Robot control system, robot control method, program, and autonomous mobile robot

Abstract

A robot control system, a robot control method, a program, and an autonomous mobile robot, the robot control system controlling a plurality of mobile robots each having left and right wheels and a sensor that detects the actions of the left and right wheels, the control system calculating the degree of consumption of the left and right components from the detection results of the sensor and managing the travel of the plurality of mobile robots in accordance with the degree of consumption.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot control system, a robot control method, a program, and an autonomous mobile robot. BACKGROUND

[0002] A control system that controls a plurality of robots is disclosed in Japanese Patent No. 5807990. SUMMARY

[0003] In such a control system, it is desirable to control the robots more efficiently. For example, maintenance is performed on the robots in accordance with the operating time of each robot or the like. Specifically, in the case where the robots are mobile robots having left and right wheels, it is necessary to replace the wheels in accordance with the wear of the wheels.

[0004] In the case where the wear of only one of the left and right wheels is large, only the wheel with the large wear is replaced. That is, if the replacement times of the left and right wheels are different, the number of times of maintenance increases. Or, if the wheel with the large wear and the wheel with the small wear are replaced at the same time, the wheel with the small wear is wasted.

[0005] The robot control system according to the present embodiment controls a plurality of mobile robots each having left and right wheels and a sensor that detects the operation of the left and right wheels, and calculates the degree of consumption of left and right components related to the left and right wheels from the detection result of the sensor, and manages the travel of the plurality of mobile robots in accordance with the degree of consumption.

[0006] In the above-described robot control system, the travel can be managed in such a manner that the difference in the degree of consumption between the left and right wheels of the mobile robots is eliminated.

[0007] In the above-described robot control system, the mobile robots can be mobile robots that carry a carried object, and the mobile robot that carries the carried object can be determined in accordance with a movement path from a carrying source to a carrying destination of the carried object.

[0008] In the above-described robot control system, the mobile robot that carries the carried object can be determined in accordance with the positions of the plurality of mobile robots, the carrying source, and the carrying destination of the carried object.

[0009] In the above-described robot control system, the movement path from the current position of the mobile robot to the carrying destination via the carrying source of the carried object can be temporarily determined, and the mobile robot that carries the carried object can be selected on the basis of the temporarily determined movement path.

[0010] The robot control method of the embodiment controls a plurality of mobile robots each having left and right wheels and a sensor that detects the operation of the left and right wheels, and includes a step of calculating a degree of consumption of left and right components related to the left and right wheels based on the detection result of the sensor, and a step of managing travel of the plurality of mobile robots based on the degree of consumption.

[0011] In the above-described robot control method, the travel can be managed in a manner that eliminates left-right differences in the degree of consumption of the mobile robots.

[0012] In the above-described robot control method, the mobile robots can be mobile robots that carry a carried object, and the mobile robots that carry the carried object can be determined based on a movement path from a carrying source to a carrying destination of the carried object.

[0013] In the above-described robot control method, the mobile robots that carry the carried object can be determined based on the positions of the plurality of mobile robots, the carrying source, and the carrying destination of the carried object.

[0014] In the above-described robot control method, the mobile robots that carry the carried object can be selected based on a temporarily determined movement path from a current position of the mobile robots to the carrying destination via the carrying source.

[0015] In the program related to the embodiment, a computer is caused to execute a robot control method that controls a plurality of mobile robots each having left and right wheels and a sensor that detects the operation of the left and right wheels, and includes a step of calculating a degree of consumption of left and right components related to the left and right wheels based on the detection result of the sensor, and a step of managing travel of the plurality of mobile robots based on the degree of consumption.

[0016] In the above-described program, the travel can be managed in a manner that eliminates left-right differences in the degree of consumption of the mobile robots.

[0017] In the above-described program, the mobile robots can be mobile robots that carry a carried object, and the mobile robots that carry the carried object can be determined based on a movement path from a carrying source to a carrying destination of the carried object.

[0018] In the above-described program, the mobile robots that carry the carried object can be determined based on the positions of the plurality of mobile robots, the carrying source, and the carrying destination of the carried object.

[0019] In the above procedure, the mobile robot that transports the transport object can be selected based on the temporarily decided movement path.

[0020] The autonomous mobile robot according to the present embodiment includes: left and right wheels; a sensor that detects movement of the left and right wheels; a consumption degree calculation section that calculates a consumption degree of left and right components related to the left and right wheels based on a detection result of the sensor; and an arithmetic processing section that decides a movement path to a destination based on the consumption degree.

[0021] In the above autonomous mobile robot, the arithmetic processing section can decide the movement path in such a manner that left and right differences in the consumption degree are eliminated.

[0022] According to the present application, it is possible to provide a robot control system, a robot control method, a program, an autonomous mobile robot, and the like that can effectively control a mobile robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, wherein the same reference numerals in different drawings denote the same element, and wherein:

[0024] Figure 1 is a conceptual diagram for explaining the overall configuration of a system using a mobile robot according to the present embodiment.

[0025] Figure 2 is a control block diagram of a control system according to the present embodiment.

[0026] Figure 3 is a schematic diagram showing an outline of a mobile robot.

[0027] Figure 4 is a schematic diagram showing the main configuration of a drive section 26 of a mobile robot.

[0028] Figure 5 is a diagram for explaining an allocation example 1.

[0029] Figure 6 is a diagram for explaining an allocation example 2.

[0030] Figure 7 is a diagram for explaining a modified example 1.

[0031] Figure 8 is a flowchart showing a robot control method according to the present embodiment. DETAILED DESCRIPTION

[0032] The present application will be described below based on embodiments of the application, but the application claimed in the claims is not limited to the following embodiments. Furthermore, all the configurations described in the embodiments are not necessarily essential as technical means for solving the problems.

[0033] (General Configuration)

[0034] Figure 1 is a conceptual diagram for explaining the overall configuration of a system 1 that utilizes a mobile robot 20 according to the present embodiment. The mobile robot 20 is, for example, a transport robot that performs transport of a transported object as a task. The mobile robot 20 autonomously travels in order to transport a transported object within a medical welfare facility such as a hospital, a rehabilitation center, a nursing facility, a facility for the elderly, and the like. Furthermore, the system according to the present embodiment can also be used in a commercial facility such as a shopping center, and the like.

[0035] A user Ul stores a transported object in the mobile robot 20 and entrusts the transport. The mobile robot 20 autonomously moves to a set destination to transport the transported object. That is, the mobile robot 20 performs a transport task of a cargo (hereinafter, also simply referred to as a task). In the following description, a place where the transported object is loaded is set as a transport source, and a place where the transported object is delivered is set as a transport destination.

[0036] For example, assume that the mobile robot 20 moves within a general hospital having a plurality of treatment departments. The mobile robot 20 transports supplies, consumables, medical instruments, and the like between the plurality of treatment departments. For example, the mobile robot transports a transported object from a nurse station of a certain treatment department to a nurse station of another treatment department. Alternatively, the mobile robot 20 transports a transported object from a storage of supplies and medical instruments to a nurse station of a treatment department. Furthermore, the mobile robot 20 transports a medicine prepared in a dispensing department to a treatment department and a patient scheduled to use the medicine.

[0037] As examples of the transported object, there are consumables such as medicines, bandages, and the like, a test sample, an examination instrument, a medical instrument, a hospital food, a stationery, and the like. As the medical instrument, there are a sphygmomanometer, a blood transfusion pump, a syringe pump, a foot pump, a nurse call, a bed leaving sensor, a low pressure sustained aspirator, an electrocardiograph monitor, a medicine injection controller, an enteral nutrition pump, a respirator, a cuff pressure gauge, a touch sensor, an aspirator, a nebulizer, a pulse oximeter, an artificial resuscitator, a sterile device, an echo device, and the like. Furthermore, it is also possible to transport food such as a hospital food and an examination food. Furthermore, the mobile robot 20 can also transport a used device, a tableware after eating, and the like. In a case where the transport destination is located on a different floor, the mobile robot 20 can also move using an elevator, and the like.

[0038] The system 1 includes the mobile robot 20, the upper management device 10, the network 600, the communication unit 610, and the user terminal 400. The user U1 or the user U2 can use the user terminal 400 to make a request for the conveyance of the conveyance object. The user terminal 400 is, for example, a tablet, a smartphone, or the like. The user terminal 400 is an information processing device that can perform wireless or wired communication.

[0039] In the present embodiment, the mobile robot 20 and the user terminal 400 are connected to the upper management device 10 via the network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via the communication unit 610. The network 600 is a wired or wireless LAN (Local Area Network), WAN (Wide Area Network). Further, the upper management device 10 is connected to the network 600 in a wired or wireless manner. The communication unit 610 is, for example, a wireless LAN unit provided in each environment. The communication unit 610 can also be, for example, a commonly used communication device such as a WiFi router.

[0040] Various signals transmitted from the user terminal 400 of the user U1 or U2 are temporarily transmitted to the upper management device 10 via the network 600 and transmitted from the upper management device 10 to the mobile robot 20 that is the target. Similarly, various signals transmitted from the mobile robot 20 are temporarily transmitted to the upper management device 10 via the network 600 and transmitted from the upper management device 10 to the user terminal 400 that is the target. The upper management device 10 is a server connected to each device and collects data from each device. In addition, the upper management device 10 is not limited to a single device in a physical sense, but can have a plurality of devices that perform distributed processing. In addition, the upper management device 10 can be distributed and arranged in edge devices such as the mobile robot 20. For example, part or all of the system 1 can be mounted on the mobile robot 20.

[0041] The user terminal 400 and the mobile robot 20 can also transmit and receive signals without passing through the upper management device 10. For example, the user terminal 400 and the mobile robot 20 can directly transmit and receive signals by wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 can transmit and receive signals via the communication unit 610.

[0042] The user U1 or the user U2 uses the user terminal 400 to make a request for the conveyance of the conveyance object. Hereinafter, a case where the user U1 is a conveyance requester located at a conveyance source and the user U2 is a predetermined receiver located at a conveyance destination (destination) will be described. Of course, the user U2 located at the conveyance destination can also make a request for the conveyance. In addition, a user located at a place other than the conveyance source or the conveyance destination can also make a request for the conveyance.

[0043] When the user U1 makes a conveyance request, the user terminal 400 is used to input the contents of the conveyance object, the receiving destination of the conveyance object (hereinafter, also referred to as the conveyance source), the delivery destination of the conveyance object (hereinafter, also referred to as the conveyance destination), the scheduled arrival time at the conveyance source (the time of reception of the conveyance object), the scheduled arrival time at the conveyance destination (the conveyance deadline), and the like. Hereinafter, the above information is also referred to as conveyance request information. The user U1 can input the conveyance request information by operating the touch panel of the user terminal 400. The conveyance source can be the place where the user U1 is located, or a storage place of the conveyance object, or the like. The conveyance destination is the place where the user U2 scheduled to use, or the place where the patient is located.

[0044] The user terminal 400 transmits the conveyance request information input by the user U1 to the upper management device 10. The upper management device 10 is a management system that manages a plurality of mobile robots 20. The upper management device 10 transmits an action instruction for executing a conveyance task to the mobile robots 20. The upper management device 10 determines the mobile robot 20 that executes the conveyance task for each conveyance request. Then, the upper management device 10 transmits a control signal including the action instruction to the mobile robot 20. The mobile robot 20 moves from the conveyance source to the conveyance destination according to the action instruction.

[0045] For example, the upper management device 10 allocates the conveyance task to the mobile robot 20 at or near the conveyance source. Alternatively, the upper management device 10 allocates the conveyance task to the mobile robot 20 that is moving toward the conveyance source or the vicinity thereof. The mobile robot 20 to which the task is allocated goes to the conveyance source to get the conveyance object. The conveyance source is, for example, the place where the user U1 who requested the task is located.

[0046] When the mobile robot 20 arrives at the conveyance source, the user U1 or another staff member places the conveyance object on the mobile robot 20. The mobile robot 20 on which the conveyance object is mounted moves autonomously with the conveyance destination as the destination. The upper management device 10 transmits a signal to the user terminal 400 of the user U2 at the conveyance destination. Thereby, the user U2 can know that the conveyance object is being conveyed, and the scheduled arrival time thereof. When the mobile robot 20 arrives at the set conveyance destination, the user U2 can receive the conveyance object housed in the mobile robot 20. The mobile robot 20 executes the conveyance task as described above.

[0047] In such a total configuration, each element of the control system can be dispersed to the mobile robot 20, the user terminal 400, and the upper management device 10, thereby configuring the control system as a whole. Alternatively, the essential elements for realizing the conveyance of the conveyance object can be concentrated in one device to configure the control system. The upper management device 10 controls one or a plurality of mobile robots 20.

[0048] (CONTROL BLOCK DIAGRAM)

[0049] Figure 2 A control block diagram of the control system of the system 1 is shown. As shown, the system 1 has a higher-level management device 10, mobile robots 20, and environmental cameras 300. Figure 2

[0050] The system 1 efficiently controls a plurality of mobile robots 20 while autonomously moving the mobile robots 20 within a predetermined facility. Therefore, a plurality of environmental cameras 300 are provided within the facility. For example, the environmental cameras 300 are provided at roads, halls, elevators, entrances, and peripheries of security gates within the facility.

[0051] The environmental cameras 300 acquire images of ranges in which the mobile robots 20 move. In addition, in the system 1, the higher-level management device 10 collects images acquired by the environmental cameras 300, information based on the images. Alternatively, the images acquired by the environmental cameras 300 and the like can be directly transmitted to the mobile robots. The environmental cameras 300 can be surveillance cameras provided at roads, entrances, and the like within the facility. The environmental cameras 300 can also be used to obtain a distribution of congestion within the facility.

[0052] In the system 1 related to the present embodiment, the higher-level management device 10 performs route planning based on conveyance commission information. Each mobile robot 20 is instructed of a travel destination based on route plan information created by the higher-level management device 10. Then, the mobile robots 20 autonomously move toward the travel destinations designated by the higher-level management device 10. The mobile robots 20 autonomously move toward the travel destinations (destinations) using sensors, floor maps, position information, and the like provided to the mobile robots.

[0053] For example, the mobile robots 20 travel in a manner not to come into contact with devices, objects, walls, and people (hereinafter collectively referred to as peripheral objects) around the mobile robots. Specifically, the mobile robots 20 detect distances to the peripheral objects and travel in a state of being separated from the peripheral objects by a certain distance (set as a threshold distance) or more. When the distance to the peripheral objects becomes the threshold distance or less, the mobile robots 20 decelerate or stop. Thus, the mobile robots 20 can travel without coming into contact with the peripheral objects. Since contact can be avoided, safe and efficient conveyance can be performed. The threshold distance is a predetermined distance set in a manner that enables each mobile robot to safely travel.

[0054] ​The upper-level management device 10 has an arithmetic processing section 11, a storage section 12, a buffer memory 13, and a communication section 14. The arithmetic processing section 11 performs arithmetic operations for controlling and managing the mobile robots 20. The arithmetic processing section 11 can be installed as a central arithmetic processing device (CPU: Central Processing Unit) of a computer or the like that can execute a program, for example. Also, various functions can be implemented by a program. Although only the characteristic robot control section 111, the route planning section 115, and the conveyance object information acquisition section 116 in the arithmetic processing section 11 are shown in FIG. 1, other processing blocks are also provided. Figure 2

[0055] The robot control section 111 performs arithmetic operations for remotely controlling the mobile robots 20 and generates a control signal. The robot control section 111 generates the control signal on the basis of the route planning information 125 and the like described later. Further, the control signal is generated on the basis of various information obtained by the environment camera 300 and the mobile robots 20. The control signal can also include update information of the floor map 121, the robot information 123, the robot control parameters 122, and the like described later. That is, the robot control section 111 generates a control signal corresponding to the update information when various information is updated.

[0056] The conveyance object information acquisition section 116 acquires information related to a conveyance object. The conveyance object information acquisition section 116 acquires information related to the content (category) of the conveyance object being conveyed by the mobile robots 20.

[0057] The route planning section 115 performs route planning for each mobile robot 20. When a conveyance task is input, the route planning section 115 performs route planning for conveying the conveyance object to a conveyance destination (destination) on the basis of the conveyance request information. Specifically, the route planning section 115 refers to the route planning information 125, the robot information 123, and the like already stored in the storage section 12 to determine the mobile robot 20 that will execute a new conveyance task. The departure place is the current position of the mobile robot 20, the conveyance destination of the previous conveyance task, the reception destination of the conveyance object, and the like. The destination is the conveyance destination of the conveyance object, a waiting place (waiting area), a charging place, and the like.

[0058] Here, the route planning section 115 sets a passing point of the mobile robot 20 from the departure place to the destination. The route planning section 115 sets the passing order of the passing points for each mobile robot 20. The passing points are set, for example, at branch points, intersection points, hallways in front of elevators, or their periphery. In addition, in a passage with a narrow width, it is sometimes difficult to perform a passing of the mobile robots 20. In such a case, the front of the passage with a narrow width can also be set as a passing point. Candidates for the passing points can also be registered in the floor map 121 in advance.

[0059] ​The route planning unit 115 decides the mobile robot 20 that performs each transport task from among the plurality of mobile robots 20 in such a manner that the system as a whole can efficiently perform tasks. The route planning unit 115 allocates transport tasks preferentially to the mobile robots 20 in standby, the mobile robots 20 approaching the transport source.

[0060] The route planning unit 115 sets a passing point including a departure place and a destination for the mobile robot 20 to which a transport task is allocated. For example, in a case where there are two or more movement paths from the transport source to the transport destination, the passing point is set in such a manner that movement can be performed in a shorter time. Thus, the upper-level management device 10 updates information indicating the congestion situation of the passage on the basis of an image of a camera or the like. Specifically, the degree of congestion is high at a place where other mobile robots 20 pass through, a place where many people are present. Thus, the route planning unit 115 sets the passing point in such a manner as to avoid a place where the degree of congestion is high.

[0061] Sometimes the mobile robot 20 can move to the destination by either of a movement path that makes a left turn or a movement path that makes a right turn. In such a case, the route planning unit 115 sets the passing point in such a manner that the movement path is passed through that is less congested. Alternatively, the route planning unit 115 sets the passing point on the basis of the degree of consumption described later. The route planning unit 115 can cause the mobile robot 20 to move on a movement path that is not congested by setting one or a plurality of passing points in an interval to the destination. For example, in a case where a passage is divided at a branch point, a crossing point, the route planning unit 115 appropriately sets a passing point at the branch point, the crossing point, a corner, and the periphery thereof. Thereby, it is possible to improve the transport efficiency.

[0062] The route planning unit 115 can also set the passing point in consideration of the congestion situation of an elevator, the movement distance, and the like. Further, the upper-level management device 10 can also estimate the number of mobile robots 20, the number of people at a predetermined time when the mobile robot 20 passes through a certain place. Then, the route planning unit 115 can also set the passing point in accordance with the estimated congestion situation. In addition, the route planning unit 115 can also dynamically change the passing point in accordance with a change in the congestion situation. The route planning unit 115 sets the passing point in order for the mobile robot 20 to which a transport task is allocated. The passing point can also include the transport source, the transport destination. As described later, the mobile robot 20 autonomously moves in such a manner as to pass through the passing points set by the route planning unit 115 in order.

[0063] The storage unit 12 is a storage unit that stores information necessary for management and control of the robots. In the present embodiment, the storage unit 12 stores the following information. Figure 2The floor map 121, the robot information 123, the robot control parameter 122, the route plan information 125, and the conveyance object information 126 are shown as examples, but the information stored in the storage section 12 can be information other than these. In the arithmetic processing section 11, the arithmetic using the information stored in the storage section 12 is performed when various processes are performed. In addition, the various information stored in the storage section 12 can be updated to the latest information.

[0064] The floor map 121 is map information of a facility in which the mobile robot 20 moves. The floor map 121 can be a floor map that is made in advance, or a floor map that is generated based on information obtained from the mobile robot 20, and in addition, the floor map 121 can be a floor map in which map correction information that is generated based on information obtained from the mobile robot 20 is added to a basic map that is made in advance.

[0065] The robot information 123 describes the ID, the model, the specifications, and the like of the mobile robot 20 managed by the upper management device 10. The robot information 123 can also include position information indicating the current position of the mobile robot 20. The robot information 123 can also include information indicating whether the mobile robot 20 is performing a task or is on standby. In addition, the robot information 123 can also include information indicating whether the mobile robot 20 is in operation or is in a failure, and the like. In addition, the robot information 123 can also include information of a conveyance object that can be conveyed and a conveyance object that cannot be conveyed. The robot information 123 can also include information of the planar dimensions of the mobile robot 20.

[0066] The robot information 123 can also include information indicating the degree of consumption of the wheels. The robot information 123 includes the degree of consumption of the wheels on the left and right of the mobile robot 20. For example, the information indicating the degree of consumption of the wheels is a cumulative value of the number of rotations of the wheels. The robot information 123 can also be updated based on the movement of the mobile robot 20. The robot information 123 includes the degree of consumption with respect to each mobile robot 20. Further, with respect to one mobile robot 20, the robot information 123 includes the degree of consumption of the left wheel and the degree of consumption of the right wheel.

[0067] The robot control parameter 122 describes a control parameter such as a threshold distance from a surrounding object with respect to the mobile robot 20 managed by the upper management device 10. The threshold distance is a margin distance for avoiding contact with a surrounding object including a person. Further, the robot control parameter 122 can also include a speed upper limit value of the moving speed of the mobile robot 20 and the like, which are information related to the intensity of operation.

[0068] A plurality of threshold distances and speed upper limit values can also be set in the robot control parameters 122. The upper management device 10 can also appropriately change the threshold distances and speed upper limit values. For example, the threshold distances and speed upper limit values can also be set in stages. The threshold distances and speed upper limit values set in stages can also be associated. For example, in the case of a high-speed mode in which the speed upper limit value is high, it is difficult to perform an emergency stop or deceleration, so the threshold distance is increased. In the case of a low-speed mode in which the speed upper limit value is low, it is easy to perform an emergency stop or deceleration, so the threshold distance is decreased. The threshold distance can be changed in accordance with the speed upper limit value as described above. The operation processing section 11 can also change the speed upper limit value and the like in accordance with the conveyance object information and the environment information. The upper management device 10 selects the speed upper limit value and the threshold distance from the robot control parameters in accordance with the environment and the situation. The upper management device 10 transmits the data to the mobile robot 20 after the speed upper limit value and the threshold distance are updated.

[0069] The robot control parameters 122 can also be updated in accordance with the situation. The robot control parameters 122 can also include information indicating the vacancy situation and the use situation of the storage spaces of the storage library 291. The robot control parameters 122 can also include information of conveyance objects that can be conveyed and conveyance objects that cannot be conveyed. The robot control parameters 122 associate the above-described various information with each mobile robot 20.

[0070] The route plan information 125 includes route plan information planned by the route planning section 115. The route plan information 125 includes, for example, information indicating a conveyance task. The route plan information 125 can also include information of the ID of the mobile robot 20 to which a task is assigned, the departure place, the contents of the conveyance object, the conveyance destination, the conveyance source, the scheduled arrival time at the conveyance destination, the scheduled arrival time at the conveyance source, the arrival deadline, and the like. In the route plan information 125, the above-described various information can also be associated with each conveyance task. The route plan information 125 can also include at least a part of the conveyance commission information input by the user Ul.

[0071] Further, the route plan information 125 can also include information related to the passing points of each mobile robot 20 and the conveyance task. For example, the route plan information 125 includes information indicating the passing order of the passing points of each mobile robot 20. The route plan information 125 can also include the coordinates of each passing point in the floor plan 121 and information indicating whether each passing point is passed.

[0072] The conveyance object information 126 is information related to a conveyance object for which a conveyance request is made. For example, it includes information such as the contents (category) of the conveyance object, the conveyance source, the conveyance destination, and the like. The conveyance object information 126 can also include the ID of the mobile robot 20 in charge of the conveyance. Further, the conveyance object information can also include information indicating the state of being conveyed, before conveyance (before being loaded), after conveyance, and the like. In the conveyance object information 126, the above information is associated with each conveyance object. The conveyance object information 126 is described later.

[0073] Further, the route planning unit 115 refers to various information stored in the storage unit 12 to make a route plan. For example, the mobile robots 20 that execute the tasks are decided based on the floor map 121, the robot information 123, the robot control parameters 122, and the route plan information 125. Also, the route planning unit 115 refers to the floor map 121 and the like to set the passing points and the passing order up to the conveyance destination. The candidates of the passing points are registered in advance in the floor map 121. Also, the route planning unit 115 sets the passing points according to the congestion situation and the like. In addition, in the case where tasks are processed in succession and the like, the route planning unit 115 can also set the conveyance source and the conveyance destination as the passing points.

[0074] Further, two or more mobile robots 20 can also be assigned to one conveyance task. For example, in the case where the conveyance object is larger than the conveyable capacity of the mobile robot 20, one conveyance object is divided into two and loaded on two mobile robots 20. Or, in the case where the conveyance object is heavier than the conveyable weight of the mobile robot 20, one conveyance object is divided into two and loaded on two mobile robots 20. Thereby, one conveyance task can be shared and executed by two or more mobile robots 20. Of course, in the case of controlling mobile robots 20 of different sizes, the route plan can also be made in such a way that the mobile robot 20 that can convey the conveyance object receives the conveyance object.

[0075] Further, one mobile robot 20 can also perform two or more conveyance tasks in parallel. For example, one mobile robot 20 can also load two or more conveyance objects at the same time and sequentially convey them to different conveyance destinations. Or, another conveyance object can also be loaded while one mobile robot 20 is conveying one conveyance object. In addition, the conveyance destinations of the conveyance objects loaded at different places can be the same or different. Thereby, the tasks can be efficiently executed.

[0076] In this case, with respect to the accommodation space of the mobile robot 20, the accommodation information indicating the use state or the vacancy state can also be updated. That is, the upper management device 10 can also manage the accommodation information indicating the vacancy state and control the mobile robot 20. For example, when the mounting or the receiving of the conveyance object is completed, the accommodation information is updated. When a conveyance task is input, the upper management device 10 refers to the accommodation information to decide the mobile robot 20 having a vacancy capable of mounting the conveyance object and causes it to go to receive the conveyance object. Thus, one mobile robot 20 can execute a plurality of conveyance tasks at the same time, or two or more mobile robots 20 can share and execute the conveyance task. For example, a sensor can be provided in the accommodation space of the mobile robot 20 to detect the vacancy state. In addition, the capacity and the weight of each conveyance object can be registered in advance.

[0077] The buffer memory 13 is a memory that stores intermediate information generated in the processing in the arithmetic processing section 11. The communication section 14 is a communication interface for communicating with the plurality of environment cameras 300 and at least one mobile robot 20 provided in the facility using the system 1. The communication section 14 can perform both wired communication and wireless communication. For example, the communication section 14 transmits a control signal necessary for controlling each mobile robot 20 to the mobile robot 20. In addition, the communication section 14 receives information collected by the mobile robot 20 and the environment camera 300.

[0078] The mobile robot 20 has an arithmetic processing section 21, a storage section 22, a communication section 23, a proximity sensor (for example, a distance sensor group 24), a camera 25, a drive section 26, a display section 27, and an operation reception section 28. In addition, in the mobile robot 20, a plurality of other processing blocks not shown are also included. Figure 2 In the mobile robot 20, a plurality of other processing blocks not shown are also included.

[0079] The communication section 23 is a communication interface for communicating with the communication section 14 of the upper management device 10. The communication section 23 can communicate with the communication section 14 using, for example, a wireless signal. The distance sensor group 24 is, for example, a proximity sensor that outputs proximity object distance information indicating the distance of the mobile robot 20 from an object or a person existing in the vicinity thereof. The camera 25, for example, captures an image for grasping the state of the surroundings of the mobile robot 20. In addition, the camera 25 can also capture a position marker provided at the ceiling or the like of the facility. The position marker can be used to cause the mobile robot 20 to grasp the position thereof.

[0080] The drive section 26 drives the drive wheels provided to the mobile robot 20. Further, the drive section 26 can also have an encoder or the like that detects the number of rotations of the drive wheels and the drive motor thereof. The current position (current location) can also be estimated from the output of the encoder. The mobile robot 20 detects its current position and transmits it to the upper management device 10.

[0081] The display section 27 and the operation receiving section 28 are realized by a touch panel display. The display section 27 displays a user interface screen that becomes the operation receiving section 28. In addition, information indicating the travel destination of the mobile robot 20, the state of the mobile robot 20 can also be displayed on the display section 27. The operation receiving section 28 receives operations from the user. In addition to the user interface screen displayed on the display section 27, the operation receiving section 28 also includes various switches provided to the mobile robot 20.

[0082] The arithmetic processing section 21 performs arithmetic processing for the control of the mobile robot 20. The arithmetic processing section 21 can be installed as a central arithmetic processing device (CPU: Central Processing Unit) or the like of a computer that can execute a program, for example. Also, various functions can be realized by a program. The arithmetic processing section 21 has a movement command extraction section 211, a drive control section 212, and a consumption degree calculation section 213. Further, in the Figure 2 Only representative processing blocks possessed by the arithmetic processing section 21 are shown in the drawing, but processing blocks not shown are also included. The arithmetic processing section 21 can also search for a path between the points.

[0083] The movement command extraction section 211 extracts a movement command from a control signal given by the upper management device 10. For example, the movement command includes information related to the next passing point. For example, the control signal can also include information related to the coordinates of the passing point, the passing order of the passing point. Also, the movement command extraction section 211 extracts the above information as a movement command.

[0084] Further, the movement command can also include information indicating the case where "movement to the next passing point is possible". If the passage width is narrow, the mobile robot 20 can not be able to pass. In addition, the passage can not be able to be passed temporarily. In such a case, the control signal includes a command that causes the mobile robot 20 to stop at a passing point before the place where it should stop. Also, after the other mobile robot 20 passes, or after it becomes possible to pass, the upper management device 10 outputs a control signal that notifies the mobile robot 20 of the case where "movement is possible". Thus, the mobile robot 20 that was temporarily stopped starts moving again.

[0085] The drive control section 212 controls the drive section 26 to move the mobile robot 20 based on the movement command given from the movement command extraction section 211. For example, the drive section 26 has a drive wheel that rotates according to a control instruction value from the drive control section 212. The movement command extraction section 211 extracts a movement command so that the mobile robot 20 moves toward a passing point received from the upper-level management device 10. Also, the drive section 26 drives the drive wheel to rotate. The mobile robot 20 autonomously moves toward the next passing point. Thus, the passing points are sequentially passed through and the delivery destination is reached. In addition, the mobile robot 20 can also estimate the own position and transmit a signal indicating that the passing point has been passed to the upper-level management device 10. Thus, the upper-level management device 10 can manage the current position and the delivery status of each mobile robot 20.

[0086] The consumption degree calculation section 213 calculates the consumption degree of the wheels (drive wheels) on the left and right. As described later, an encoder of a drive motor is provided to the drive section 26 of the mobile robot 20. The encoder detects rotation information indicating the rotation angle, rotation speed, and the like of the wheels. The consumption degree calculation section 213 detects the number of rotations of the wheels based on a signal from the encoder. The consumption degree calculation section 213 calculates the cumulative value of the number of rotations as the consumption degree.

[0087] The floor map 221, the robot control parameter 222, and the delivery object information 226 are stored in the storage section 22. Figure 2 A part of the information stored in the storage section 22 is illustrated, and information other than the Figure 2 The floor map 221, the robot control parameter 222, and the delivery object information 226 are illustrated. The floor map 221 is map information of the facility in which the mobile robot 20 moves. The floor map 221 is, for example, a floor map obtained by downloading the floor map 121 of the upper-level management device 10. In addition, the floor map 221 can also be a floor map that is prepared in advance. In addition, the floor map 221 can not be map information of the entire facility, but can include map information of a region in which movement is scheduled.

[0088] The robot control parameter 222 is a parameter for causing the mobile robot 20 to act. For example, a threshold distance from a surrounding object is included in the robot control parameter 222. Further, an upper limit value of the speed of the mobile robot 20 is included in the robot control parameter 222. When the mobile robot 20 receives the robot control parameter 122 updated in the upper-level management device 10, the data of the robot control parameter 222 is updated.

[0089] The threshold distance can also be controlled to change in stages according to the moving speed during the movement of the mobile robot. For example, the threshold distance is increased when the mobile robot 20 accelerates and becomes high speed. That is, the threshold distance is increased when the speed of the mobile robot 20 exceeds a speed threshold. When the mobile robot 20 moves at high speed, the braking distance becomes large, so it is preferable to increase the threshold distance as a margin distance. Thus, the threshold distance can also be changed when the mobile robot 20 moves at a low speed mode lower than the speed threshold and a high speed mode above the speed threshold. Of course, the threshold distance can be divided into more than three stages. For example, it can be set to three stages of a high speed mode, a medium speed mode, and a low speed mode, and the threshold distance is set to be different for each mode. Further, the higher the speed, the more the threshold distance is increased. That is, the threshold distance is the smallest in the lowest speed mode.

[0090] The consumption degree information 223 is information indicating the consumption degree calculated by the consumption degree calculating section 213. As described above, the consumption degree information 223 is a cumulative value of the number of rotations of the drive wheels.

[0091] As with the conveyance object information 126, the conveyance object information 226 includes information related to the conveyance object. Information such as the contents (category) of the conveyance object, the conveyance source, the conveyance destination, and the like is included. The conveyance object information can also include information indicating the state of being conveyed, before being conveyed (before being mounted), after being conveyed, and the like. In the conveyance object information 226, the above information is associated with each conveyance object. The conveyance object information 226 will be described later. The conveyance object information 226 can include information related to the conveyance object conveyed by the mobile robot 20. Thus, the conveyance object information 226 is a part of the conveyance object information 126. That is, the conveyance object information 226 can not include information on conveyance by other mobile robots 20.

[0092] The drive control section 212 refers to the robot control parameters 222 and stops or decelerates the movement based on the distance indicated by the distance information obtained from the distance sensor group 24 being lower than the threshold distance. The drive control section 212 controls the drive section 26 so that the mobile robot 20 travels at a speed equal to or lower than the speed upper limit value. The drive control section 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 speed upper limit value.

[0093] (Configuration of the Mobile Robot 20)

[0094] Here, the appearance of the mobile robot 20 will be described. Figure 3 A schematic diagram of the mobile robot 20 is shown. Figure 3 The mobile robot 20 shown is one form of the mobile robot 20, and can be another form. Further, in the following description, the mobile robot 20 is assumed to be a mobile robot that moves on the floor surface. Figure 3In the diagram, the x-direction represents the forward and backward directions of the mobile robot 20, the y-direction represents the left and right directions of the mobile robot 20, and the z-direction represents the height of the mobile robot 20.

[0095] The mobile robot 20 includes a main body 290 and a trolley section 260. The main body 290 is mounted on the trolley section 260. Both the main body 290 and the trolley section 260 have a cuboid frame, and various components are housed inside the frame. For example, a drive unit 26 is housed inside the trolley section 260.

[0096] The main body 290 is equipped with a storage compartment 291 that serves as a receiving space, and a door (window) 292 that seals the storage compartment 291. The storage compartment 291 has multiple shelves, and the vacancy status is managed for each shelf. For example, by installing various sensors such as weight sensors on each shelf, the vacancy status can be updated. The mobile robot 20 moves autonomously to transport items stored in the storage compartment 291 to a destination indicated by the upper management device 10. The main body 290 may also house a control box (not shown) within its frame. Furthermore, the door 292 can be locked using an electronic key or similar device. When the transport destination is reached, the user U2 unlocks the door 292 using the electronic key. Alternatively, the door 292 may unlock automatically upon arrival at the transport destination.

[0097] like Figure 3 As shown, a distance sensor group 24 is provided on the exterior (external decoration) of the mobile robot 20, consisting of a front-back distance sensor 241 and a left-right distance sensor 242. The mobile robot 20 uses the front-back distance sensor 241 to measure the distance to surrounding objects in the front-back direction. Additionally, the mobile robot 20 uses the left-right distance sensor 242 to measure the distance to surrounding objects in the left-right direction.

[0098] For example, front and rear distance sensors 241 are respectively disposed on the front and rear surfaces of the frame of the main body 290. Left and right distance sensors 242 are respectively disposed on the left and right sides of the frame of the main body 290. The front and rear distance sensors 241 and the left and right distance sensors 242 are, for example, ultrasonic distance sensors or laser rangefinders. They detect the distance to surrounding objects. If the distance to a surrounding object detected by the front and rear distance sensors 241 or the left and right distance sensors 242 is below a threshold distance, the mobile robot 20 decelerates or stops.

[0099] The drive unit 26 is equipped with drive wheels 261 and casters 262. Drive wheels 261 are wheels used to move the mobile robot 20 forward, backward, left, and right. Casters 262 are driven wheels that follow the drive wheels 261 without being driven by any force. The drive unit 26 has a drive motor (not shown) to drive the drive wheels 261.

[0100] For example, the drive section 26 supports two drive wheels 261 and two casters 262, which respectively contact the traveling surface, inside the frame. The two drive wheels 261 are disposed so that the rotational shaft cores thereof coincide with each other. Each drive wheel 261 is independently driven to rotate by a motor not shown. The drive wheels 261 rotate in accordance with a control command value from the drive control section 212 of the robot 10. The casters 262 are driven wheels, which are disposed so as to "support the wheels in the shaft from the rotational shaft of the drive section 26 in the vertical direction, and follow the moving direction of the drive section 26". Figure 2

[0101] For example, if the two drive wheels 261 rotate in the same direction at the same rotational speed, the mobile robot 20 moves straight ahead. If the two drive wheels 261 rotate in opposite directions at the same rotational speed, the mobile robot 20 rotates about a vertical axis substantially at the center of the two drive wheels 261. Further, by causing the two drive wheels 261 to rotate in the same direction at different rotational speeds, the mobile robot 20 can move while turning to the left or right. For example, by causing the rotational speed of the left drive wheel 261 to be higher than that of the right drive wheel 261, the mobile robot 20 can turn to the right. Conversely, by causing the rotational speed of the right drive wheel 261 to be higher than that of the left drive wheel 261, the mobile robot 20 can turn to the left. That is, by individually controlling the rotational direction and rotational speed of the two drive wheels 261, the mobile robot 20 can translate, rotate, turn to the right, turn to the left, and the like, in any direction.

[0102] Further, in the mobile robot 20, a display section 27 and an operation interface 281 are provided on the upper surface of the main body section 290. The operation interface 281 is displayed on the display section 27. By the user touching the operation interface 281 displayed on the display section 27, the operation accepting section 28 can accept an instruction input from the user. Further, an emergency stop button 282 is provided on the upper surface of the display section 27. The emergency stop button 282 and the operation interface 281 function as the operation accepting section 28.

[0103] The display section 27 is, for example, a liquid crystal panel, which displays the face of a person by an illustration, and presents information related to the mobile robot 20 by text and icons. If the face of a person is displayed on the display section 27, the observers around can be given the impression that the display section 27 is a simulated face. The display section 27 and the like mounted on the mobile robot 20 can also be used as the user terminal 400.

[0104] ​A camera 25 is mounted on the front surface of the main body 290. Here, the two cameras 25 function as stereo cameras. That is, the two cameras 25, having the same field of view, are arranged horizontally, separated from each other. Images captured by each camera 25 are output as image data. The distance to the subject and the size of the subject can be calculated based on the image data from the two cameras 25. The processing unit 21 analyzes the images from the cameras 25 and can detect people, obstacles, etc., in front of it in the direction of movement. When people, obstacles, etc., are present in front of it in the direction of movement, the mobile robot 20 moves along the path while avoiding these people and obstacles. Furthermore, the image data from the cameras 25 is sent to the host management device 10.

[0105] The mobile robot 20 analyzes the image data output by the camera 25 and the detection signals output by the front-to-back distance sensor 241 and the left-to-right distance sensor 242 to identify surrounding objects and determine its own position. The camera 25 captures images of the front of the mobile robot 20 in its direction of travel. As shown in the figure, the side where the camera 25 is located is designated as the front of the robot. That is, during normal movement, as indicated by the arrow, the front of the robot is the direction of travel.

[0106] Next, use Figure 4 The main components of the drive unit 26 will be explained. Figure 4 This diagram schematically illustrates the main components of the drive unit 26. Here, it will be used to distinguish... Figure 3 The left drive wheel 261 shown is designated as drive wheel 261L, and the right drive wheel 261 is designated as drive wheel 261R. The drive unit 26 includes drive wheels 261L and 261R, motors 263L and 263R, and wheel sensors 264L and 264R. For simplicity, casters 262 and the like are omitted.

[0107] Motor 263L is a drive mechanism that drives drive wheel 261L. Motor 263R is a drive mechanism that drives drive wheel 261R. For example, motors 263L and 263R are controlled to move along a movement path to the destination. Specifically, motors 263L and 263R are driven to rotate according to control command values ​​from drive control unit 212.

[0108] The wheel sensor 264L detects the operation of the drive wheel 261L. The wheel sensor 264R detects the operation of the drive wheel 261R. The wheel sensor 264L and the wheel sensor 264R are encoders or the like provided to the motors 263L and 263R, respectively. For example, the wheel sensor 264L detects the rotation angle of the drive wheel 261L. The wheel sensor 264R detects the rotation angle of the drive wheel 261R. The current position of the mobile robot 20 in the floor map 221 can also be found by accumulating the number of rotations from the wheel sensors 264L and 264R.

[0109] Further, the wheel sensors 264L, 264R output the detection results to the consumption degree calculation section 213. Figure 3 The consumption degree calculation section 213 calculates the consumption degrees of the components related to the left and right wheels. Specifically, the consumption degree calculation section 213 accumulates the number of rotations (number of turns) of the left and right drive wheels 261L, 261R. The consumption degree calculation section 213 stores the accumulated value of the number of rotations as the consumption degree information 223 in a memory or the like. The accumulated value of the number of rotations becomes a value indicating the consumption degree of the components related to the left and right wheels.

[0110] The greater the accumulated value of the number of rotations, the greater the consumption (wear) of the tire of the drive wheel 261. Thus, the consumption degree calculation section 213 can calculate the consumption degrees of the left and right wheels from the detection results of the wheel sensors 264L, 264R, respectively. In addition, in a case where the manager or the like performs maintenance and replaces the drive wheels 261L, 261R with new ones, the consumption degree calculation section 213 resets the consumption degrees of the replaced drive wheels to the initial values (for example, 0).

[0111] The route planning section 115 manages travel in accordance with the consumption degrees. That is, the route planning section 115 performs path search, assignment of tasks, and the like based on the consumption degrees of the respective mobile robots 20. The route planning section 115 performs route planning in such a manner that the left-right difference in the consumption degrees of the respective mobile robots 20 becomes small.

[0112] (Task Assignment Example 1)

[0113] Figure 5 is a diagram for explaining task assignment example 1. In Figure 5 an example in which the user Ul makes a conveyance request in such a manner as to convey the conveyed object from the conveyance source S to the conveyance destination G is shown. In Figure 5In the example, two mobile robots that are to be on standby in the standby space WS are denoted as mobile robots 20A, 20B. Further, a user Ul gives a conveyance request in the vicinity of the standby space WS. The user Ul is in the vicinity of the conveyance source S, and the user U2 is in the vicinity of the conveyance destination G. In addition, the positions of the mobile robots 20A, 20B at the start of the task are approximately coincident with the conveyance source S.

[0114] Through points M1 to M3 are set in the movement path Pl from the conveyance source S to the conveyance destination G. The mobile robots 20 pass through the through points M1, M2, M3 in this order. Here, in the movement path Pl from the conveyance source S to the conveyance destination G, the number of right turns is greater than the number of left turns. Specifically, the number of left turns is 0, and the number of right turns is 1.

[0115] Therefore, in the case of moving on the movement path Pl, the number of rotations of the left drive wheel 261 is greater than the number of rotations of the right drive wheel 261. In other words, in the case of moving on the movement path Pl, the left drive wheel 261 is consumed more than the right drive wheel 261. As such, in this conveyance task, the degree of consumption on the left side is higher than the degree of consumption on the right side.

[0116] Before the conveyance, in the mobile robot 20A, the degree of consumption on the left side is higher than the degree of consumption on the right side. Before the conveyance, in the mobile robot 20B, the degree of consumption on the right side is higher than the degree of consumption on the left side. Therefore, the route planning unit 115 assigns the task to the mobile robot 20B. That is, the route planning unit 115 assigns the task to the mobile robot 20B in such a manner that the left-right difference in the degree of consumption is eliminated.

[0117] The route planning unit 115 manages the travel based on the left-right degrees of consumption, whereby the maintenance period can be delayed. For example, since the number of times of maintenance such as tire replacement can be reduced, the conveyance object can be conveyed more efficiently. If the degree of consumption of one of the drive wheels 261 is greater than the degree of consumption of the other drive wheel 261, there arises a demand to replace only the part of which the degree of consumption is greater. By managing the travel in such a manner that the left-right degrees of consumption are made coincident, the left-right parts can be replaced by one maintenance. Therefore, the task can be performed efficiently.

[0118] In the example, Figure 5 In the example, if the mobile robot 20 of which the degree of consumption on the left side is high is assigned the conveyance task of which the degree of consumption on the left side is high, the difference in the left-right degrees of consumption further increases. Therefore, there arises a demand to replace only the part on the left side. Or, the part on the right side of which the degree of consumption is low needs to be replaced together with the part on the left side of which the degree of consumption is high. Therefore, the route planning unit 115 can efficiently perform the maintenance by assigning the task to the mobile robot 20B in such a manner that the left-right difference in the degree of consumption is eliminated.

[0119] Further, the degree of consumption can be initialized when maintenance such as replacement of parts is performed. That is, in a case where the left tire is replaced, the degree of consumption of the left side is reset to an initial value (for example, 0), and in a case where the right tire is replaced, the degree of consumption of the right side is set to an initial value. In addition, the degree of consumption can be set for each of the tires, the motor, the gear, and the like.

[0120] Further, the route planning unit 115 can also estimate the degrees of consumption of the left and right sides in accordance with the movement path searched by the route planning unit 115. That is, the route planning unit 115 can also calculate an estimated value of the degrees of consumption of the left and right sides with respect to the transport task, and decide the mobile robot 20 to which the transport task is allocated in accordance with the estimated value of the degrees of consumption.

[0121] (Task allocation example 2)

[0122] Figure 6 is a diagram for explaining the task allocation example 2. In Figure 6 , the mobile robot 20A and the mobile robot 20B are waiting at different positions. Specifically, the mobile robot 20A is waiting at the waiting space WS1, and the mobile robot 20B is waiting at the waiting space WS2.

[0123] Here, a processing example of allocating a task to the mobile robot 20A is explained. For example, the user U1 located at the transport source S makes a transport request in such a manner that the transported object is transported to the transport destination G. The mobile robot 20A goes to the transport source S to receive the transported object. After the user U1 mounts the transported object on the mobile robot 20A, the mobile robot 20A moves to the transport destination G.

[0124] Here, the current position of the mobile robot 20A is set as the current position A, and the current position of the mobile robot 20B is set as the current position B. At the start of the task, the position of the mobile robot 20A is different from the position of the mobile robot 20B. A path from the current position A via the transport source S to the transport destination G is set as the movement path PA. Through points M11 to M14 are set in the movement path PA. A path from the current position B via the transport source S to the transport destination G is set as the movement path PB. Through points M21 to M24 are set in the movement path PB.

[0125] In the movement path PA, the number of left turns is once, and the number of right turns is once. In the movement path PB, the number of left turns is zero, and the number of right turns is twice. The movement path PA and the movement path PB become approximately the same distance. Thus, in the movement path PA, the degrees of consumption of the left and right sides are approximately equal. In the movement path PB, the degree of consumption of the left side is high.

[0126] In the mobile robot 20A, the degree of consumption is the same on the left and right. In addition, in the mobile robot 20B, the degree of consumption is the same on the left and right. Thus, if the route planning unit 115 assigns a task to the mobile robot 20B traveling on the travel path PB, the difference in the degree of consumption on the left and right in the mobile robot 20B becomes large. Therefore, the route planning unit 115 assigns a task to the mobile robot 20A. That is, the route planning unit 115 determines the mobile robot 20 that performs a task in accordance with the difference in the degree of consumption on the left and right. Since it is possible to eliminate the difference in the degree of consumption on the left and right, it is possible to efficiently perform maintenance.

[0127] (Modified Example 1)

[0128] Use Figure 7 Modified Example 1 will be described. In Figure 7 an example in which one mobile robot 20 moves from the conveyance source S to the conveyance destination G is shown. Further, as a travel path from the conveyance source S to the conveyance destination G, a left-turn travel path P2 and a right-turn travel path P3 are searched for. In the travel path P2, through points M31, M32 are set. In the travel path P3, through points M41, M42 are set.

[0129] In the left-turn travel path P2, the number of right turns is two and the number of left turns is zero. In the left-turn travel path P2, the degree of consumption on the left is greater than that on the right. In the right-turn travel path P3, the number of right turns is zero and the number of left turns is two. In the right-turn travel path P3, the degree of consumption on the right is greater than that on the left.

[0130] In the mobile robot 20 before the task is performed, the degree of consumption on the left is higher than that on the right. Therefore, the route planning unit 115 selects the travel path P3. That is, the route planning unit 115 transmits an action instruction to the mobile robot 20 to move along the travel path P3. Thus, it is possible to reduce the difference in the degree of consumption on the left and right of the mobile robot 20. The route planning unit 115 searches for a route of the mobile robot 20 in accordance with the difference in the degree of consumption on the left and right. Since it is possible to eliminate the difference in the degree of consumption on the left and right, it is possible to efficiently perform maintenance.

[0131] Further, in Modified Example 1, it is possible to manage travel by the mobile robot 20 only, so it is possible to omit travel management based on the upper-level management device 10. That is, the mobile robot 20 searches for a plurality of paths and can adopt one path from the plurality of paths in accordance with the degree of consumption. In this case, the operation processing unit 21 or the like of the mobile robot 20 performs the processing of the route planning unit 115. A control program is executed in a manner in which the processing and functions of the route planning unit 115 are assigned to the operation processing unit 21 of the mobile robot 20.

[0132] The arithmetic processing section 21 searches for the movement paths P2 and P3. The arithmetic processing section 21 calculates the consumption degree of the left and right in the movement paths P2, P3. The arithmetic processing section 21 decides the movement path based on the current consumption degree and the consumption degree in the movement path. The arithmetic processing section 21 decides the movement path in such a manner that the difference in the consumption degree between the left and right becomes small at the time of reaching the destination. In this way, the arithmetic processing section 21 can efficiently control the mobile robot 20 by deciding the movement path according to the consumption degree.

[0133] Further, the above-described distribution example 1, distribution example 2, and modified example 1 can be appropriately combined, respectively. As the configuration in which the upper-level management device 10 manages the travel of a plurality of mobile robots 20, the route planning section 115 can also search for one or a plurality of paths for each mobile robot 20. Then, the route planning section 115 can decide the optimal mobile robot and the optimal path from among the plurality of mobile robots and the plurality of paths.

[0134] As described above, the system 1 according to the present embodiment controls a plurality of mobile robots 20. The mobile robots 20 are provided with left and right wheels. The system 1 is provided with a route planning section 115 and a consumption degree calculation section 213 that calculates the consumption degree of the left and right wheels. The route planning section 115 becomes a management section that manages the travel of a plurality of mobile robots 20 according to the consumption degree. Thereby, maintenance can be appropriately performed, so control can be efficiently performed. For example, the route planning section manages the travel in such a manner that the difference in the consumption degree between the left and right of the mobile robots 20 is eliminated. Thereby, the number of times of maintenance can be reduced.

[0135] In addition, the route planning section 115 can also decide the mobile robot that carries the carried object according to the movement path from the carrying source to the carrying destination of the carried object. For example, in a case where the upper-level management device 10 has accepted a carrying request, the route planning section 115 searches for a movement path in such a manner that the mobile robot 20 can move in a short time. The route planning section 115 searches for a movement path that is short in distance, a movement path that is less crowded. The route planning section 115 can allocate a task to the mobile robot 20 according to the estimated consumption degree in the case of traveling on the movement path and the current consumption degree of the mobile robot 20. For example, the route planning section 115 can also allocate a task to a suitable mobile robot 20 according to the number of times of left turns, the number of times of right turns, and the like of the movement path.

[0136] Further, the route planning section 115 can also decide the robot that carries the carried object according to the positions of a plurality of mobile robots, the carrying source, and the carrying destination of the carried object. For example, a task is allocated to a mobile robot 20 based on a movement path from the current position of the mobile robot 20 to the carrying source. For example, by allocating a task to a mobile robot 20 located at a position close to the carrying source, the total movement distance of the system as a whole can be shortened, so the number of times of maintenance can be reduced.

[0137] The route planning section 115 can also temporarily decide a movement path from the current position of the mobile robot 20 via the conveyance source to the conveyance destination. Then, the route planning section 115 selects a robot that conveys the conveyance object based on the temporarily decided movement path. For example, the route planning section 115 temporarily decides, for each mobile robot 20, a movement path from the current position via the conveyance source to the conveyance destination. Here, the route planning section 115 can temporarily decide the movement path of all the mobile robots 20, or can temporarily decide the movement path of only a part of the mobile robots 20. Specifically, the route planning section 115 temporarily decides the movement path for the mobile robots 20 whose distance from the current position to the conveyance source is within a predetermined distance. Then, the route planning section 115 assigns a task to the mobile robot 20 that has a movement path that eliminates the difference in the degree of consumption between the left and right.

[0138] As such, the route planning section 115 can manage travel not only using the degree of consumption of the mobile robot 20, but also using information other than the degree of consumption.

[0139] Figure 8 is a flowchart illustrating a robot control method according to the present embodiment. First, the degree of consumption calculating section 213 calculates the degree of consumption (S801). For example, the degree of consumption calculating section 213 sets the cumulative value of the number of rotations of the wheels (drive wheels 261L, 261R) on the left and right as the degree of consumption. In addition, the host management device 10 can also perform at least a part of the process of the degree of consumption calculating section 213.

[0140] Next, the route planning section 115 manages travel based on the degree of consumption (S802). For example, the route planning section 115 manages travel in such a manner that eliminates the difference in the degree of consumption between the left and right. Specifically, the route planning section 115 can also select the mobile robot 20 based on the movement path and the degree of consumption. Alternatively, the route planning section 115 can also search for a plurality of movement paths and select a movement path based on the degree of consumption of the nearest mobile robot 20. Thereby, it is possible to efficiently manage travel.

[0141] In addition, a part or all of the processing in the upper management device 10 or the mobile robot 20 and the like described above can be implemented as a computer program. Such a program can be stored using various types of non-transitory computer-readable media and supplied to a computer. The non-transitory computer-readable media include various types of tangible recording media. Examples of the non-transitory computer-readable media include a magnetic recording medium (e.g., a floppy disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (e.g., a magneto-optical disk), a CD-ROM (Read Only Memory), a CD-R, a CD-R / W, and a semiconductor memory (e.g., a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, and a RAM (Random Access Memory)). In addition, the program can be supplied to a computer through various types of transitory computer-readable media. Examples of the transitory computer-readable media include an electrical signal, an optical signal, and an electromagnetic wave. The transitory computer-readable media can supply the program to a computer via a wired communication path or a wireless communication path such as an electric wire and an optical fiber.

[0142] Furthermore, the present application is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist thereof.

Claims

1. A robot control system that controls a plurality of mobile robots, each of the mobile robots is provided with left and right wheels and a sensor that detects actions of the left and right wheels, the mobile robots are mobile robots that carry a carried object, the robot control system, temporarily decides a movement path from a current position of the mobile robot via a carrying source of the carried object to a carrying destination for the mobile robot whose distance from the current position to the carrying source is within a predetermined distance, selects a mobile robot that carries a carried object on the basis of movement paths temporarily decided for two or more of the mobile robots, estimates which of the left and right wheels has a greater degree of consumption in the case where the mobile robot has traveled the movement path on the basis of the number of left turns and the number of right turns on the movement path, allocates a mobile robot to a carrying task of the carried object in such a manner that the left-right difference in the degree of consumption of the mobile robot is eliminated, selects the mobile robot in such a manner that the mobile robot is allocated the carrying task in the case where the degree of consumption of one of the left and right on the movement path is greater, selects the mobile robot in such a manner that the mobile robot is allocated the carrying task in the case where the degrees of consumption of the left and right on the movement path are the same.

2. A robot control method that controls a plurality of mobile robots, each of the mobile robots is provided with left and right wheels and a sensor that detects actions of the left and right wheels, the mobile robots are mobile robots that carry a carried object, the robot control method includes: temporarily deciding a movement path from a current position of the mobile robot via a carrying source of the carried object to a carrying destination for the mobile robot whose distance from the current position to the carrying source is within a predetermined distance, selecting a mobile robot that carries a carried object on the basis of movement paths temporarily decided for two or more of the mobile robots, estimating which of the left and right wheels has a greater degree of consumption in the case where the mobile robot has traveled the movement path on the basis of the number of left turns and the number of right turns on the movement path, allocating a mobile robot to a carrying task of the carried object in such a manner that the left-right difference in the degree of consumption of the mobile robot is eliminated, selecting the mobile robot in such a manner that the mobile robot is allocated the carrying task in the case where the degree of consumption of one of the left and right on the movement path is greater, selecting the mobile robot in such a manner that the mobile robot is allocated the carrying task in the case where the degrees of consumption of the left and right on the movement path are the same.

3. A program product including a program that causes a computer to execute a robot control method that controls a plurality of mobile robots, each of the mobile robots is provided with left and right wheels and a sensor that detects actions of the left and right wheels, the mobile robots are mobile robots that carry a carried object, the robot control method includes: For a mobile robot whose distance from the current position to the carrying source is within a predetermined distance, a movement path from the current position of the mobile robot to the carrying destination via the carrying source of the carried object is temporarily decided, Based on the movement paths temporarily decided for two or more of the mobile robots, a mobile robot that carries the carried object is selected, According to the number of left turns and the number of right turns on the movement path, it is estimated which side of the wheels of the mobile robot is more consumed if the mobile robot travels on the movement path, The mobile robot is selected in such a manner that the carrying task of the carried object is allocated to the mobile robot in a manner that eliminates the difference in the consumption degree between the left and right sides of the mobile robot, In a case where the consumption degree of one of the left and right sides on the movement path is greater, the mobile robot is selected in such a manner that the carrying task is allocated to the mobile robot so that the consumption degrees of the left and right sides are consistent, In a case where the consumption degrees of the left and right sides on the movement path are the same, the mobile robot is selected in such a manner that the carrying task is allocated to the mobile robot whose consumption degrees of the left and right sides are the same.

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