Robot moving system, robot moving method, and robot moving program

Abstract

To allow movable bodies including moving robots to efficiently move as a whole in a facility comprising an elevator.SOLUTION: A robot moving system is a system that moves moving robots in a multiple-stage facility comprising an elevator having an elevator car, and comprises a processing circuit that changes moving paths of the moving robots using the elevator on the basis of information on a schedule for a preferential moving body to use the elevator, to change scheduled moving paths of the moving robots.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a robot movement system, a robot movement method, and a robot movement program.

Background Art

[0002] In recent years, in buildings equipped with elevators, systems have been proposed in which self-propelled robots use the elevators to move to other floors in the building and perform various operations. Patent Document 1 discloses an elevator system that avoids the co-riding of a robot and general users when the self-propelled robot uses the elevator. Specifically, if a general user registers a car call at the elevator landing on any floor before the car in which the robot has boarded arrives at the destination floor, the car is stopped at the nearest floor and the robot is made to get off.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the configuration of Patent Document 1, since the situation where the robot that has boarded the car gets off at an intermediate floor frequently occurs before the car arrives at the destination floor, there is a possibility that the movement efficiency may decrease.

[0005] Therefore, one aspect of the present disclosure aims to enable each moving body including a mobile robot to move efficiently as a whole within a facility equipped with an elevator.

Means for Solving the Problems

[0006] A robot movement system according to one aspect of the present disclosure is a system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, and is configured to change a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

[0007] A robot movement system according to another aspect of the present disclosure is a system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, and includes a processing circuit configured to output a command to cause the mobile robot to get off the elevator car at a floor different from a planned destination floor when it is determined that a relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0008] A robot movement system according to still another aspect of the present disclosure is a system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, and includes a processing circuit configured to determine a floor at which to cause the mobile robot to get off the elevator car based on a plurality of tasks within the facility when it is determined that a relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0009] A robot movement method according to one aspect of the present disclosure is a method for autonomously moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, and changes a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

[0010] A robot movement program according to one aspect of the present disclosure causes at least one processor to execute the above method. The program can be stored in a computer-readable storage medium. The storage medium is a non-transitory and tangible medium. The storage medium can be built-in or externally attached to a computer (e.g., a mobile information terminal, a personal computer, a server, etc.). The storage medium includes RAM, ROM, EEPROM, storage, etc., and can be, for example, a hard disk, a flash memory, an optical disk, etc. The program stored in the storage medium may be executed on a computer directly connected to the storage medium, or may be executed on a computer connected to the storage medium via a network (e.g., the Internet).

Advantages of the Invention

[0011] According to one aspect of the present disclosure, by changing the movement route of the mobile robot using the elevator so that the priority mobile body can efficiently use the elevator, it is possible to prevent the priority mobile body from arriving at the destination late due to the mobile robot. On the other hand, when a mobile body that is not a priority mobile body uses the elevator, the mobile robot does not necessarily need to change the movement route using the elevator. Therefore, each mobile body including the mobile robot can move efficiently as a whole in a facility equipped with an elevator.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments will be described with reference to the drawings.

[0014] FIG. 1 is a schematic diagram of a robot movement system 1 according to an embodiment. As shown in FIG. 1, the robot movement system 1 includes a plurality of mobile robots 2 that move autonomously, a server 3 that can communicate with the plurality of mobile robots 2 via a communication network N, and a database 4 connected to the server 3. The communication network N can be, for example, the Internet, but may also be an intranet or the like. The mobile robot 2 moves autonomously on the floors in a multi-story facility 7 equipped with an elevator 8. The facility 7 is not particularly limited, but can be, for example, a hospital. In the facility 7, there may be a plurality of moving bodies including the mobile robot 2, a transport bed, a transport cart, and the like. In the present embodiment, the tasks assigned to the mobile robot 2 include movement to a destination. Note that the task may include work at a starting point, a relay point, or a destination. The type of task is, for example, movement, delivery, or patrol. The detailed information of the task includes, for example, the departure place of the task, the destination of the task, the time range required for arrival at the departure place, and the time range required for arrival at the destination.

[0015] The database 4 stores the map data 5 within the facility 7 where the mobile robot 2 moves. The map data 5 specifies the shape of the area where the mobile robot 2 can travel. For example, the map data 5 specifies the shape of each floor within the facility 7. The map data 5 specifies the contour of the travelable area of the mobile robot 2 by specifying the obstacle contours on each floor. Note that the database 4 may be built into the server 3 or may be connected to the server 3 via the communication network N.

[0016] The plurality of mobile robots 2 have the same configuration as each other. The mobile robot 2 is equipped with a navigation function and autonomously moves towards the destination. When the mobile robot 2 moves via a relay point until it reaches the final destination, the mobile robot 2 may move with the relay point closest to the current location as the destination. The mobile robot 2 travels on the ground, but it may also fly in the air. Also, the plurality of mobile robots 2 may have different configurations from each other. As an example, the mobile robot 2 includes a plurality of wheels 18, a body 19, at least one distance measuring sensor 14, a touch panel display 15, etc.

[0017] The wheels 18 are drive wheels for traveling. The body 19 is supported by the wheels 18. The wheels 18 are an example of a propulsion body that moves the mobile robot 2. In this embodiment, since the task of the mobile robot 2 includes moving to a destination for receiving or delivering goods, etc., the wheels 18 are an example of a driven body that performs the task. The body 19 has a carrier 19a. On the carrier 19a, for example, goods that require transportation are loaded. The distance measuring sensor 14 and the touch panel display 15 will be described later.

[0018] Figure 2 is a block diagram of the mobile robot 2 in Figure 1. As shown in Figure 2, the mobile robot 2 includes a processing circuit 10, a distance measuring sensor 14, a touch panel display 15, a traveling actuator 16, a communication interface 17, etc. These devices 14 to 17 are electrically connected to the processing circuit 10.

[0019] The processing circuit 10 includes a processor 11, a system memory 12, and a storage memory 13. The processor 11 may include a CPU (Central Processing Unit). The system memory 12 may include a RAM. The storage memory 13 may include a hard disk, a flash memory, or a combination thereof. The storage memory 13 stores a control program P1. A configuration in which the processor 11 executes the control program P1 read from the storage memory 13 into the system memory 12 is an example of the processing circuit 10. The processor 11 controls at least one of the touch panel display 15 and the traveling actuator 16 according to the control program P1 based on information input from at least one of the distance measurement sensor 14, the touch panel display 15, and the communication interface 17.

[0020] The distance measurement sensor 14 three-dimensionally measures the surroundings of the mobile robot 2 to three-dimensionally detect the shape of the surroundings of the mobile robot 2. The distance measurement sensor 14 detects position data of the outer surface of an obstacle in the facility 7 by receiving a reflected wave from an obstacle around the mobile robot 2. For example, the distance measurement sensor 14 may emit light, radio waves, or ultrasonic waves toward the surroundings of the mobile robot 2 and receive the reflected wave. The distance measurement sensor 14 may receive a reflected wave obtained by reflecting light, radio waves, or ultrasonic waves existing in the external world by an object. The distance measurement sensor 14 can measure the omnidirectional horizontal direction with respect to the mobile robot 2. Note that the distance measurement sensor 14 may two-dimensionally measure the surroundings of the mobile robot 2.

[0021] The distance measurement sensor 14 can be, for example, one that measures the time from irradiating a laser beam until receiving the reflected wave to detect the distance to an obstacle. The distance measurement sensor 14 can be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measurement sensor 14 is a three-dimensional LIDAR sensor. Note that the distance measurement sensor 14 may be a sensor assembly including a LIDAR sensor facing forward, a LIDAR sensor facing backward, a LIDAR sensor facing left, and a LIDAR sensor facing right. The distance measurement sensor 14 may be an infrared distance measurement sensor, a millimeter-wave radar, or a depth sensing camera. The depth sensing camera may be one that measures the distance to an object using the parallax by a stereo camera.

[0022] The processing circuit 10 identifies the position of the mobile robot 2 on the map data 5 by matching the surrounding shape detected by the distance measurement sensor 14 with the shape of the map data 5. That is, a positioning sensor is realized by a combination of software that matches the detected shape by the distance measurement sensor 14 with the map data 5 and the distance measurement sensor 14.

[0023] The touch panel display 15 is an example of a user interface. That is, the touch panel display 15 serves as both a user input interface and a user output interface. Note that as the user input interface, a keyboard, a mouse, etc. may be used, or a smartphone or a tablet terminal capable of communicating with the mobile robot 2 may be used. As the user output interface, a non-touch panel type display may be used.

[0024] The traveling actuator 16 includes a wheel drive actuator that drives the wheel 18 to rotate. The traveling actuator 16 is, for example, an electric motor. The traveling actuator 16 includes a braking actuator that drives a brake for braking the wheel 18. The mobile robot 2 may change the traveling direction by making the rotational speeds of the left and right wheels 18 different, or by making the rotational directions of the left and right wheels 18 different, or by steering the wheel 18 with a steering actuator. The mobile robot 2 may have a counter differential two-wheel mechanism or an omnidirectional mecanum mechanism.

[0025] The communication interface 17 is an interface for wirelessly connecting to the communication network N. The communication interface 17 functions as a transmitter that transmits information about its own mobile robot 2 to the server 3 via the communication network N. The communication interface 17 functions as a receiver that receives information about other mobile robots 2 transmitted from the server 3.

[0026] FIG. 3 is a block diagram of the server 3 in FIG. 1. As shown in FIG. 3, the server 3 includes a processing circuit 20 and a communication interface 24. The communication interface 24 is electrically connected to the processing circuit 20. The processing circuit 20 includes a processor 21, a system memory 22, and a storage memory 23. The communication interface 24 includes an interface for wired or wireless connection to the communication network N and an interface for wired or wireless connection to the database 4. The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include a RAM. The storage memory 23 may include a hard disk, a flash memory, or a combination thereof. The storage memory 23 stores the program P2. A configuration in which the processor 21 executes the program P2 read from the storage memory 23 into the system memory 22 is an example of the processing circuit 20.

[0027] FIG. 4 is a block diagram of the elevator 8 in FIG. 1. As shown in FIG. 4, the elevator 8 includes an elevator control device 31, an elevator hall operation panel 32, and a hoist car 33. The elevator control device 31 includes a communication interface 41 connected to the communication network N, an actuator 42 for raising or lowering the hoist car 33, and a control processing circuit 43 for controlling the actuator 42. The control processing circuit 43 has a configuration in which, for example, a processor executes a control program read from a storage memory into a system memory.

[0028] The elevator hall operation panel 32 is installed in the elevator hall on each floor in the facility 7. The elevator hall operation panel 32 includes a communication interface 51, an upward call registration button 52, and a downward call registration button 53. The communication interface 51 is connected to the communication interface 41 of the elevator control device 31 by wire or wirelessly. Note that the communication interface 51 may be connected to the communication network N. The upward call registration button 52 and the downward call registration button 53 are arranged to be operable in the elevator hall. When the upward call registration button 52 is pressed, a car call registration for moving to an upper floor using the hoist car 33 is transmitted to the elevator control device 31 via the communication interface 51. When the downward call registration button 53 is pressed, a car call registration for moving to a lower floor using the hoist car 33 is transmitted to the elevator control device 31 via the communication interface 51.

[0029] The elevator car 33 has an internal space for the moving body to ride in, and is driven by the actuator 42 to ascend or descend toward different floors. The internal space of the elevator car 33 is, for example, sized such that it cannot carry both the mobile robot 2 and the priority moving body 6 described later. Also, the internal space of the elevator car 33 may be sized such that the movement of either the mobile robot 2 or the priority moving body 6 is inhibited when the mobile robot 2 and the priority moving body 6 are on board together. The elevator car 33 includes a communication interface 61 and a destination floor designation button 62. The communication interface 61 is connected to the communication interface 41 of the elevator control device 31 by wire or wirelessly. Note that the communication interface 51 may be connected to the communication network N. The destination floor designation button 62 is arranged to be operable within the internal space of the elevator car 33. When the destination floor is selected by operating the destination floor designation button 62, the registered destination floor of the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 61.

[0030] The control processing circuit 43 of the elevator control device 31 determines the movement and stop of the elevator car 33 and controls the actuator 42 according to the information based on the operations of the upward call registration button 52, the downward call registration button 53, and the destination floor designation button 62. Also, as will be described later, the control processing circuit 43 of the elevator control device 31 also refers to the information received from the server 3 via the communication network N, determines the movement and stop of the elevator car 33, and controls the actuator 42.

[0031] FIG. 5 is a drawing for explaining the problems when using the elevator 8 by the priority moving body 6. As shown in FIG. 6, the facility 7 is a hospital. The planned movement route of the first mobile robot 2A includes movement from the sixth floor to the first floor of the facility 7. The second mobile robot 2B exists on the fifth floor of the facility 7. Assume that a transport bed, which is an example of the priority moving body 6, is carrying a patient and trying to move from the second floor to the first floor of the facility 7. Note that the initial planned movement route of each mobile robot 2 is determined based on a known method (for example, the LNS algorithm) so that each mobile robot efficiently shares all the tasks within the facility 7.

[0032] When a nurse carrying the priority moving body 6 presses the downward call registration button 53 on the second floor and calls the elevator car 33 into which the first mobile robot 2A will board on the sixth floor, the elevator car 33 carrying the first mobile robot 2A stops on the second floor before arriving at the first floor, which is the destination floor of the first mobile robot 2A. Since the priority moving body 6 cannot board the elevator car 33 while the first mobile robot 2A is present in the internal space of the elevator car 33, the first mobile robot 2A needs to get off the elevator car 33 on the second floor.

[0033] When the first mobile robot 2A gets off the elevator car 33, the priority moving body 6 needs to retreat for the movement of the first mobile robot 2A and has to wait until the first mobile robot 2A completely gets off the elevator car 33. Then, it takes time for the priority moving body 6 to board the elevator car 33, and the priority moving body 6 will arrive at the destination (for example, the operating room) late. Also, if a temporary task (receiving or delivering materials, etc.) that has not yet been assigned to any of the mobile robots 2 occurs on the fourth floor of the facility 7 after the planned movement route of the first mobile robot 2A has been determined, the second mobile robot 2B on the fifth floor needs to change its planned movement route and move to the fourth floor to execute the task. In view of such circumstances, the following countermeasures are taken in this embodiment.

[0034] FIG. 6 is a drawing for explaining the change of the planned movement route of the first mobile robot 2A in the robot movement system 1 of FIG. 1. As shown in FIG. 6, in the robot movement system 1 according to this embodiment, the planned movement route of the first mobile robot 2A is changed so that it gets off the elevator car 33 on an intermediate floor (for example, the fourth floor) between the sixth floor where the first mobile robot 2A boards the elevator car 33 and the second floor where the priority moving body 6 is present.

[0035] When the first mobile robot 2A gets off at the intermediate floor and the empty elevator car 33 arrives at the second floor, the priority mobile body 6 can immediately board the elevator car 33 without having to retreat and wait. That is, when the priority mobile body 6 tries to board the elevator car 33, it is prevented from colliding with the first mobile robot 2A. As a result, it is prevented that the priority mobile body 6 arrives at the destination late.

[0036] Also, after determining the planned movement route of the first mobile robot 2A, if an emergency task occurs on the fourth floor of the facility 7, the first mobile robot 2A can execute the emergency task by setting the intermediate floor where it gets off the elevator car 33 to the fourth floor. After the first mobile robot 2A gets off the elevator car 33 at the intermediate floor, it can execute the task at the intermediate floor, and it is possible to prevent a decrease in the efficiency of the changed planned movement route of the first mobile robot 2A. Furthermore, a decrease in efficiency due to the second mobile robot 2B changing its planned movement route and moving to a different floor is also prevented.

[0037] FIG. 7 is a main flowchart for explaining the processing of the server 3 in FIG. 3. FIG. 8 is a sub - flowchart for explaining the processing of the server 2 in FIG. 3. FIG. 9 is a flowchart of the route change process in FIG. 8. Hereinafter, focusing on the first mobile robot 2A (see FIG. 6) among the plurality of mobile robots 2, the processing of the server 3 will be mainly described according to the flow of FIGS. 7 to 9 with appropriate reference to FIGS. 1 to 4 and 6. Note that the processing of the server 3 is executed by the processing circuit 20.

[0038] The tasks in the facility 7 may be those registered in the server 3 via the communication network N from the tasks input to the touch panel display 15 of the mobile robot 2, or may be those registered in the server 3 via the communication network N from another terminal. In the present embodiment, the task is the movement of the mobile robot 2 to the destination, and the task request is a movement request. The server 3 assigns each task to an appropriate mobile robot 2 based on all the registered tasks and the positions of all the mobile robots 2, and determines the planned movement route of the mobile robot 2 to which the task is assigned. The mobile robot 2 autonomously moves toward the destination upon receiving the task request.

[0039] As shown in FIG. 7, the server 3 acquires the current location of the first mobile robot 2A measured by the distance measuring sensor 14 from the first mobile robot 2A via the communication network N, and acquires the planned movement path of the first mobile robot 2A to obtain the destination floor of the movement by the elevator 8 (step S1). The server 3 determines whether or not the first mobile robot 2A has arrived at the elevator hall of the facility 7 (step S2). When it is determined that the first mobile robot 2A has arrived at the elevator hall, “1” is input to the flag (step S3), and the elevator control device 31 is instructed to register a call for the elevator car 33 to the current floor (the sixth floor in FIG. 6) where the first mobile robot 2A is present (step S4).

[0040] The server 3 determines whether or not the elevator car 33 has arrived at the current floor (the sixth floor in FIG. 6) where the first mobile robot 2A is present and the elevator door on the current floor has opened (step S5). When it is determined that the elevator door has opened, the server 3 instructs the elevator control device 31 to extend the opening time of the elevator door longer than normal (step S6). After confirming that the elevator door is in the open state (step S7: Y), the server 3 instructs the first mobile robot 2A to board the elevator car 33 (step S8). The server 3 determines whether or not the first mobile robot 2A has completed boarding the elevator car 33 (step S9).

[0041] When it is determined that the first mobile robot 2A has completed boarding the elevator car 33, the server 3 instructs the elevator control device 31 to register a call for the elevator car 33 to the destination floor (the first floor in FIG. 6) of the first mobile robot 2A (step S10). The server 3 determines whether or not the elevator car 33 on which the first mobile robot 2A has boarded has arrived at the destination floor (the first floor in FIG. 6) and the elevator door on the destination floor has opened (step S11).

[0042] When it is determined that the elevator door has opened, the server 3 inputs "0" to the flag (step S12), and commands the elevator control device 31 to extend the opening time of the elevator door longer than normal (step S13). After confirming that the elevator door is in the open state (step S14: Y), the server 3 commands the first mobile robot 2A to get off the elevator car 33 (step S15). The server 3 determines whether or not the first mobile robot 2A has completed getting off the elevator car 33 (step S16).

[0043] The flow of FIG. 8 is implemented in parallel with the flow of FIG. 7. As shown in FIG. 8, the server 3 determines whether or not the flag is "1" (see step S3 in FIG. 7) (step S21). That is, the server 3 determines whether or not the first mobile robot 2A has arrived at the elevator hall. When it is determined that the flag is "1", the server 3 acquires the planned movement route of the first mobile robot 2A (step S22). The server 3 determines whether or not the first mobile robot 2A is scheduled to use the elevator 8 with reference to the planned movement route (step S23).

[0044] In the present embodiment, when the server 3 determines that the first mobile robot 2A is scheduled to use the elevator 8 with reference to the planned movement route of the first mobile robot 2A, since the current position of the first mobile robot 2A is already in the elevator hall, the server 3 regards the scheduled use time of the elevator 8 by the first mobile robot 2A as the current time. Even when the current position of the first mobile robot 2A is on a floor away from the elevator hall, the server 3 may estimate the scheduled use of the elevator 8 by the first mobile robot 2Ab and the scheduled use time of the elevator 8 by the first mobile robot 2A with reference to the planned movement route of the first mobile robot 2A and the moving speed of the first mobile robot 2A.

[0045] When it is determined that the first mobile robot 2A is scheduled to use the elevator 8, the server 3 acquires the scheduled use time of the elevator 8 by the priority moving body 6 (step S24).

[0046] The priority mobile body 6 is a mobile body to which priority is given among the mobile bodies existing in the facility 7. For example, when the priority mobile body 6 is a transport bed for carrying a patient, a nurse who operates the transport bed issues a priority registration command to the server 3 from his / her mobile terminal, and the server 3 gives priority to the mobile terminal. The mobile terminal has a positioning function and periodically transmits the position information of the mobile terminal to the server 3 via the communication network N. The mobile terminal of the nurse who operates the transport bed moves together with the transport bed. Therefore, the position information of the mobile terminal substantially means the position information of the transport bed, and the granting of priority to the mobile terminal substantially means the granting of priority to the transport bed. Note that the position of the priority mobile body 6 to which priority is given may be calculated by extracting the priority mobile body 6 from an image captured by an environmental camera installed in the facility 7 by a known image recognition technique.

[0047] When the priority mobile body 6 has a positioning terminal, the positioning terminal may periodically transmit the position information of the priority mobile body 6 to the server 3. By issuing a priority registration command to the server 3 from the positioning terminal of the priority mobile body 6, the server 3 may give priority to the positioning terminal. By issuing a priority registration command to the server 3 from another terminal connected to the communication network N, the server 3 may give priority to the positioning terminal of the priority mobile body 6. The server 3 may give priority to the positioning terminal or the mobile terminal of the priority mobile body 6 based on a predetermined program.

[0048] When the server 3 receives a signal indicating that a person accompanying the priority moving body 6 has pressed the upward call registration button 52 or the downward call registration button 53 of the elevator hall operation panel 32, the server 3 may determine the reception time of the signal as the scheduled use time of the elevator 8 by the priority moving body 6. When the server 3 determines that the position of the mobile phone accompanying the priority moving body 6 has arrived at the elevator hall, the server 3 may determine the arrival time as the scheduled use time of the elevator 8 by the priority moving body 6. When a person accompanying the priority moving body 6 transmits information indicating the scheduled elevator use time from a mobile terminal to the server 3, the server 3 may determine the scheduled use time of the elevator 8 by the priority moving body 6 based on the information.

[0049] When the priority moving body 6 has a positioning terminal, if the server 3 determines that the position of the priority moving body 6 has arrived at the elevator hall, the server 3 may determine the arrival time as the scheduled use time of the elevator 8 by the priority moving body 6. When the priority moving body 6 has a positioning terminal, the server 3 may estimate the scheduled use time of the elevator 8 by the priority moving body 6 based on the position and moving speed of the priority moving body 6 or the mobile terminal.

[0050] The server 3 obtains the planned moving direction in which the priority moving body 6 is to move using the elevator 8 (step S25). That is, the server 3 obtains the planned moving direction indicating whether the priority moving body 6 is to move upward or downward using the elevator 8. For example, when the server 3 receives a signal indicating that a person accompanying the priority moving body 6 has pressed the upward call registration button 52 or the downward call registration button 53 of the elevator hall operation panel 32, the server 3 may determine the direction indicated by the signal as the planned moving direction in which the priority moving body 6 is to move using the elevator 8.

[0051] When information indicating the direction in which a person accompanying the priority moving body 6 moves by the elevator 8 is transmitted from the mobile terminal to the server 3, the server 3 may determine the planned moving direction in which the priority moving body 6 moves using the elevator 8 based on the said information. The server 3 may estimate the direction in which the priority moving body 6 moves using the elevator 8 based on the type of the priority moving body 6. For example, the server 3 may estimate the direction in which the priority moving body 6 moves using the elevator 8 by AI prediction based on past performance.

[0052] The server 3 determines whether or not a predetermined path change condition indicating that it is necessary to change the planned movement path of the first mobile robot 2A is satisfied (step S26). The said path change condition is a condition that the priority moving body 6 is planned to use the elevator 8 so as to get into the elevator car 33 on which the first mobile robot 2A has boarded, and the planned elevator moving direction of the first mobile robot 2A is a direction (for example, downward direction) toward the floor where the priority moving body 6 exists (the second floor in FIG. 6). In the case of a configuration in which a plurality of elevators arranged in parallel corresponding to one elevator hall are group-controlled, the server 3 may determine the elevator car 33 on which the first mobile robot 2A has boarded from among the plurality of elevator cars 33, and execute this control with respect to the determined car 33.

[0053] In this embodiment, the processes of steps S22 to S26 are performed after the first mobile robot 2A arrives at the elevator hall (steps S2, S3), but the processes of steps S22 to S26 may be performed when the current position of the first mobile robot 2A is on a floor away from the elevator hall. In that case, determining that the priority moving body 6 is planned to use the elevator 8 so as to get into the elevator car 33 on which the first mobile robot 2A has boarded may include determining that the time difference between the planned use time of the elevator 8 by the first mobile robot 2A and the planned use time of the elevator 8 by the priority moving body 6 is less than a predetermined threshold value.

[0054] Further, when the server 3 determines that the relative positional relationship between the priority mover 6 and the elevator 8 satisfies a predetermined condition, the server 3 may output a command to cause the first mobile robot 2A to get off the hoistway car 33 at a floor different from the scheduled destination floor. For example, determining that the priority mover 6 is scheduled to use the elevator 8 so as to get into the hoistway car 33 on which the first mobile robot 2A has boarded may include determining that the distance from the priority mover 6 to the elevator hall is less than a predetermined threshold value. In that case, it may also be an AND condition that the moving direction of the priority mover 6 is directed toward the elevator hall.

[0055] When it is determined that the route change condition is satisfied, the server 3 executes a route change process (step S27). The route change process is shown in the flowchart of FIG. 9. As shown in FIG. 9, the server 3 determines whether there is an intermediate floor between the floor on which the first mobile robot 2A gets into the hoistway car 33 (the sixth floor in FIG. 6) and the floor where the priority mover 6 exists (the second floor in FIG. 6) (step S31). When it is determined that there is no intermediate floor, the server 3 ends the process without changing the scheduled movement route of the first mobile robot 2A. When it is determined that there is an intermediate floor, the server 3 determines whether there are a plurality of intermediate floor candidates (step S32).

[0056] When it is determined that there is only one intermediate floor candidate, the server 3 instructs the elevator control device 31 to change the destination floor for which the hoistway car 33 is called for the first mobile robot 2A to get off the hoistway car 33 to that intermediate floor (step S36). Specifically, the server 3 instructs the elevator control device 31 to cancel the call registration of the hoistway car 33 to the original destination floor of the first mobile robot 2A, and instructs the elevator control device 31 to register a call for the hoistway car 33 to that intermediate floor. Note that when the original destination floor of the first mobile robot 2A and the destination floor of the priority mover 6 are the same, it is not necessary to cancel the call registration of the hoistway car 33 to the original destination floor of the first mobile robot 2A.

[0057] When it is determined that there are multiple intermediate floor candidates (the third to fifth floors in FIG. 6), the server 3 determines whether there are tasks on those intermediate floors (step S33). When it is determined that there are tasks on those intermediate floors, the server 3 recalculates the planned movement route of the first mobile robot 2A so as to include the tasks on the intermediate floors in the planned movement route, taking into account the temporary tasks (step S34).

[0058] That is, the server 3 changes the planned movement route of the first mobile robot 2A so that the first mobile robot 2A gets off the elevator car 33 at a specific intermediate floor (the fourth floor in FIG. 6) among the multiple intermediate floors. Then, the server 3 commands the first mobile robot 2A to set the destination floor to the specific intermediate floor (step S35). The server 3 commands the elevator control device 31 to change the destination floor for which the elevator car 33 is called and registered for the first mobile robot 2A to get off the elevator car 33 to that intermediate floor (step S36). Thereby, the first mobile robot 2A can execute tasks on the intermediate floor, and a decrease in the efficiency of the changed planned movement route of the first mobile robot 2A is prevented.

[0059] When it is determined that there are no tasks on any of the intermediate floors, the server 3 inquires of the elevator control device 31 whether there is a call registration for the elevator car 33 on any of the intermediate floors (the third to fifth floors in FIG. 6) (step S37). When it is determined that there is a call registration for the elevator car 33 on any of the intermediate floors, the server 3 selects a specific intermediate floor for the first mobile robot 2A to get off the elevator car 33 from the intermediate floors with call registrations (step S38).

[0060] The server 3 commands the elevator control device 31 to change the destination floor for which the elevator car 33 is called and registered for the first mobile robot 2A to get off the elevator car 33 to the selected intermediate floor (step S36). Thereby, since the first mobile robot 2A gets off the elevator car 33 at the floor where it was originally planned to stop due to the call, unnecessary stops of the elevator car 33 are prevented.

[0061] If it is determined that there is no call registration for the elevator car 33 at any intermediate floor, the first mobile robot 2A randomly selects a specific intermediate floor for getting off the elevator car 33 from a plurality of intermediate floors (step S39). The server 3 instructs the elevator control device 31 to change the destination floor for which the call registration of the elevator car 33 is to be made for the first mobile robot 2A to get off the elevator car 33 to the selected intermediate floor (step S36).

[0062] Since the route change process can be executed when the flag is "1" (steps S3 to S11), the planned movement route of the first mobile robot 2A can be changed when the first mobile robot 2A is on the elevator car 33. Thereby, even when the first mobile robot 2A is already using the elevator 8, the planned movement route of the first mobile robot 2A can be changed so that the priority mobile body 6 can efficiently use the elevator 8.

[0063] According to the configuration described above, based on the information regarding the planned use of the elevator 8 by the priority mobile body 6, the planned movement route of the mobile robot 2 is changed by changing the movement route of the mobile robot 2 using the elevator 8, and the mobile robot 2 gets off the elevator car 33 at an intermediate floor between the floor where the mobile robot 2 boards the elevator car 33 and the floor where the priority mobile body 6 exists. Since the mobile robot 2 gets off the elevator car 33 at an intermediate floor before reaching the floor where the priority mobile body 6 exists, it is possible to prevent the priority mobile body 6 from colliding with the mobile robot 2 when the priority mobile body 6 tries to board the elevator car 33. Therefore, it is possible to prevent the priority mobile body 6 from taking a long time to reach the destination. On the other hand, when a mobile body other than the priority mobile body 6 uses the elevator 8, the mobile robot 2 does not necessarily have to change the movement route using the elevator 8. Therefore, each mobile body including the mobile robot 2 can move efficiently as a whole within the facility 7 equipped with the elevator 8.

[0064] Note that the technology of the present disclosure is not limited to the above-described embodiments. For example, when the mobile robot 2 rides in the elevator car 33 and moves to a floor in the direction opposite to the direction toward the floor where the priority mover 6 exists, the server 3 may instruct the mobile robot 2 and the elevator control device 31 to get the mobile robot 2 off the elevator car 33 as soon as possible and direct the elevator car 33 toward the floor where the priority mover 6 is located.

[0065] As described above, the above embodiments have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited thereto, and is also applicable to embodiments in which changes, replacements, additions, omissions, etc. are made as appropriate. Further, it is also possible to combine the respective components described in the above embodiments to form a new embodiment. For example, some of the components in the embodiment can be arbitrarily extracted separately from other components in the embodiment. In addition, among the components described in the accompanying drawings and the detailed description, there are not only the components essential for solving the problem, but also the components not essential for solving the problem for exemplifying the above technology.

[0066] The functions of the elements disclosed in this specification can be executed using a circuit or processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), a conventional circuit, and / or a combination thereof, which is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, unit, or means is hardware that executes the recited functions, or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification, or other known hardware programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for configuring the hardware and / or the processor.

[0067] [Aspect] The above-described embodiments are specific examples of the following aspects.

[0068] (Aspect 1) A system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, comprising a processing circuit configured to change a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

[0069] According to this configuration, by changing the movement route using the elevator of the mobile robot so that the priority mobile body can efficiently use the elevator, it is possible to prevent the priority mobile body from arriving at the destination late due to the mobile robot. On the other hand, when a mobile body that is not a priority mobile body uses the elevator, the mobile robot does not necessarily need to change the movement route using the elevator. Therefore, each mobile body including the mobile robot can move efficiently as a whole within the facility equipped with the elevator.

[0070] (Aspect 2) The processing circuit is configured to determine whether or not a condition is satisfied that the priority mobile body is scheduled to use the elevator and the moving direction of the mobile robot when using the elevator is a direction toward the floor where the priority mobile body exists. Changing the planned movement route includes, when it is determined that the condition is satisfied, changing the planned movement route so that the mobile robot gets off the elevator car at a specific intermediate floor between the floor where the mobile robot gets into the elevator car and the floor where the priority mobile body exists, in the robot movement system according to Aspect 1.

[0071] According to this configuration, since the mobile robot gets off the elevator car at an intermediate floor before reaching the floor where the priority mobile body exists, it is possible to prevent the mobile robot from interfering with the priority mobile body when the priority mobile body tries to get into the elevator car. Therefore, it is possible to prevent the priority mobile body from taking a long time to reach the destination.

[0072] (Aspect 3) The processing circuit is configured to acquire a plurality of tasks in the facility. Changing the planned movement route includes, when it is determined that the condition is satisfied, re-determining a task to be assigned to the mobile robot from the plurality of tasks, which is a task including movement from the elevator hall on the specific intermediate floor to the destination as a starting point, in the robot movement system according to Aspect 2.

[0073] According to this configuration, after the mobile robot gets off the elevator car on an intermediate floor, the mobile robot can be efficiently moved to execute a task.

[0074] (Aspect 4) The processing circuit determines whether there are a plurality of intermediate floor candidates between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body exists, and further configured to acquire a task within the facility that is not assigned to the mobile robot, Changing the planned movement path includes selecting, as the specific intermediate floor, the floor where the task exists from the plurality of intermediate floor candidates, according to the robot movement system of aspect 2 or 3.

[0075] According to this configuration, when there are a plurality of intermediate floor candidates, the mobile robot can execute a task on an intermediate floor, and it is possible to prevent a decrease in the efficiency of the changed planned movement path of the mobile robot.

[0076] (Aspect 5) The processing circuit determines whether there are a plurality of intermediate floor candidates between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body exists, and determines whether there is a floor among the intermediate floor candidates where a call for the elevator car has occurred, Changing the planned movement path includes selecting, as the specific intermediate floor, the floor where the call has occurred from the plurality of intermediate floor candidates, according to the robot movement system of any one of aspects 2 to 4.

[0077] According to this configuration, since the mobile robot gets off the elevator car on the floor where it is planned to stop due to a call, it is possible to prevent unnecessary stops of the elevator car.

[0078] (Aspect 6) The processing circuit is configured to obtain a scheduled use time which is the time when the mobile robot plans to use the elevator, and a scheduled use time which is the time when the priority moving body plans to use the elevator. Changing the planned movement path includes changing the planned movement path when it is determined that the time difference between the scheduled use time of the mobile robot and the scheduled use time of the priority moving body is less than a predetermined threshold value, in the robot movement system according to any one of Aspects 1 to 5.

[0079] According to this configuration, the planned movement path of the mobile robot can be effectively changed in consideration of the scheduled elevator use time of the priority moving body.

[0080] (Aspect 7) Changing the planned movement path includes changing the planned movement path when the mobile robot is in the elevator car, in the robot movement system according to any one of Aspects 1 to 6.

[0081] According to this configuration, even when the mobile robot is already using the elevator, the planned movement path of the mobile robot can be changed so that the priority moving body can efficiently use the elevator.

[0082] (Aspect 8) A system for moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, comprising a processing circuit configured to output a command to make the mobile robot get off the elevator car at a floor different from the planned destination floor when it is determined that the relative positional relationship between the priority moving body and the elevator satisfies a predetermined condition.

[0083] According to this configuration, by changing the movement route of the mobile robot using the elevator so that the priority mobile body can efficiently use the elevator, it is possible to prevent the priority mobile body from arriving at the destination late due to the mobile robot. On the other hand, when a mobile body that is not a priority mobile body uses the elevator, the mobile robot does not necessarily need to change the movement route using the elevator. Therefore, each mobile body including the mobile robot in the facility equipped with the elevator can move efficiently as a whole.

[0084] (Aspect 9) A system for moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to determine a floor to let down the mobile robot from the elevator car based on a plurality of tasks in the facility when it is determined that the relative positional relationship between the priority mobile body and the elevator satisfies a predetermined condition.

[0085] According to this configuration, by changing the movement route of the mobile robot using the elevator so that the priority mobile body can efficiently use the elevator, it is possible to prevent the priority mobile body from arriving at the destination late due to the mobile robot. Also, after the mobile robot gets off the elevator car at an intermediate floor, the mobile robot can be efficiently moved to execute a task.

[0086] (Aspect 10) A method for autonomously moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, A robot movement method for changing the planned movement route of the mobile robot by changing the movement route of the mobile robot using the elevator based on information regarding the planned use of the elevator by the priority mobile body.

[0087] (Aspect 11) A robot movement program that causes at least one processor to execute the method according to Aspect 10.

Explanation of Signs

[0088] 1 Robot movement system 2 Mobile robot 2A First mobile robot 2B Second mobile robot 3 Server 6 Priority moving body 7 Facility 8 Elevator 20 Processing circuit 21 Processor 33 Elevator car P2 Program

Claims

1. A system for moving a mobile robot within a multi-story facility equipped with an elevator having a lift car, comprising a processing circuit configured to change a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body. A robot movement system comprising a processing circuit configured to change a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

2. The processing circuit is configured to determine whether or not a condition is satisfied that the priority moving body is scheduled to use the elevator and the moving direction of the mobile robot when using the elevator is a direction toward the floor where the priority moving body is present. Changing the planned movement path includes, when it is determined that the condition is satisfied, changing the planned movement path so that the mobile robot gets off the lift car at a specific intermediate floor between the floor where the mobile robot gets on the lift car and the floor where the priority moving body is present. The robot movement system according to claim 1.

3. The processing circuit is configured to acquire a plurality of tasks within the facility. Changing the planned movement path includes, when it is determined that the condition is satisfied, re-determining a task to be assigned to the mobile robot from among the plurality of tasks, the task including movement from the elevator hall on the specific intermediate floor to a destination. The robot movement system according to claim 2.

4. The processing circuit determines whether or not there are a plurality of intermediate floor candidates between the floor where the mobile robot gets on the lift car and the floor where the priority moving body is present, and further acquires tasks within the facility that are not assigned to the mobile robot, and is configured to change the planned movement path to include selecting, as the specific intermediate floor, the floor where the task is present from among the plurality of intermediate floor candidates. The robot movement system according to claim 2.

5. The processing circuit determines whether or not there are a plurality of intermediate floor candidates between the floor where the mobile robot gets on the lift car and the floor where the priority moving body is present, and determines whether or not there is a floor among the intermediate floor candidates where a call for the lift car has occurred. The robot movement system according to claim 2, wherein changing the planned movement route includes selecting, as the specific intermediate floor, the floor where the call occurred from the plurality of intermediate floor candidates.

6. The processing circuit is configured to obtain a scheduled use time, which is the time when the mobile robot is scheduled to use the elevator, and a scheduled use time, which is the time when the priority mobile body is scheduled to use the elevator. The robot movement system according to any one of claims 1 to 5, wherein changing the planned movement route includes changing the planned movement route when it is determined that a time difference between the scheduled use time of the mobile robot and the scheduled use time of the priority mobile body is less than a predetermined threshold value.

7. The robot movement system according to any one of claims 1 to 5, wherein changing the planned movement route includes changing the planned movement route when the mobile robot is on the elevator car.

8. A system for moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to output a command to make the mobile robot get off the elevator car at a floor different from the planned destination floor when it is determined that a relative positional relationship between a priority mobile body and the elevator satisfies a predetermined condition.

9. A system for moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to determine a floor for the mobile robot to get off the elevator car based on a plurality of tasks in the facility when it is determined that a relative positional relationship between a priority mobile body and the elevator satisfies a predetermined condition.

10. A method for autonomously moving a mobile robot in a multi-story facility equipped with an elevator having an elevator car, A robot movement method for changing a planned movement route of the mobile robot by changing a movement route of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority mobile body.

11. A robot movement program for causing at least one processor to execute the method according to claim 10.

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