety door is arranged in a facility where multiple mobile robots walk autonomously, and the control method includes: receiving a pass reservation signal for passing through the safety door; and when receiving the pass reservation signal from the multiple mobile robots, allowing the multiple mobile robots to pass through the safety door continuously while the safety door opens the door once.

[0013] In the control method, the passage order of the plurality of mobile robots through the safety door may be determined based on a predetermined priority.

[0014] In the control method, it may be determined whether the plurality of mobile robots successively pass through the security gate in the order in which the pass reservation signal has been received.

[0015] In the control method, each mobile robot may transmit the passage reservation signal when a movement time or a movement distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

[0016] In the control method, each mobile robot may transmit the passage reservation signal when the mobile robot has moved to a predetermined position in the facility.

[0017] In the control method, each mobile robot may transmit a passage start signal when the mobile robot has reached the safety gate, and control may be performed such that the door of the safety gate is opened according to the passage start signal.

[0018] In the control method, each mobile robot can send a passage completion signal indicating that the passage through the safety gate has been completed, and when the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety gate can allow the first mobile robot and the second mobile robot to pass through the gate continuously when the gate is opened once, and when the passage reservation signal is not received from the second mobile robot before the passage completion signal is received from the first mobile robot, after the first mobile robot has passed through the gate, before the second mobile robot passes through the gate, the safety gate can close the gate.

[0019] According to another embodiment, a computer-readable storage medium is provided, which stores a program that enables a computer to execute a control method for controlling the opening and closing of a safety door, wherein the safety door is set in a facility where multiple mobile robots walk autonomously, and the control method includes: receiving a pass reservation signal for passing through the safety door; and when receiving a pass reservation signal from multiple mobile robots, allowing the multiple mobile robots to pass through the safety door continuously while the safety door opens the door once.

[0020] In the program, the passage order of the plurality of mobile robots through the safety door may be determined based on a predetermined priority.

[0021] In the program, it may be determined whether the plurality of mobile robots successively pass through the security gate in the order in which the pass reservation signals have been received.

[0022] In the program, each mobile robot may transmit the passage reservation signal when a movement time or a movement distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

[0023] In the program, each mobile robot may transmit the pass reservation signal when the mobile robot has moved to a predetermined position in the facility.

[0024] In the program, each mobile robot may transmit a passage start signal when the mobile robot has reached the safety gate, and control may be performed so that the door of the safety gate is opened according to the passage start signal.

[0025] In the program, each mobile robot can send a passage completion signal indicating that the passage through the safety gate has been completed, and when the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety gate can allow the first mobile robot and the second mobile robot to pass through the gate continuously when the gate is opened once, and when the passage reservation signal is not received from the second mobile robot before the passage completion signal is received from the first mobile robot, after the first mobile robot has passed through the gate, before the second mobile robot passes through the gate, the safety gate can close the gate.

[0026] According to the present disclosure, a control system, a control method, and a computer-readable storage medium capable of appropriately controlling passage through a security door can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0029] Figure 2 is a control block diagram showing a control system according to an embodiment;

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

[0031] Figure 4 is a timing chart showing operation control example 1 according to the embodiment;

[0032] Figure 5 is a diagram showing an operation of allowing a mobile robot to continuously pass through a safety door;

[0033] Figure 6 is a diagram showing an operation of allowing a mobile robot to continuously pass through a safety door;

[0034] Figure 7 is a diagram showing an operation of allowing a mobile robot to continuously pass through a safety door;

[0035] Figure 8 is a diagram showing an operation of allowing a mobile robot to continuously pass through a safety door;

[0036] Figure 9 is a timing chart showing operation control example 2 according to the embodiment;

[0037] Figure 10is a diagram showing the operation in Operation Control Example 2;

[0038] Figure 11 is a diagram showing the operation in Operation Control Example 2;

[0039] Figure 12 is a diagram showing the operation in Operation Control Example 2;

[0040] Figure 13 is a diagram showing the operation in Operation Control Example 2;

[0041] Figure 14 is a diagram showing the operation in Operation Control Example 2;

[0042] Figure 15 is a diagram showing the operation in Operation Control Example 2;

[0043] Figure 16 is a diagram showing the operation in Modification Example 1;

[0044] Figure 17 is a diagram showing the operation in Modification Example 1;

[0045] Figure 18 is a diagram showing the operation in Modification Example 1;

[0046] Figure 19 is a diagram showing the operation in Modification 1; and

[0047] Figure 20 This is a diagram showing the operation in Modification Example 1. DETAILED DESCRIPTION

[0048] Hereinafter, embodiments of the present invention will be described, but the present invention described in the appended claims is not limited to the following embodiments. All elements described in the following embodiments are not essential for the configuration according to the present invention.

[0049] Configuration Summary

[0050] Figure 1 This is a conceptual diagram showing the overall configuration of system 1 using mobile robot 20 according to an embodiment. For example, mobile robot 20 may be a delivery robot whose mission is to transport objects. Mobile robot 20 can autonomously travel to transport objects within medical and welfare facilities such as hospitals, rehabilitation centers, nursing facilities, or nursing homes. The system according to this embodiment can also be used in commercial facilities such as shopping malls.

[0051] User U1 loads an object onto mobile robot 20 and requests its transport. Mobile robot 20 autonomously moves to the designated destination and delivers the object. In other words, mobile robot 20 performs an object transport mission (hereinafter referred to as a mission). In the following description, the location where the object is loaded onto the mobile robot is referred to as the transport source, and the location to which the object is to be delivered is referred to as the transport destination.

[0052] For example, assume that mobile robot 20 is moving within a general hospital that includes multiple medical departments. Mobile robot 20 transports hardware, consumables, medical devices, and the like between the various medical departments. For example, the mobile robot may transport an object from a nurse's station in one medical department to a nurse's station in another. Alternatively, mobile robot 20 may transport an object from a storage warehouse for hardware or medical devices to a nurse's station in a medical department. Mobile robot 20 may also transport medication prepared in a pharmacy to a medical department or to a patient scheduled to receive the medication.

[0053] Examples of transported objects include medicines, consumables (such as bandages), samples, examination instruments, medical devices, hospital meals, and firmware (such as stationery). Examples of medical devices include blood pressure monitors, blood transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed sensors, continuous low-pressure suction devices, electrocardiogram monitors, infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, resuscitators, sterile equipment, and echo spectrometers. The mobile robot 20 can transport meals, such as hospital meals and meal preparations for examinations. The mobile robot 20 can transport used instruments, used tableware, etc. When the transport destination is on another floor, the mobile robot 20 can be moved using an elevator or the like.

[0054] System 1 includes a mobile robot 20, a host management device 10, a network 600, a communication unit 610, and a user terminal 400. User U1 or user U2 can use user terminal 400 to request the transport of an object. For example, user terminal 400 is a tablet computer or a smartphone. User terminal 400 can be any information processing device capable of wireless or wired communication.

[0055] In this embodiment, the mobile robot 20 and the user terminal 400 are connected to the host management device 10 via a network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via a communication unit 610. The network 600 is a wired or wireless local area network (LAN) or wide area network (WAN). The host management device 10 can be connected to the network 600 in a wired or wireless manner. The communication unit 610 is, for example, a wireless LAN unit installed in each environment. The communication unit 610 can be a general-purpose communication device such as a WiFi router.

[0056] Various signals sent from the user terminal 400 of the user U1 or U2 are temporarily transmitted to the host management device 10 via the network 600, and then sent from the host management device 10 to the target mobile robot 20. Similarly, various signals sent from the mobile robot 20 are temporarily transmitted to the host management device 10 via the network 600, and then sent from the host management device 10 to the target user terminal 400. The host management device 10 is a server that is connected to various devices and collects data from these devices. The host management device 10 is not limited to a single physical device, but may include multiple devices that perform distributed processing. The host management device 10 can be distributed and set in edge devices such as the mobile robot 20. For example, part or all of the system 1 can be set in the mobile robot 20.

[0057] The user terminal 400 and the mobile robot 20 can send and receive signals to and from each other without using the host management device 10. For example, the user terminal 400 and the mobile robot 20 can directly send and receive signals to and from each other through wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 can send and receive signals via the communication unit 610.

[0058] User U1 or user U2 uses user terminal 400 to request the delivery of a transport object. In the following description, it is assumed that user U1 is the transport requester at the transport source, and user U2 is the intended recipient at the transport destination (destination). User U2 at the transport destination can request the delivery of a transport object. Users at locations other than the transport source or the transport destination can request the delivery of a transport object.

[0059] When user U1 makes a transport request, user U1 uses the user terminal 400 to input details of the transport object, the receiving destination of the transport object (hereinafter also referred to as the transport source), the place where the transport object needs to arrive (hereinafter also referred to as the transport destination), the planned arrival time of the transport source (receiving time of the transport object), the planned arrival time of the transport destination (transportation deadline), etc. In the following description, this information is also referred to as transport request information. User U1 can input transport request information by operating the touch panel of the user terminal 400. The transport source can be the place where user U1 is located, the storage place of the transport object, etc. The transport destination is the place where user U2 or the patient who plans to use the transport object is located.

[0060] User terminal 400 transmits transport request information input by user U1 to host management device 10. Host management device 10 is a management system that manages multiple mobile robots 20. Host management device 10 transmits operation commands to mobile robots 20 for performing transport tasks. For each transport request, host management device 10 determines which mobile robot 20 should perform the transport task. Host management device 10 then transmits a control signal including the operation command to the corresponding mobile robot 20. Mobile robots 20 move according to the operation command to reach the transport destination from the transport source.

[0061] For example, the host management device 10 assigns a delivery task to a mobile robot 20 located at or near a delivery source. Alternatively, the host management device 10 assigns a delivery task to a mobile robot 20 that is moving to or near a delivery source. The assigned mobile robot 20 moves to the delivery source to receive the object. For example, the delivery source is the location of the user U1 who requested the task.

[0062] When mobile robot 20 arrives at the delivery source, user U1 or another staff member loads the object into mobile robot 20. Mobile robot 20, loaded with the object, autonomously moves to the delivery destination. Host management device 10 sends a signal to user terminal 400 of user U2 at the delivery destination. This allows user U2 to determine whether the object is currently being delivered or when it will arrive. When mobile robot 20 arrives at the designated delivery destination, user U2 receives the object loaded into mobile robot 20. Thus, mobile robot 20 completes the delivery mission.

[0063] This integrated configuration allows the control system to be integrated by distributing the control system components to the mobile robots 20, the user terminals 400, and the host management device 10. Essential components for transporting objects can be co-located in a single device. The host management device 10 controls one or more mobile robots 20.

[0064] The transport system 1 includes a safety gate 800. The safety gate 800 is a gate for restricting the passage of a user or mobile robot 20. When a user or mobile robot 20 that has been authorized in advance is in front of the gate, the safety gate 800 opens the gate. When a user or mobile robot 20 that has been authorized in advance is not in front of the gate, the safety gate 800 closes the gate.

[0065] For example, the security door 800 is installed in front of a room that only certified hospital staff (users) can enter. In other words, the security door 800 is installed between a generally accessible area (also called a non-restricted area) that general users can enter and a restricted area where access is restricted. When the security level is set to multiple levels, the security door 800 can be installed between areas with different security levels. In this case, the security door 800 represents the boundary between the security levels.

[0066] The opening and closing control of the security gate 800 is performed based on authentication data. For example, authentication data is assigned to users and mobile robots permitted to pass through the security gate 800. The authentication data is stored in a security card issued to each user. The security card can be a user's ID card or IC card. Alternatively, the authentication data can be assigned to each user terminal 400.

[0067] A card reader or the like is provided in security door 800. When using a contactless security card, the door is opened by allowing the user to place the security card over the card reader. After a predetermined time has passed since the door was opened, the door automatically closes. The card used for authentication can be a contactless card or a contact card. Alternatively, security door 800 can operate based on facial authentication using an environmental camera 300 or the like.

[0068] The safety gate 800 or the host management device 10 stores registration data corresponding to the authentication data. The safety gate 800 or the host management device 10 performs an authentication process based on whether the authentication data and the registration data match. The host management device 10 controls the safety gate 800 so that the mobile robot 20 can pass through the safety gate 800.

[0069] When security gate 800 is installed in the path of mobile robot 20 as it moves to its destination, mobile robot 20 transmits a pass-through signal to host management device 10. The pass-through signal may include authentication data. Upon receiving the pass-through signal, host management device 10 allows mobile robot 20 to pass through. When mobile robot 20 reaches security gate 800, host management device 10 controls the security gate 800 to open. Host management device 10 then controls the security gate 800 to close after mobile robot 20 passes through.

[0070] In this manner, security gate 800 performs opening and closing operations based on authentication data or a reservation signal. The host management device 10 controls the mobile robot 20 and security gate 800. Therefore, only authenticated users and authenticated mobile robots 20 can pass through security gate 800. Specific authentication data is assigned to each of the mobile robot 20 and the user. The host management device 10 can manage the frequency and duration of passage for each user and each mobile robot. The control of security gate 800 by the host management device 10 will be described later.

[0071] Passage through the safety gate 800 can be restricted in a bidirectional or unidirectional manner. That is, passage through the safety gate 800 can be restricted only when the user or mobile robot 20 moves in a direction that increases the security level. In other words, when the user or mobile robot 20 moves in a direction that decreases the security level, authentication may not be performed. In this case, the safety gate 800 functions as an automatic door that opens and closes automatically.

[0072] Control block diagram

[0073] Figure 2 1 is a control block diagram showing the control system of system 1. Figure 2 As shown, the system 1 includes a host management device 10 , a mobile robot 20 , an environment camera 300 , and a safety door 800 .

[0074] System 1 effectively controls multiple mobile robots 20 while allowing them to move autonomously within a predetermined facility. Therefore, multiple environmental cameras 300 are installed within the facility. For example, environmental cameras 300 are installed in passageways, halls, elevators, entrances and exits, and near security gates 800 within the facility.

[0075] The environmental cameras 300 capture images within the range of motion of the mobile robot 20. In system 1, images captured by the environmental cameras 300 or information based thereon are collected by the host management device 10. Alternatively, images captured by the environmental cameras 300 can be directly transmitted to the mobile robot. Each environmental camera 300 can be a surveillance camera, for example, located in a passageway or entrance of the facility. The environmental cameras 300 can be used to detect congestion patterns within the facility.

[0076] As described above, the safety gate 800 restricts passage of a user or the mobile robot 20. The safety gate 800 opens or closes the gate based on an opening and closing signal transmitted from the host management device 10. Control of the safety gate 800 will be described later.

[0077] In the system 1 according to this embodiment, the host management device 10 plans a route based on the transport request information. The host management device 10 notifies each mobile robot 20 of the destination based on the route planning information prepared by the host management device 10. Each mobile robot 20 autonomously moves to the destination specified by the host management device 10. The mobile robot 20 autonomously moves to the destination (target) using sensors, floor maps, location information, etc. provided therein.

[0078] For example, each mobile robot 20 walks so that it does not contact equipment, objects, walls, people, etc. (hereinafter also referred to as nearby objects) near it. Specifically, each mobile robot 20 detects the distance to the nearby object and walks in a state where it is separated from the nearby object by a predetermined distance (referred to as a threshold distance) or more. When the distance to the nearby object is equal to or less than the threshold distance, the mobile robot 20 slows down or stops. As a result, the mobile robot 20 is able to walk without contacting the nearby object. Since contact can be avoided, safe and efficient transportation can be provided. The threshold distance is a predetermined distance that is set to enable each mobile robot to walk safely.

[0079] The host management device 10 includes an operation processing unit 11, a storage unit 12, a cache memory 13, and a communication unit 14. The operation processing unit 11 performs operations for controlling and managing the mobile robot 20. The operation processing unit 11 can be installed as a device capable of executing a program, such as a central processing unit (CPU) of a computer. Various functions can be implemented by the program. Figure 2 , only the robot control unit 111 , the path planning unit 115 , the transported object information acquisition unit 116 , and the door management unit 119 are shown as features of the operation processing unit 11 , but other processing blocks may also be provided in the operation processing unit 11 .

[0080] The robot control unit 111 performs operations for remotely controlling the mobile robot 20 and generates control signals. The robot control unit 111 generates these control signals based on, for example, path planning information 125, which will be described later. The robot control unit 111 generates these control signals based on various types of information acquired from the environment camera 300 or the mobile robot 20. These control signals may include updated information, such as the floor map 121, robot information 123, and robot control parameters 122, which will be described later. Specifically, when various types of information are updated, the robot control unit 111 generates control signals corresponding to the updated information.

[0081] The transport object information acquisition unit 116 acquires information about the transport object. The transport object information acquisition unit 116 acquires information about the details (type) of the transport object being transported by the mobile robot 20.

[0082] The path planning unit 115 creates a path plan for the corresponding mobile robot 20. When a transport task is input, the path planning unit 115 creates a path plan for transporting the transport object to the transport destination (destination) based on the transport request information. Specifically, the path planning unit 115 refers to the path planning information 125 and robot information 123 pre-stored in the storage unit 12 to determine the mobile robot 20 to perform the new transport task. The departure point can be the current location of the mobile robot 20, the destination of the previous transport task, the receiving source of the transport object, etc. The destination can be the transport destination of the transport object, a waiting place (waiting area), a charging place, etc.

[0083] Here, the path planning unit 115 sets transit points from the starting point to the destination of the mobile robot 20. The path planning unit 115 sets the order for each mobile robot 20 to pass through the transit points. Transit points are set to, for example, intersections, crossroads, and the lobby in front of an elevator or its surrounding area. In a narrow passage, it may be difficult for the mobile robots 20 to pass each other. In this case, a narrow location in front of the passage can be set as a transit point. Candidates for transit points can be pre-registered in the floor map 121.

[0084] The path planning unit 115 determines a mobile robot 20 to perform a transport task from among a plurality of mobile robots 20 so that the transport task can be efficiently performed as a whole system. The path planning unit 115 preferentially assigns the transport task to a waiting mobile robot 20 or a mobile robot 20 close to a transport source.

[0085] The path planning unit 115 sets transit points, including the departure point and the destination, for the mobile robot 20 assigned a delivery mission. For example, when there are two or more travel paths from the delivery source to the delivery destination, the path planning unit 115 sets transit points to enable the mobile robot 20 to travel in a shorter time. Therefore, the host management device 10 updates information indicating channel congestion based on images from a camera, etc. Specifically, a location where another mobile robot 20 is passing or a location with many people has a high congestion level. Therefore, the path planning unit 115 sets transit points to avoid locations with high congestion levels.

[0086] The mobile robot 20 can move to the destination using either a left-turn movement path or a right-turn movement path. In this case, the path planning unit 115 sets a passing point, such as the mobile robot moves along a movement path with low congestion. By having the path planning unit 115 set one or more passing points to reach the destination, the mobile robot 20 can move along a movement path with low congestion. For example, when a passage forks at an intersection or a crossroads, the path planning unit 115 appropriately sets passing points at the intersection, crossroads, turning point, and its surroundings. Therefore, transportation efficiency can be improved.

[0087] The path planning unit 115 can set the passing points in consideration of the elevator congestion level, the moving distance, etc. The host management device 10 can estimate the number of mobile robots 20 or the number of people at the moment when the corresponding mobile robot 20 is planned to pass through a certain place. The path planning unit 115 can set the passing points based on the estimated congestion level. The path planning unit 115 can dynamically change the passing points according to the change in the congestion level. The path planning unit 115 sequentially sets passing points for the mobile robots 20 to which the transport tasks have been assigned. The passing points may include a transport source or a transport destination. As will be described later, the mobile robot 20 moves autonomously so that the mobile robot 20 sequentially passes through the passing points set by the path planning unit 115.

[0088] The door management unit 119 manages the opening and closing of the door of the security door 800. For example, the host management device 10 receives authentication data of a user or mobile robot 20 located in front of the security door 800. The door management unit 119 performs authentication processing based on the authentication data from the user or mobile robot 20. The door management unit 119 determines whether the authentication data obtained from the user or mobile robot 20 matches the registration data stored in the storage unit 12. When the authentication data matches the registration data, the host management device 10 sends a consent signal (also called an open signal) to the security door 800. When the consent signal is received from the host management device 10, the security door 800 opens the door.

[0089] If the authentication data does not match the registration data, the host management device 10 sends a disapproval signal to the security door 800. Upon receiving the disapproval signal from the host management device 10, the security door 800 does not open. In this case, the security door 800 may issue an alarm or request authentication data again. Thus, the door management unit 119 controls the opening and closing of the security door 800 based on the authentication result.

[0090] The door management unit 119 can generate a pass permission signal. This signal is used to allow passage through the door. For example, when the host management device 10 receives a pass reservation signal from the mobile robot 20, etc., the door management unit 119 generates a pass permission signal. Based on the signal from the mobile robot 20, etc., the door management unit 119 generates an opening / closing signal for opening or closing the security door 800. Some or all of the processes performed by the door management unit 119 can be performed by the security door 800. That is, the security door 800 may include a processor for executing these processes.

[0091] The storage unit 12 is a storage unit for storing information required for robot management and control. Figure 2 In the illustrated example, a floor map 121, robot information 123, robot control parameters 122, path planning information 125, transport object information 126, and door management data 129 are shown, but other information may be stored in the storage unit 12. The operation processing unit 11 uses the information stored in the storage unit 12 when performing various processes to perform operations. Various types of information stored in the storage unit 12 can be updated with the latest information.

[0092] The floor map 121 is map information of the facility in which the mobile robot 20 moves. The floor map 121 may be prepared in advance, generated based on information acquired from the mobile robot 20, or generated by adding map correction information generated based on information acquired from the mobile robot 20 to a pre-prepared basic map.

[0093] The floor map 121 includes information such as the location of the security gate 800. The floor map 121 stores the location coordinates of the security gate 800. If there are multiple security gates 800 in the facility, the floor map 121 includes the location information for each of the multiple security gates 800. For example, the location coordinates are added to the ID of each security gate 800. The floor map 121 may include information regarding restricted and non-restricted areas. If multiple security levels are set, information regarding the security levels may be added to the floor map 121. In the floor map 121, a transmission point or transmission area, such as a reservation signal, may be set near the security gate 800.

[0094] The robot information 123 describes the ID, model, specifications, and other information of the mobile robots 20 managed by the host management device 10. The robot information 123 may include location information indicating the current location of the mobile robots 20. The robot information 123 may also include information indicating whether each mobile robot 20 is performing a task or waiting. The robot information 123 may also include information indicating whether each mobile robot 20 is operating or experiencing a malfunction. The robot information 123 may include information on transportable and non-transportable objects. The robot information 123 may also include information on the horizontal size of each mobile robot 20.

[0095] The robot control parameters 122 include control parameters such as the threshold distance between each mobile robot 20 managed by the host management device 10 and nearby objects. The threshold distance is a boundary distance for avoiding contact with nearby objects, including humans. The robot control parameters 122 may include information on the degree of operation, such as the upper limit speed of the movement speed of each mobile robot 20.

[0096] In the robot control parameters 122, multiple threshold distances and multiple upper speed limits can be set. The host management device 10 can appropriately change the threshold distance and upper speed limit. For example, the threshold distance and upper speed limit can be set in stages. The threshold distances and upper speed limit set in stages can be related. For example, in a high-speed mode with a larger upper speed limit, it is difficult to stop or slow down suddenly, so the threshold distance is set larger. In a low-speed mode with a smaller upper speed limit, it is easy to stop or slow down suddenly, so the threshold distance is set smaller. In this way, the threshold distance can be changed according to the upper speed limit. The operation processing unit 11 can change the upper speed limit, etc. according to the transported object information or environmental information. The host management device 10 selects the upper speed limit and threshold distance from the robot control parameters according to the environment or conditions. When the upper speed limit and threshold distance are updated, the host management device 10 sends the updated data to the corresponding mobile robot 20.

[0097] The robot control parameters 122 may be updated according to circumstances. The robot control parameters 122 may include information indicating the availability of the storage space of the storage unit 291. The robot control parameters 122 may include information on transportable and untransportable objects. In the robot control parameters 122, various types of information are associated with the corresponding mobile robot 20.

[0098] The robot control parameters 122 may include parameters for sending a pass reservation signal, etc. Examples of parameters for sending a pass reservation signal, etc. include the distance and time required to move to the safety gate 800. For example, when the mobile robot 20 moves along a path passing through the safety gate 800 and the moving distance to the safety gate 800 is equal to or less than a predetermined distance, the mobile robot 20 sends a pass reservation signal. Alternatively, when the moving time to the safety gate 800 is equal to or less than a predetermined time, the mobile robot 20 sends a pass reservation signal, etc. The robot control parameters 122 may include data about a predetermined distance or a predetermined time. The predetermined value (threshold) of the moving time or the moving distance may be different between a plurality of mobile robots 20, or may be common between a plurality of mobile robots 20.

[0099] Path planning information 125 includes planned path planning information created by path planning unit 115. Path planning information 125 includes, for example, information indicating a transport task. Path planning information 125 may include information such as the ID of the mobile robot 20 assigned the task, the departure location, detailed information on the transport object, the transport destination, the transport source, the planned arrival time at the transport destination, the planned arrival time at the transport source, and the arrival deadline. Various types of information may be associated with each transport task in path planning information 125. Path planning information 125 may include at least a portion of the transport request information input by user U1.

[0100] The path planning information 125 may include information about the passage points for each mobile robot 20 or each transport task. For example, the path planning information 125 may include information indicating the order in which each mobile robot 20 passes through the passage points. The path planning information 125 may include the coordinates of the passage points in the floor map 121 or information indicating whether the corresponding mobile robot has passed through the passage points.

[0101] The transport object information 126 is information about the transport object for which a transport request has been sent. For example, the transport object information 126 includes information such as the detailed information (type) of the transport object, the transport source, and the transport destination. The transport object information 126 may include the ID of the mobile robot 20 responsible for the transport. The transport object information 126 may also include information indicating a status such as being carried, before being carried (before loading), or being carried. In the transport object information 126, such information is relevant for each transport object. The transport object information 126 will be described later.

[0102] The path planning unit 115 creates a path plan by referring to various types of information stored in the storage unit 12. For example, the path planning unit 115 determines the mobile robot 20 to perform a task based on the floor map 121, the robot information 123, the robot control parameters 122, and the path planning information 125. The path planning unit 115 refers to the floor map 121 and other information to set the transit points and the transit order to the delivery destination. The floor map 121 contains pre-registered candidate transit points. The path planning unit 115 sets transit points based on congestion conditions and other factors. When tasks are processed continuously, the path planning unit 115 may set the delivery source and destination as transit points.

[0103] A single transport task can be assigned to two or more mobile robots 20. For example, when the volume of the transported object is greater than the transportable capacity of a single mobile robot 20, the object is divided into two parts and loaded onto two mobile robots 20. Alternatively, when the weight of the transported object is greater than the transportable weight of a single mobile robot 20, the object is divided into two parts and loaded onto two mobile robots 20. In this way, a single transport task can be executed by assigning the task to two or more mobile robots 20. When mobile robots 20 of different sizes are controlled, a path plan can be created so that a mobile robot 20 capable of transporting the object receives the object.

[0104] A single mobile robot 20 can perform two or more transport tasks in parallel. For example, a single mobile robot 20 can simultaneously load two or more transport objects and deliver them sequentially to different destinations. Alternatively, the mobile robot 20 can simultaneously deliver one object while simultaneously receiving another. Objects loaded at different locations can have the same or different destinations. As a result, tasks can be efficiently executed.

[0105] In this case, the accommodation information indicating the availability status of the accommodation space of each mobile robot 20 can be updated. That is, the host management device 10 can manage the accommodation information indicating the availability status and control the mobile robot 20. For example, when loading or receiving the transport object is completed, the accommodation information is updated. When a transport task is input, the host management device 10 refers to the accommodation information to move the mobile robot 20 with available space that can load the transport object to receive the transport object. As a result, one mobile robot 20 can perform multiple transport tasks at the same time, or two or more mobile robots 20 can perform transport tasks together. For example, a sensor can be set in the accommodation space of each mobile robot 20 and its availability status can be detected. The capacity or weight of each transport object can be registered in advance.

[0106] The door management data 129 stores data or parameters for authentication when users and mobile robots 20 pass through the security door 800. In the door management data 129, authentication data assigned to each user and each mobile robot 20 is stored as registration data. That is, the user ID or robot ID is associated with the registration data. The host management device 10 sends authentication data corresponding to the registration data to each mobile robot 20. The authentication data sent from the host management device 10 is stored in each mobile robot 20. The administrator of the system can manage the registration data or authentication data. The door management data 129 may include such data as the passing frequency or passing time of each user or each mobile robot 20 through the security door 800.

[0107] Door management data 129 may not store authentication data. For example, each user ID or each robot ID may be assigned passable and inaccessible doors. At least a portion of door management data 129 may be stored in safety door 800. In other words, safety door 800 may include a memory for storing door management data 129.

[0108] The cache memory 13 is a memory that stores intermediate information generated during the processing performed by the operation processing unit 11. The communication unit 14 is a communication interface for communicating with multiple environmental cameras 300 and at least one mobile robot 20 installed in the facility where the system 1 is used. The communication unit 14 is capable of both wired and wireless communication. For example, the communication unit 14 transmits control signals required to control each mobile robot 20 to the corresponding mobile robot 20. The communication unit 14 also receives information collected by the mobile robots 20 or the environmental cameras 300.

[0109] The communication unit 14 receives a passage reservation signal, a passage start signal, a passage completion signal, etc. from each mobile robot 20, etc. The communication unit 14 transmits a passage permission signal to the corresponding mobile robot 20. The communication unit 14 transmits an opening / closing signal to the safety door 800.

[0110] Each mobile robot 20 includes an operation processing unit 21 , a storage unit 22 , a communication unit 23 , a proximity sensor (eg, a distance sensor group 24 ), a camera 25 , a drive unit 26 , a display unit 27 , and an operation receiving unit 28 . Figure 2 Only representative processing blocks provided in the mobile robot 20 are shown in FIG. 2 , but the mobile robot 20 includes other processing blocks not shown.

[0111] The communication unit 23 is a communication interface for communicating with the communication unit 14 of the host management device 10. The communication unit 23 communicates with the communication unit 14 using, for example, radio signals. The distance sensor group 24 is, for example, a proximity sensor, and outputs nearby object distance information indicating the distance to an object or person near the mobile robot 20. For example, the camera 25 captures images for determining the surrounding conditions of the mobile robot 20. For example, the camera 25 may image a location marker installed on the ceiling of the facility. The location marker can be used to enable the mobile robot 20 to determine its position.

[0112] The communication unit 23 transmits a pass reservation signal, a pass start signal, a pass completion signal, etc. to the host management device 10 . The communication unit 23 receives a pass permission signal from the host management device 10 .

[0113] The drive unit 26 drives the drive wheels provided in the mobile robot 20. The drive unit 26 may include an encoder or the like that detects the number of rotations of the drive wheels or their drive motors. The position (current position) may be estimated based on the output of the encoder. The mobile robot 20 detects the current position and transmits the detected current position to the host management device 10.

[0114] The display unit 27 and the operation receiving unit 28 are implemented by a touch panel display. The display unit 27 displays a user interface screen serving as the operation receiving unit 28. Information indicating the destination of the mobile robot 20 or the status of the mobile robot 20 can be displayed on the display unit 27. 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.

[0115] The operation processing unit 21 performs operations for controlling the mobile robot 20. The operation processing unit 21 may be installed as, for example, a device capable of executing a program, such as a central processing unit (CPU) of a computer. Various functions may be implemented by the program. The operation processing unit 21 includes a movement command extraction unit 211 and a drive control unit 212. Figure 2 , only representative processing blocks provided in the operation processing unit 21 are shown, but other processing blocks not shown may also be provided in the operation processing unit 21. The operation processing unit 21 can search for a path between passing points.

[0116] The movement command extraction unit 211 extracts a movement command from the control signal transmitted by the host management device 10. For example, the movement command includes information about the next pass point. For example, the control signal may include information about the coordinates of the pass points and the order in which the pass points are to be passed. The movement command extraction unit 211 extracts this information as a movement command.

[0117] The movement command may include information indicating that movement to the next passing point is possible. In a passage with a narrow width, the mobile robots 20 may not be able to pass each other. The mobile robots may temporarily be unable to pass through the passage. In this case, the control signal includes a command to stop the mobile robot 20 at a passing point in front of the place where the mobile robot must stop. After another mobile robot 20 has passed the passing point or after passing through the passage becomes possible, the host management device 10 outputs a control signal to the mobile robot 20 indicating that movement has become possible. Therefore, the temporarily stopped mobile robot 20 resumes its movement.

[0118] The drive control unit 212 controls the drive unit 26 so that the mobile robot 20 moves based on the movement command given from the movement command extraction unit 211. For example, the drive unit 26 includes drive wheels that rotate based on the control command value from the drive control unit 212. The movement command extraction unit 211 extracts the movement command so that the mobile robot 20 moves to the passing point received from the host management device 10. The drive unit 26 rotationally drives the drive wheels. The mobile robot 20 moves autonomously to the next passing point. In this way, the mobile robot 20 passes through the passing points in sequence and reaches the transportation destination. The mobile robot 20 can estimate its position and send a signal indicating that it has passed the passing point to the host management device 10. Therefore, the host management device 10 can manage the current position or transportation status of each mobile robot 20.

[0119] The signal generation unit 219 generates the signals necessary for allowing the mobile robot to pass through the security gate 800. For example, the signal generation unit 219 generates a passage reservation signal, a passage start signal, a passage completion signal, and the like. The signal generation unit 219 generates various signals using the current location of the mobile robot 20, the floor map 221, the robot control parameters 222, the door management data 229, and the like. The signal generation unit 219 can add authentication data, the robot ID, and the like to the generated signals. If there are multiple security gates 800, the signal generation unit 219 can also add the door ID and location information of the security gate 800 being passed to the generated signals. The various signals generated by the signal generation unit 219 are transmitted from the communication unit 23 to the host management device 10 or the security gate 800.

[0120] The storage unit 22 stores a floor map 221, robot control parameters 222, transport object information 226, and door management data 229. Part of the information stored in the storage unit 22 is stored in Figure 2 As shown in Figure 2Information other than the floor map 221, robot control parameters 222, and transport object information 226 shown is provided. Floor map 221 is map information of the facility in which mobile robot 20 moves. For example, floor map 221 can be obtained by downloading floor map 121 from host management device 10. Floor map 221 can be prepared in advance. Floor map 221 may not be map information for the entire facility, but may be map information for a portion of the area in which the mobile robot plans to move.

[0121] The position information of the security gate 800 is set in the floor map 221. That is, the floor map 221 includes information about the security gate 800. The floor map 221 may include information about a transmission point or a transmission area where a pass reservation signal is transmitted.

[0122] The robot control parameters 222 include parameters for operating the mobile robot 20. The robot control parameters 222 include, for example, a threshold distance from nearby objects. The robot control parameters 222 also include an upper speed limit for the mobile robot 20. When the mobile robot 20 receives updated robot control parameters 122 from the host management device 10, the data in the robot control parameters 222 is updated.

[0123] The robot control parameters 122 may include parameters for transmitting a pass reservation signal, etc. As described above, the parameters for transmitting a pass reservation signal, etc. include a travel distance or travel time to the safety door 800. In other words, a threshold value for the travel distance or travel time to the safety door 800 may be set as the robot control parameters 122.

[0124] The gate management data 229 includes authentication data for authentication at the security gate 800. The authentication data is unique to each mobile robot 20. As described above, the gate management data 229 corresponds to the registration data transmitted from the host management device 10. When passing through the security gate 800, the mobile robot 20 transmits a passage reservation signal including the authentication data to the host management device 10 or the security gate 800. The gate management unit 119 performs authentication processing by comparing the authentication data from the mobile robot 20 with the registration data registered in the gate management data 129.

[0125] When the mobile robot moves, control can be performed so that the threshold distance changes gradually according to the moving speed. For example, when the mobile robot 20 accelerates and reaches a high speed, the threshold distance increases. That is, when the speed of the mobile robot 20 is higher than the speed threshold, the threshold distance increases. When the mobile robot 20 moves at high speed, the braking distance increases, so it is preferable to increase the threshold distance, that is, the boundary distance. Therefore, when the mobile robot 20 moves in a low-speed mode at a speed lower than the speed threshold, and when the mobile robot 20 moves in a high-speed mode at a speed equal to or higher than the speed threshold, the threshold distance can be changed. The threshold distance can be divided into three or more levels. For example, the mobile mode can be set to three levels, namely, a high-speed mode, a medium-speed mode, and a low-speed mode, and different threshold distances can be set for the mobile mode. As the speed becomes higher, the threshold distance becomes larger. That is, the threshold distance in the lowest speed mode is the smallest.

[0126] The transported object information 226 includes information about the transported object similar to the transported object information 126. The transported object information 226 includes information such as the details (type) of the transported object, the transport source, and the transport destination. The transported object information 226 may include information indicating states such as being carried, before being carried (before loading), or being carried. In the transported object information 226, such information is relevant for each transported object. The transported object information 226 will be described later. The transported object information 226 only needs to include information about the transported object transported by the mobile robot 20. Therefore, the transported object information 226 is part of the transported object information 126. That is, the transported object information 226 may not include information about the transported object transported by another mobile robot 20.

[0127] When the distance indicated by the distance information obtained from the distance sensor group 24 is less than the threshold distance of the reference robot control parameter 222, the drive control unit 212 stops its operation or decelerates the mobile robot. The drive control unit 212 controls the drive unit 26 so that the mobile robot moves at a speed equal to or lower than the upper speed limit. The drive control unit 212 limits the rotation speed of the drive wheels so that the mobile robot 20 does not move at a speed equal to or higher than the upper speed limit.

[0128] Configuration of the mobile robot 20

[0129] Next, the appearance of the mobile robot 20 will be described. Figure 3 2 is a diagram schematically showing the mobile robot 20 . Figure 3 The mobile robot 20 shown is an example of the mobile robot 20, and may have another shape. Figure 3 In the figure, the x direction defines the forward direction and the backward direction of the mobile robot 20, the y direction defines the lateral direction of the mobile robot 20, and the z direction defines the height direction of the mobile robot 20.

[0130] Mobile robot 20 includes a main unit 290 and a bogie unit 260. Main unit 290 is mounted on bogie unit 260. Both main unit 290 and bogie unit 260 have a rectangular parallelepiped housing, in which their components are mounted. For example, drive unit 26 is housed in bogie unit 260.

[0131] A storage unit 291 serving as a storage space and a door 292 sealing the storage unit 291 are provided in the main unit 290. Multiple layers of shelves are provided in the storage unit 291, and the availability of each layer of shelves is managed. For example, by providing various sensors, such as weight sensors, on each layer, the availability can be updated. The mobile robot 20 transports the transport object contained in the storage unit 291 to the destination indicated from the host management device 10 by autonomous movement. The main unit 290 may have a control box not shown in its housing. The door 292 can be locked with an electronic key or the like. When the mobile robot 20 arrives at the transport destination, the user U2 opens the door 292 with the electronic key. Alternatively, when the mobile robot 20 arrives at the transport destination, the door 292 may be automatically unlocked.

[0132] like Figure 3 As shown, a longitudinal distance sensor 241 and a lateral distance sensor 242 are provided as the distance sensor group 24 on the outer surface of the mobile robot 20. The mobile robot 20 uses the longitudinal distance sensor 241 to measure the distance to nearby objects in the longitudinal direction of the mobile robot 20. The mobile robot 20 uses the lateral distance sensor 242 to measure the distance to nearby objects in the lateral direction of the mobile robot 20.

[0133] For example, longitudinal distance sensors 241 are provided on the front and rear surfaces of the housing of main unit 290. Transverse distance sensors 242 are provided on the right and left sides of the housing of main unit 290. Longitudinal distance sensors 241 and transverse distance sensors 242 are, for example, ultrasonic distance sensors or laser rangefinders. Longitudinal distance sensors 241 and transverse distance sensors 242 detect the distance to nearby objects. When the distance to a nearby object detected by longitudinal distance sensor 241 or transverse distance sensor 242 is equal to or less than a threshold distance, mobile robot 20 decelerates or stops.

[0134] Drive unit 26 includes a drive wheel 261 and a caster 262. Drive wheel 261 is a wheel used to move mobile robot 20 longitudinally and laterally. Caster 262 is a driven wheel that does not apply a driving force and rolls along with drive wheel 261. Drive unit 26 includes a drive motor (not shown) and drives drive wheel 261.

[0135] For example, the drive unit 26 supports two drive wheels 261 and two casters 262 in the housing that are in contact with the floor surface. The two drive wheels 261 are arranged so that their rotation axes match each other. The drive wheels 261 are independently driven by a motor (not shown). The drive wheels 261 rotate according to the direction of the rotation axis. Figure 2 The caster 262 is a driven wheel, wherein a rotation axis extending in the vertical direction from the drive unit 26 is separated from the rotation axis of the driven wheel and axially supports the driven wheel, and it follows the drive wheel in the moving direction of the drive unit 26.

[0136] For example, the mobile robot 20 moves in a straight line when the two drive wheels 261 rotate in the same direction at the same speed, and when the two drive wheels 261 rotate in opposite directions at the same speed, the mobile robot 20 turns around a vertical axis that almost passes through the centers of the two drive wheels 261. By causing the two drive wheels 261 to rotate in the same direction at different speeds, the mobile robot 20 can walk while turning left and right. For example, by setting the speed of the left drive wheel 261 to be higher than the speed of the right drive wheel 261, the mobile robot 20 can turn right. On the other hand, by setting the speed of the right drive wheel 261 to be higher than the speed of the left drive wheel 261, the mobile robot 20 can turn left. That is, by controlling the rotation direction and speed of the two drive wheels 261, the mobile robot 20 can perform translation in any direction, turn, turn left or right, etc.

[0137] In mobile robot 20, a display unit 27 and an operation interface 281 are provided on the upper surface of main body unit 290. Operation interface 281 is displayed on display unit 27. When a user touches operation interface 281 displayed on display unit 27, operation receiving unit 28 can receive a command input from the user. An emergency stop button 282 is provided above display unit 27. Emergency stop button 282 and operation interface 281 function as operation receiving unit 28.

[0138] The display unit 27 is, for example, a liquid crystal display, and displays a person's face as an illustration or presents information about the mobile robot 20 as text or icons. When a person's face is displayed on the display unit 27, the display unit 27 gives the impression of a pseudo-face to nearby observers. The display unit 27 installed in the mobile robot 20 or the like can also be used as the user terminal 400.

[0139] The camera 25 is provided on the front surface of the main body unit 290. Here, the two cameras 25 function as stereo cameras. That is, the two cameras 25 having the same viewing angle are arranged horizontally apart. Each camera 25 outputs an image captured by it as image data. The distance to an object or the size of an object can be calculated based on the image data from the two cameras 25. The operation processing unit 21 can detect a person, obstacle, etc. ahead in the moving direction by analyzing the images from the camera 25. When a person, obstacle, etc. is ahead in the walking direction, the mobile robot 20 moves along the path while avoiding it. The image data from the camera 25 is transmitted to the host management device 10.

[0140] Mobile robot 20 recognizes nearby objects or identifies their locations by analyzing image data output from camera 25 or detection signals output from longitudinal distance sensor 241 and lateral distance sensor 242. Camera 25 captures images in the direction of travel of mobile robot 20. As shown in the figure, mobile robot 20 defines the side where camera 25 is located as its front side. That is, the front side of mobile robot 20 is the side indicated by the arrow when it is normally moving.

[0141] Opening and closing operation of safety door 800

[0142] Opening and closing operation example 1

[0143] The control operation of allowing the mobile robot 20 to pass through the safety door 800 will be described below. Figure 4 1 is a timing chart showing signal transmission and reception among the mobile robot 20 , the host management device 10 , and the safety door 800 . Figures 5 to 8 is a diagram schematically illustrating a control operation for allowing the mobile robot 20 to pass through the safety door 800 . Figures 5 to 8 FIG. 8 is a top view schematically showing the area around the safety door 800 .

[0144] exist Figures 5 to 8 In the figure, the two mobile robots 20 are shown as mobile robots 20A and 20B. In the following description, it is assumed that the mobile robot 20A and the mobile robot 20B pass through the safety door 800 continuously. Figure 5 As shown in FIG. 1 , mobile robot 20A and mobile robot 20B move in the same direction along a common path R. For example, mobile robot 20B moves along path R in the order of passing through points M1, M2, and M3. Mobile robot 20A walks in front of mobile robot 20B. Mobile robot 20A moves along path R in the order of passing through points M2 and M3.

[0145] Safety gate 800 is installed between pass-through point M2 and pass-through point M3. A non-restricted area A1 is defined before safety gate 800, and a restricted area A2 is defined after safety gate 800. Safety gate 800 is installed in a passage connecting non-restricted area A1 and restricted area A2. An environmental camera 300, which captures images of users or mobile robots 20 passing through safety gate 800, is positioned near safety gate 800.

[0146] The security door 800 includes a door 801 and a main unit 802. The main unit 802 includes a motor or mechanism for opening and closing the door 801. A card reader for inserting a user's card may be provided in the main unit 802. The main unit 802 may include a processor or control circuit for controlling the opening and closing of the door 801.

[0147] First, in Figure 5 In the stage shown, the mobile robot 20A sends a pass reservation signal to the host management device 10 (S401). For example, when the moving distance from the current position of the mobile robot 20A to the safety gate 800 is equal to or less than the predetermined distance, the signal generation unit 219 of the mobile robot 20A generates a pass reservation signal. The communication unit 23 sends the pass reservation signal to the host management device 10. Therefore, the mobile robot 20A is able to make an appointment to pass through the safety gate 800. The pass reservation signal may include the robot ID of the mobile robot 20A, the planned passing time, the transported object information or the authentication data. When the pass reservation signal is received from the mobile robot 20A, the host management device 10 sends a pass permission signal to the mobile robot 20A (S402).

[0148] The mobile robot 20A and the mobile robot 20B move to the safety gate 800. When the mobile robot 20A reaches the safety gate 800, the mobile robot 20A sends a passing start signal to the host management device 10 (S403). Upon receiving the passing start signal, the host management device 10 sends an opening signal to the safety gate 800 (S404). Figure 6 As shown, the safety door 800 opens the door 801 (S405).

[0149] When the mobile robots 20A and 20B move further, the mobile robot 20B sends a pass reservation signal to the host management device 10 (S406). When the moving distance from the current position of the mobile robot 20B to the safety gate 800 is equal to or less than the predetermined distance, the signal generation unit 219 of the mobile robot 20B generates a pass reservation signal. Then, the communication unit 23 sends the pass reservation signal to the host management device 10. Therefore, the mobile robot 20B is able to make an appointment to pass through the safety gate 800. When the pass reservation signal is received from the mobile robot 20B, the host management device 10 sends a pass permission signal to the mobile robot 20B (S407).

[0150] Then, when the mobile robot 20A is Figure 7 When passing through the safety gate 800, the mobile robot 20A sends a passing completion signal to the host management device 10 (S408). At this time, since the passing reservation signal is received from the mobile robot 20B, the host management device 10 does not generate a closing signal. Therefore, the door of the safety gate 800 remains open.

[0151] Then, when the mobile robot 20B reaches the safety gate 800, the mobile robot 20B sends a passing start signal to the host management device 10 (S409). When the mobile robots 20A and 20B move further, the mobile robot 20B passes through the safety gate 800. When the mobile robot 20B passes through the safety gate 800, the mobile robot 20B sends a passing completion signal to the host management device 10 (S410). When the host management device 10 receives the passing completion signal from the mobile robot 20B, the host management device 10 sends a closing signal to the safety gate 800 (S411). Therefore, as Figure 8 As shown, the safety door 800 closes the door 801 (S412).

[0152] In this manner, the host management device 10 transmits a closing signal for the safety gate 800 after receiving a pass completion signal from all mobile robots 20A and 20B that have already transmitted a pass reservation signal. Therefore, the gate 801 is not closed until the two mobile robots 20A and 20B that have scheduled passage have completed their passage. While the mobile robots 20A and 20B are passing through the safety gate 800, the safety gate 800 does not close the gate 801. This saves the mobile robot 20B the time it would have to wait for the gate to open and close. Since the mobile robot 20B can quickly pass through the safety gate 800, transportation efficiency can be improved.

[0153] When the host management device 10 receives passage reservation signals from multiple mobile robots, it can cause multiple mobile robots 20 to pass through the door 801 continuously while the door 801 is opened once. Thus, two or more mobile robots 20 can pass through the security door 800 continuously. This improves transportation efficiency and reduces the waiting time of the mobile robots 20. The number of mobile robots 20 that pass through the security door 800 continuously can be three or more.

[0154] In the above description, the mobile robots 20A and 20B transmit a pass reservation signal when the moving distance to the safety gate 800 reaches a predetermined distance. Alternatively, the mobile robots 20A and 20B may transmit a pass reservation signal when the moving time to the safety gate 800 reaches a predetermined time. For example, each mobile robot 20 may estimate the moving time based on the moving distance to the safety gate 800 and its moving speed. When the estimated moving time becomes equal to or less than a predetermined threshold, the mobile robot 20 may transmit a pass reservation signal. The host management device 10 may change the threshold of the moving distance or moving time according to the congestion level or conditions in the facility.

[0155] The location or time at which the mobile robot 20B sends the pass reservation signal may be the same as or different from the location or time at which the mobile robot 20A sends the pass reservation signal. For example, the sending location may be changed depending on the type of mobile robots 20A and 20B, the transported object, or the moving speed. For example, for a mobile robot 20 with a high moving speed, the threshold value of the moving distance or moving time may be set larger. Multiple threshold values ​​for the moving distance or moving time may be set in the robot control parameters of the mobile robot 20. The threshold value may be set in a hierarchical manner, and the host management device 10 may change the threshold value based on the degree of congestion in the facility or the moving speed.

[0156] A transmission point or transmission area for transmitting a pass reservation signal may be pre-associated with the floor map 121. For example, if a waiting area for the mobile robot 20 is provided near the security door 800, the waiting area may be set as the transmission area. When the mobile robot 20 enters the transmission area, the mobile robot 20 may transmit a pass reservation signal.

[0157] The signal generation unit 219 of each mobile robot 20A or 20B can generate a pass reservation signal, a pass start signal, and a pass completion signal at appropriate times. For example, when each mobile robot 20A or 20B detects its current location, it can generate a pass reservation signal, a pass start signal, and a pass completion signal based on that location. When the current location reaches a predetermined transmission point or predetermined transmission area on the floor map 221, the mobile robots 20A or 20B can transmit various signals to the host management device 10.

[0158] The position or time at which the passage start signal or the passage completion signal is transmitted can be determined based on the position of the mobile robot 20 relative to the safety gate 800 or the distance to the safety gate 800. For example, the distance sensor group 24 can detect the distance to the safety gate 800, and the mobile robot 20 can transmit a signal when the detected distance reaches a predetermined value. Alternatively, a radio tag such as a radio frequency identifier (RFID) tag or a near field communication (NFC) tag can be provided in the mobile robot 20. The mobile robot 20 can transmit the passage start signal at a time when the tag can be read by a tag reader provided in or near the safety gate 800.

[0159] At least one of the pass reservation signal, the pass start signal, and the pass completion signal may be generated by a device other than the mobile robot 20. The mobile robot 20 may send information indicating its current location to the host management device 10, and the host management device 10 may generate various signals based on the current location.

[0160] Alternatively, the safety gate 800 or the environmental camera 300 may generate a pass reservation signal, a pass start signal, and a pass completion signal. The current location of the mobile robot 20 may be detected based on information acquired from the safety gate 800 or the environmental camera 300. The current location of the mobile robot 20 may be detected from images captured by the environmental camera 300. Alternatively, a radio tag may be provided in the mobile robot 20, and a radio tag reader may be attached to or near the safety gate 800. When the radio tag reader receives radio waves from the radio tag, the current location may be detected. These methods may be combined to detect the current location.

[0161] The security gate 800 or the host management device 10 can determine whether the mobile robot 20 has passed through the security gate 800 in the order in which the pass reservation signals were received. In other words, the host management device 10 can determine whether the order in which the pass reservation signals were received matches the pass order. For example, assume that mobile robot 20B sends a pass reservation signal after mobile robot 20A has sent a pass reservation signal. In this case, after mobile robot 20A has passed through the security gate 800, it is determined whether mobile robot 20B has passed through the security gate 800.

[0162] When the pass sequence and the signal transmission sequence match, it is determined that the operation of mobile robot 20 is being properly controlled. When the pass sequence and the signal transmission sequence do not match, it is determined that the operation of mobile robot 20 is not being properly controlled. For example, it can be considered that an error has occurred in mobile robot 20A. Therefore, since the error can be quickly resolved, transportation efficiency can be improved.

[0163] Opening and closing operation example 2

[0164] The following will refer to Figures 9 to 15 Description is given of opening and closing operation example 2. In opening and closing operation example 2, the safety door 800 is closed between the passing timing of the mobile robot 20A and the passing timing of the mobile robot 20B. Figure 9 It is a timing diagram showing signal transmission and reception between various devices. Figures 10 to 15 Schematically illustrates a control operation for allowing the mobile robot 20 to pass through the safety door 800. Specifically, Figures 10 to 15 FIG. 8 is a top view schematically showing the area around the safety door 800 .

[0165] exist Figures 10 to 15 In the example 2 of the opening and closing operation, two mobile robots 20A and 20B pass through the safety door 800. Figure 5 Compared to the opening and closing operation example 1 shown in FIG. 2 , mobile robot 20B is further away from mobile robot 20A. Safety door 800 closes door 801 before mobile robot 20B moves to safety door 800 after mobile robot 20A has passed through safety door 800. The remaining configurations in opening and closing operation example 2 are the same as those in opening and closing operation example 1, so their descriptions will be omitted as appropriate.

[0166] First, in Figure 10 In the stage shown, the mobile robot 20A sends a pass reservation signal to the host management device 10 (S901). For example, when the moving distance from the current position of the mobile robot 20A to the safety gate 800 is equal to or less than the predetermined distance, the signal generation unit 219 of the mobile robot 20A generates a pass reservation signal. The communication unit 23 sends the pass reservation signal to the host management device 10. Therefore, the mobile robot 20A is able to make an appointment to pass through the safety gate 800. The pass reservation signal may include the robot ID of the mobile robot 20A, the planned passing time, the transported object information or the authentication data. When the pass reservation signal is received from the mobile robot 20A, the host management device 10 sends a pass permission signal to the mobile robot 20A (S902).

[0167] The mobile robot 20A and the mobile robot 20B move to the safety gate 800. When the mobile robot 20A reaches the safety gate 800, the mobile robot 20A sends a passing start signal to the host management device 10 (S903). The host management device 10 sends an opening signal to the safety gate 800 (S904). Figure 11 As shown, the safety door 800 opens the door 801 (S905).

[0168] Then, when the mobile robots 20A and 20B move further, the mobile robot 20A passes through the safety gate 800. Therefore, the mobile robot 20A sends a passing completion signal to the host management device 10 (S906). At this time, since the passing reservation signal from the mobile robot 20B is not received, the host management device 10 sends a closing signal for the safety gate 800 (S907). Therefore, as shown in FIG. Figure 12 As shown, the safety door 800 closes the door 801 (S908).

[0169] When the mobile robot 20B moves to Figure 13 When the mobile robot 20B reaches the position shown, the mobile robot 20B sends a pass reservation signal to the host management device 10 (S909). When the moving distance from the current position of the mobile robot 20B to the safety gate 800 is equal to or less than the predetermined distance, the signal generation unit 219 of the mobile robot 20B generates a pass reservation signal. Then, the communication unit 23 sends the pass reservation signal to the host management device 10. Therefore, the mobile robot 20B is able to make an appointment to pass through the safety gate 800. When receiving the pass reservation signal from the mobile robot 20B, the host management device 10 sends a pass permission signal to the mobile robot 20B (S910).

[0170] When the mobile robot 20B reaches the safety gate 800, the mobile robot 20B sends a passing start signal to the host management device 10 (S911). Therefore, the host management device 10 sends an opening signal to the safety gate 800 (S912). Figure 14 As shown, the safety door 800 opens the door 801 (S913). Figure 14 , the mobile robot 20A moves to the outside of the figure and is therefore not shown.

[0171] Then, when the mobile robot 20B moves, the mobile robot 20B passes through the safety gate 800. When the mobile robot 20B passes through the safety gate 800, the mobile robot 20B sends a passing completion signal to the host management device 10 (S914). When the host management device 10 receives the passing completion signal from the mobile robot 20B, the host management device 10 sends a closing signal to the safety gate 800 (S915). Figure 15 As shown, the safety door 800 closes the door 801 (S916).

[0172] In this way, when mobile robots 20A and 20B move, safety gate 800 closes gate 801 between the time mobile robot 20A passes and the time mobile robot 20B passes. This prevents people passing through safety gate 800 without permission. This improves safety. In particular, in medical and welfare facilities such as hospitals, not only staff and patients move around, but also general users such as patients and their visitors. Access to restricted area A2 by general users is restricted. This prevents general users from mistakenly passing through safety gate 800.

[0173] Deformation Example 1

[0174] In the modification example 1, the order of passing of the mobile robots 20A and 20B is determined based on a predetermined priority. For example, the priority is determined based on the transport object information or path planning. Figures 16 to 19 Description will be made of Modification Example 1. The transmission process of the pass reservation signal, the pass start signal, and the pass completion signal is the same as described above, and therefore the description will be omitted.

[0175] exist Figures 16 to 19 In FIG. 1 , mobile robot 20A and mobile robot 20B move in opposite directions. Specifically, mobile robot 20A moves from restricted area A2 to unrestricted area A1. Mobile robot 20B moves from unrestricted area A1 to restricted area A2. Specifically, mobile robot 20A moves along path RA, passing through points M11, M12, and M13 in that order. Mobile robot 20B moves along path RB, passing through points M21 and M22 in that order.

[0176] exist Figure 16 In FIG, the mobile robot 20A moves closer to the safety door 800 than the mobile robot 20B. That is, the distance from the mobile robot 20A to the safety door 800 is smaller than the distance from the mobile robot 20B to the safety door 800. Figure 16 In the stage shown, both the mobile robot 20A and the mobile robot 20B have sent the pass reservation signal.

[0177] Here, the host management device 10 controls mobile robot 20B to pass through security gate 800 earlier than mobile robot 20A. For example, upon receiving two or more passage reservation signals, the host management device 10 determines the passage order based on transport object information or path planning. Information used to determine the passage order may be included in the passage reservation signal. Alternatively, the passage priority may be determined based on various types of information stored in the storage unit 12.

[0178] The host management device 10 performs mediation to allow the mobile robot 20B to pass in advance. For example, the host management device 10 may not send a pass permission signal to the mobile robot 20A. Alternatively, the host management device 10 may send a cancellation signal for canceling the permission after the pass permission signal has been sent to the mobile robot 20A. That is, after the pass order has been determined, the host management device 10 notifies the mobile robots 20A other than the first mobile robot 20B to cancel the pass permission. For example, the door management unit 119 performs processing for determining the pass order and generating a cancellation signal.

[0179] When the cancellation signal has been received or when the passing permission signal has not been received, the mobile robot 20A waits in front of the safety door 800, as shown in FIG. Figure 17 At this time, the mobile robot 20A is waiting at a position where it does not hinder the passage of the other mobile robot 20B. Figure 17 In the example, the mobile robot 20A is shifted to the left from the path RA. That is, the mobile robot 20A waits near the main body unit 802. Even when the mobile robot 20A moves in front of the safety door 800, the mobile robot 20A does not send a passing start signal.

[0180] When the mobile robot 20B moves further and reaches the safety door 800, the mobile robot 20B sends a passing start signal. Figure 18 As shown, the safety door 800 opens the door 801. Meanwhile, the mobile robot 20A waits at the waiting position and does not move.

[0181] Then, when the mobile robot 20B passes through the safety gate 800, the mobile robot 20B sends a passing completion signal to the host management device 10. When receiving the passing completion signal from the mobile robot 20B having a high priority, the host management device 10 sends a passing permission signal to the mobile robot 20A. Figure 19 As shown, the mobile robot 20A starts passing through the safety gate 800. The mobile robot 20A sends a passing start signal to the host management device 10. As a result, the mobile robot 20A returns to the route RA.

[0182] When the mobile robots 20A and 20B move further, the mobile robot 20A passes through the safety gate 800. When the mobile robot 20A sends a passing completion signal to the host management device 10, the safety gate 800 closes the door 801, as shown in FIG. Figure 20 In the first modification, the host management device 10 can determine the order of passage. Therefore, it is possible to perform optimal transportation suitable for the situation.

[0183] Here, mobile robots 20A and 20B transmit a pass reservation signal to host management device 10. Both pass reservation signals are received by host management device 10 before mobile robot 20A and mobile robot 20B completely pass through safety gate 800. Therefore, when safety gate 800 opens door 801 once, mobile robots 20A and 20B can continuously pass through safety gate 800. Consequently, objects can be efficiently transported.

[0184] The host management device 10 sends a pass permission signal or its cancellation signal to the mobile robot 20. Therefore, the pass order of the mobile robot 20 can be easily changed. For example, the host management device 10 sends a cancellation signal to cancel the pass permission to a mobile robot with a low priority in the pass order. At the moment when the mobile robot 20 that has sent the cancellation signal passes through the safety gate 800, the host management device 10 resends the pass permission signal. Therefore, the pass order can be easily adjusted. The host management device 10 can add information indicating the pass order to the pass permission signal. In this case, the mobile robot 20 starts to pass in its pass order. That is, when the previous mobile robot in the pass order has completely passed the safety gate 800, the mobile robot 20 starts to pass.

[0185] In Modification Example 1, three or more mobile robots 20 may successively pass through the safety gate 800 while the gate 801 is opened once. That is, the mobile robot following the mobile robot 20A may pass through the safety gate 800 before the safety gate 800 closes the gate 801. In this case, the passing order may also be arbitrarily changed.

[0186] The method for determining passage priority is not particularly limited. For example, the host management device 10 may determine priority based on transport object information or details of planned use time. Alternatively, the host management device 10 may determine priority based on the distance from the security gate 800 to the destination or passage point. Thus, the gate management unit 119 can refer to the transport object information 126 or the route planning information 125 to determine the passage order.

[0187] The host management device 10 can estimate the level of congestion in the facility and determine priorities based on the estimated results. The host management device 10 can estimate the level of congestion near the destination or along the travel path based on images from the environment camera 300, the robot's camera, and the like. Because navigating highly congested areas takes time, the host management device 10 increases the passing priority of the corresponding mobile robot 20. Alternatively, the host management device 10 can delay the passing priority of the corresponding mobile robot 20, allowing the mobile robot 20 to move after the congestion is resolved.

[0188] When the mobile robot 20 boards the elevator, the host management device 10 may determine a passing order based on the congestion level or operation status of the elevator.

[0189] In the above description, the host management device 10 controls the security gate 800 and the plurality of mobile robots 20, but the mobile robots 20 and the security gate 800 may be controlled by different control devices. For example, the device controlling the mobile robots 20 and the device controlling the security gate 800 may be physically different from each other.

[0190] At least some functions of the host management device 10 may be performed by the security door 800. The processor or control circuit incorporated into the main unit 802 of the security door 800 may function as a control device or a control system. Therefore, the control system according to this embodiment may be composed of a single device or may be distributed and arranged in a plurality of devices.

[0191] The pass reservation signal and the pass start signal can also be combined into one signal. For example, information about the pass start time can be added to the pass reservation signal. The safety door 800 is opened at the moment corresponding to the pass start time. In this case, the pass start signal is not required.

[0192] In the above description, authentication data is assigned to each mobile robot 20, but authentication data may not be assigned to each mobile robot 20. That is, the authentication process may be skipped for the mobile robot 20 that has already sent a reservation status. Operation Examples 1 and 2 and Modification Example 1 of the above embodiment may be combined as appropriate.

[0193] Some or all of the processing performed by the host management device 10, the security door 800, the mobile robot 20, etc. can be implemented as a computer program. Such a program can be stored in various types of non-transitory computer-readable media and provided to the computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic type or hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), compact disk read-only memories (CD-ROMs), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, random access memories (RAMs)). Various types of temporary computer-readable media can be used to provide the program to the computer. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via a wired communication line or a wireless communication line such as an electric wire or optical fiber.

[0194] The present invention is not limited to the above-described embodiments and can be modified as appropriate without departing from the spirit of the present invention. For example, the above-described embodiment describes a system in which a transport robot autonomously moves within a hospital. However, the system can also transport predetermined objects as luggage to hotels, restaurants, office buildings, event halls, or other complexes.

Claims

1. A control system for controlling the opening and closing of a safety door, wherein the safety door is provided in a facility where multiple mobile robots move autonomously, the control system performing: receiving a passage reservation signal for passing through the security door; and When the passing reservation signals are received from the plurality of mobile robots, the plurality of mobile robots are allowed to pass through the safety door continuously while the safety door opens once. in, It is determined whether the plurality of mobile robots have successively passed through the security gate in the order in which the passage reservation signals have been received.

2. The control system according to claim 1, wherein: The passage order of the plurality of mobile robots through the safety door is determined based on a predetermined priority.

3. The control system according to claim 1, wherein: Each mobile robot transmits the passage reservation signal when a moving time or a moving distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

4. The control system according to claim 1, wherein: Each mobile robot transmits the pass reservation signal when the mobile robot has moved to a predetermined position in the facility.

5. The control system according to claim 1, wherein: When the mobile robots have reached the safety gate, each mobile robot sends a passing start signal, and Control is performed such that the door of the safety door is opened according to the passage start signal.

6. The control system according to any one of claims 1 to 5, wherein: Each mobile robot transmits a passing completion signal indicating that the passing through the safety door has been completed, wherein, when the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety door allows the first mobile robot and the second mobile robot to continuously pass through the door when the door is opened once, and Wherein, when the passing reservation signal from the second mobile robot is not received before the passing completion signal from the first mobile robot is received, the safety door closes the door after the first mobile robot has passed through the door and before the second mobile robot passes through the door.

7. A method for controlling the opening and closing of a safety door provided in a facility where multiple mobile robots autonomously move, the method comprising: receiving a passage reservation signal for passing through the security door; as well as When the passing reservation signals are received from the plurality of mobile robots, the plurality of mobile robots are allowed to pass through the safety door continuously while the safety door opens once. Wherein, it is determined whether the plurality of mobile robots pass through the safety door continuously in the order in which the pass reservation signals have been received.

8. The control method according to claim 7, wherein: The passage order of the plurality of mobile robots through the safety door is determined based on a predetermined priority.

9. The control method according to claim 7, wherein: Each mobile robot transmits the passage reservation signal when a moving time or a moving distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

10. The control method according to claim 7, wherein: Each mobile robot transmits the pass reservation signal when the mobile robot has moved to a predetermined position in the facility.

11. The control method according to claim 7, wherein: When the mobile robots have reached the safety gate, each mobile robot sends a passing start signal, and Control is performed such that the door of the safety door is opened according to the passage start signal.

12. The control method according to any one of claims 7 to 11, wherein each mobile robot transmits a passing completion signal indicating that passing through the safety door has been completed, in, When the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety door allows the first mobile robot and the second mobile robot to continuously pass through the door when the door is opened once, and Wherein, when the passing reservation signal from the second mobile robot is not received before the passing completion signal from the first mobile robot is received, the safety door closes the door after the first mobile robot has passed through the door and before the second mobile robot passes through the door.

13. A computer-readable storage medium storing a program causing a computer to execute a method for controlling the opening and closing of a safety door provided in a facility where a plurality of mobile robots autonomously move, the method comprising: receiving a passage reservation signal for passing through the security door; as well as When the passing reservation signals are received from the plurality of mobile robots, the plurality of mobile robots are allowed to pass through the safety door continuously while the safety door opens once. Wherein, it is determined whether the plurality of mobile robots pass through the safety door continuously in the order in which the pass reservation signals have been received.

14. The computer-readable storage medium of claim 13, wherein: The passage order of the plurality of mobile robots through the safety door is determined based on a predetermined priority.

15. The computer-readable storage medium of claim 13, wherein: Each mobile robot transmits the passage reservation signal when a moving time or a moving distance from the mobile robot to the safety gate is equal to or less than a predetermined value.

16. The computer-readable storage medium of claim 13, wherein: Each mobile robot transmits the pass reservation signal when the mobile robot has moved to a predetermined position in the facility.

17. The computer-readable storage medium of claim 13, wherein: When the mobile robots have reached the safety gate, each mobile robot sends a passing start signal, and Control is performed such that the door of the safety door is opened according to the passage start signal.

18. The computer-readable storage medium according to any one of claims 13 to 17, wherein: Each mobile robot transmits a passing completion signal indicating that the passing through the safety door has been completed, wherein, when the passage reservation signal is received from the second mobile robot before the passage completion signal is received from the first mobile robot, the safety door allows the first mobile robot and the second mobile robot to continuously pass through the door when the door is opened once, and Wherein, when the passing reservation signal from the second mobile robot is not received before the passing completion signal from the first mobile robot is received, the safety door closes the door after the first mobile robot has passed through the door and before the second mobile robot passes through the door.

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