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

Abstract

To increase the transport efficiency of an elevator without depending on the size of a car of the elevator.SOLUTION: A robot moving system comprises a processing circuit that determines a first scheduled moving path of a first moving robot, and a second scheduled moving path of a second moving robot. When the first scheduled moving path and the second scheduled moving path are determined so as for the first moving robot and the second moving robot simultaneously use an elevator, the processing circuit determines the first scheduled moving path and the second scheduled moving path in such a manner that the second moving robot gets in an elevator car after the first moving robot, and the second moving robot gets off the elevator car before the first moving robot.SELECTED DRAWING: Figure 7

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] Patent Document 1 discloses a system for rearranging the positions of a plurality of autonomous mobile robots in an elevator car according to the descending order.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration of Patent Document 1, if the space in the elevator car is not large, a plurality of autonomous mobile robots cannot move smoothly so as to rearrange in the car.

[0005] Therefore, an aspect of the present disclosure aims to improve the transportation efficiency of an elevator without depending on the size of the elevator car.

Means for Solving the Problems

[0006] A robot movement system according to an aspect of the present disclosure is a system that moves a plurality of mobile robots within a multi-story facility equipped with an elevator having an elevating cage, and includes a processing circuit configured to determine a first planned movement route of a first mobile robot and a second planned movement route of a second mobile robot. When the first planned movement route and the second planned movement route are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, the processing circuit determines the first planned movement route and the second planned movement route such that the second mobile robot gets into the elevating cage after the first mobile robot and the second mobile robot gets out of the elevating cage before the first mobile robot.

[0007] A robot movement method according to an aspect of the present disclosure is a method for determining a first planned movement route of a first mobile robot and a second planned movement route of a second mobile robot within a multi-story facility equipped with an elevator having an elevating cage. When the first planned movement route and the second planned movement route are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, the first planned movement route and the second planned movement route are determined such that the second mobile robot gets into the elevating cage after the first mobile robot and the second mobile robot gets out of the elevating cage before the first mobile robot.

[0008] A robot movement program according to an 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

[0009] According to an aspect of the present disclosure, the transportation efficiency of an elevator can be improved without depending on the size of the elevator car of the elevator.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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Figure 7

Figure 8

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DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described with reference to the drawings.

[0012] 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. There may be a plurality of moving bodies in the facility 7, including the mobile robot 2, a transport bed, a transport cart, and the like.

[0013] 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.

[0014] The plurality of mobile robots 2 have the same configuration as each other. The mobile robot 2 is equipped with a navigation function and moves autonomously 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 nearest relay point from 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.

[0015] 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 the present embodiment, since the task of the mobile robot 2 is to move 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.

[0016] 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.

[0017] 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.

[0018] The distance measurement sensor 14 three-dimensionally detects the shape of the surroundings of the mobile robot 2 by three-dimensionally measuring the surroundings of the mobile robot 2. The distance measurement sensor 14 detects the position data of the outer surface of the obstacle in the facility 7 by receiving the reflected wave from the 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 the reflected wave of light, radio waves, or ultrasonic waves existing in the external world reflected by an object. The distance measurement sensor 14 may 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.

[0019] The distance measurement sensor 14 can be, for example, a device that measures the time from when a laser beam is emitted until a reflected wave is received 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 rearward, a LIDAR sensor facing leftward, and a LIDAR sensor facing rightward. 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 a device that measures the distance to an object by utilizing the parallax by a stereo camera.

[0020] The processing circuit 10 identifies the position of the mobile robot 2 on the map data 5 by matching the shape of the surroundings 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.

[0021] 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.

[0022] The traveling actuator 16 includes a wheel drive actuator that drives the wheels 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 wheels 18. The mobile robot 2 may change the traveling direction by varying the rotational speeds of the left and right wheels 18, or by varying the rotational directions of the left and right wheels 18, or by steering the wheels 18 with a steering actuator. The mobile robot 2 may have a counter-rotating differential wheel mechanism or an omnidirectional mecanum wheel mechanism.

[0023] 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.

[0024] Figure 3 is a block diagram of the server 3 in Figure 1. As shown in Figure 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.

[0025] 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 an elevator 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 elevator 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 control program read from a storage memory into a system memory is executed by a processor.

[0026] 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 elevator 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 elevator car 33 is transmitted to the elevator control device 31 via the communication interface 51.

[0027] The elevator car 33 has an internal space for the moving body to board, and is driven by the actuator 42 to ascend or descend toward different floors. The internal space of the elevator car 33 is sized, for example, to accommodate a plurality of mobile robots 2. 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 either wired or wirelessly. Note that the communication interface 51 may be connected to the communication network N. The destination floor designation button 62 is disposed operably 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.

[0028] Based on the information according to the operations of the upward call registration button 52, the downward call registration button 53, and the destination floor designation button 62, 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. 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.

[0029] FIG. 5 is a drawing for explaining the problems when a plurality of mobile robots 2 use the elevator 8 simultaneously. FIG. 6 is a plan view showing the transition of the relationship between the elevator car 33 and each mobile robot 2 in the situation of FIG. 5. As shown in FIG. 5, it is assumed that there are tasks (destinations for receiving or delivering materials, etc.) on the third to sixth floors of the facility 7. The server 3 determines the planned movement routes of the respective mobile robots 2 based on a known method (for example, the LNS (Large Neighborhood Search) algorithm) so that all the tasks within the facility 7 are efficiently shared among the respective mobile robots 2.

[0030] The planned movement route of the first mobile robot 2A is to move from the sixth floor to the fourth floor using the elevator 8 and then move from the fourth floor to the first floor again using the elevator 8. The planned movement route of the second mobile robot 2B is to move from the fifth floor to the third floor using the elevator 8, enter the elevator car 33, and then move from the third floor to the first floor again using the elevator 8. The first mobile robot 2A and the second mobile robot 2B use the elevator 8 simultaneously.

[0031] In this case, as shown in FIG. 6, first, the first mobile robot 2A enters the elevator car 33 on the sixth floor, and then the second mobile robot 2B enters the elevator car 33 on the fifth floor. In the state where both are in the elevator car 33, the second mobile robot 2B is interposed between the first mobile robot 2A and the door opening 33a of the elevator car 33. It is assumed that the first mobile robot 2A and the second mobile robot 2B cannot change their order within the elevator car 33.

[0032] In order for the first mobile robot 2A to get off the elevator car 33 on the fourth floor, the second mobile robot 2B needs to get off the elevator car 33 first, then the first mobile robot 2A gets off the elevator car 33, and the second mobile robot 2B gets back into the elevator car 33. Therefore, on the fourth floor, the door opening 33a of the elevator car 33 needs to be open for a long time, which not only deteriorates the transportation efficiency of the elevator 8 but also lengthens the waiting time of the person sharing the elevator car 33, causing dissatisfaction to that person. In view of such circumstances, the following countermeasures are taken in this embodiment.

[0033] FIG. 7 is a drawing for explaining the determination of a planned movement path in the robot movement system 1 of FIG. 1. FIG. 8 is a plan view showing the transition of the relationship between the elevating cage 33 and each mobile robot 2 in the situation of FIG. 7. As shown in FIG. 7, in the robot movement system 1 according to the present embodiment, when the first mobile robot 2A and the second mobile robot 2B simultaneously use the elevator 8, the second mobile robot 2B gets into the elevating cage 33 after the first mobile robot 2A, and the second mobile robot 2B gets out of the elevating cage 33 before the first mobile robot 2A. Thus, the planned movement path (first planned movement path) of the first mobile robot 2A and the planned movement path (second planned movement path) of the second mobile robot 2B are determined.

[0034] Specifically, the planned movement path of the first mobile robot 2A is a path that moves from the sixth floor to the third floor using the elevator 8 and then moves from the third floor to the first floor using the elevator 8 again. The planned movement path of the second mobile robot 2B is a path that moves from the fifth floor to the fourth floor using the elevator 8 to reach the elevating cage 33 and then moves from the fourth floor to the first floor using the elevator 8 again.

[0035] That is, in the moving direction (downward direction) of the elevating cage 33, the floor (fifth floor) where the second mobile robot 2B gets into the elevating cage 33 is a floor after the floor (sixth floor) where the first mobile robot 2A gets into the elevating cage 33, and the floor (fourth floor) where the second mobile robot 2B gets out of the elevating cage 33 is a floor before the floor (third floor) where the first mobile robot 2A gets out of the elevating cage 33. Thus, the planned movement paths of the first mobile robot 2A and the second mobile robot 2B are determined.

[0036] As shown in FIG. 8, first, the first mobile robot 2A gets into the elevating cage 33 on the sixth floor, and then the second mobile robot 2B gets into the elevating cage 33 on the fifth floor. By a command from the server 3 or autonomous control of the mobile robot 2, in the elevating cage 33, the first mobile robot 2A and the second mobile robot 2B get into the elevating cage 33 so that the second mobile robot 2B is closer to the door opening 33a of the elevating cage 33 than the first mobile robot 2A.

[0037] Specifically, in the boarding direction of the elevating cage 33, the first mobile robot 2A and the second mobile robot 2B board the elevating cage 33 such that the second mobile robot 2B overlaps the first mobile robot 2A. Since the first mobile robot 2A and the second mobile robot 2B are lined up in the boarding direction, even when another moving body such as a human is on the elevating cage 33, the boarding and alighting of the mobile robot 2 and the other moving body onto and from the elevating cage 33 can be smoothly performed.

[0038] When arriving at the fourth floor, the second mobile robot 2B gets off the elevating cage 33 without the first mobile robot 2A getting off the elevating cage 33 once. Therefore, on the fourth floor, the second mobile robot 2B can quickly complete getting off the elevating cage 33. As a result, the transport efficiency of the elevator 8 does not deteriorate, and the passengers sharing the elevating cage 33 will not be dissatisfied.

[0039] In this way, the server 3 determines the planned movement paths of the mobile robots 2A and 2B so as to satisfy the rule that the mobile robot 2B that boards the elevating cage 33 later gets off the elevating cage 33 earlier than the mobile robot 2A that boards the elevating cage 33 earlier in the simultaneous use of the elevator by the two mobile robots 2A and 2B. Therefore, even if the total movement distance of the candidates that do not conform to the rule is the shortest among the plurality of candidate planned movement paths of the mobile robots 2A and 2B, it will not be determined as the planned movement path.

[0040] FIG. 9 is a flowchart for explaining the determination of the planned movement path based on the LNS algorithm by the server 3 in FIG. 3. FIGS. 10 and 11 are conceptual diagrams for explaining the determination of the planned movement path based on the LNS algorithm in FIG. 9. As shown in FIGS. 9 and 10, when a plurality of tasks 9 (destinations for receiving or delivering materials, etc.) are dispersed, the server 3 sets the planned movement path RA0 of the first mobile robot 2A and the planned movement path RB0 of the second mobile robot 2B as initial solutions (step S1).

[0041] The distance of the planned movement route RA0 is "140" (= 40 + 40 + 40 + 20), the distance of the planned movement route RB0 is "80" (= 20 + 30 + 30), and the total movement distance of all mobile robots is "220". The server 3 uses the total movement distance of all mobile robots as the evaluation value and adopts the solution with the minimum evaluation value as the optimal solution. At this initial stage, the initial solution is set as the optimal solution.

[0042] The server 3 temporarily removes one task X from all tasks and reinserts the task X so that it is included in another route to generate a new solution (step S2). For example, as shown in FIGS. 10 and 11, the server 3 changes the task X from the processing target of the first mobile robot 2A to the processing target of the second mobile robot 2B, and generates the planned movement route RA1 of the first mobile robot 2A and the planned movement route RB1 of the second mobile robot 2B as a new solution.

[0043] The server 3 obtains the evaluation value of the new level (step S3). The distance of the planned movement route RA1 is "110" (= 40 + 40 + 30), the distance of the planned movement route RB1 is "90" (= 20 + 30 + 30 + 10), and the total movement distance of all mobile robots is "200". That is, the evaluation value of the new solution is "200".

[0044] At this time, in the case of simultaneous use of the elevator by a plurality of mobile robots 2, if the solution does not conform to the rule that the mobile robot 2B that gets into the elevator car 33 later gets out of the elevator car 33 earlier than the mobile robot 2A that gets into the elevator car 33 earlier (the mode in FIG. 6), the server 3 adds a penalty value (for example, "1000"), which is a large value, to the evaluation value to prevent the planned movement route from being selected as the optimal solution.

[0045] That is, in the case of a solution where the mobile robot 2A that first boarded the elevator car 33 when multiple mobile robots 2 use the elevator simultaneously gets off the elevator car 33 before the mobile robot 2B that boarded later (the mode in FIG. 5), the server 3 adds a penalty value, which is a large value (for example, "1000"), to the evaluation value in order to prevent the planned movement route from being selected as the optimal solution. Note that instead of using the penalty value, the server 3 may generate a new solution so that a solution that does not conform to the above rules does not occur.

[0046] The server 3 determines whether the evaluation value of the new solution is better than the evaluation value of the current optimal solution (step S4). If it is determined that the evaluation value of the new solution is smaller than, that is, better than, the evaluation value of the initial solution, the server 3 updates the optimal solution so that this new solution becomes the optimal solution (step S5). If it is determined that the evaluation value of the new solution is not smaller than, that is, not better than, the evaluation value of the initial solution, the server 3 refers to other requirements and determines whether to accept this new solution (step S6).

[0047] For example, the server 3 determines probabilistically whether to allow the deterioration of the solution by a simulated annealing method or the like. If it is determined to accept this new solution, the server 3 updates the optimal solution so that this new solution becomes the optimal solution (step S7). If it is determined not to accept this new solution, the server 3 maintains the existing optimal solution (step S8). Then, the server 3 finally determines the optimal solution by repeating steps S2 to S8.

[0048] According to the configuration described above, in the moving direction (downward direction) of the elevator car 33, unlike the case where the first mobile robot 2A that boarded the elevator car 33 earlier gets off the elevator car 33 earlier than the second mobile robot 2B that boarded the elevator car 33 later (see FIG. 5), since the second mobile robot 2B gets off the elevator car 33, it is not necessary for the first mobile robot 2A to get off the elevator car 33 once. Therefore, the second mobile robot 2B can quickly complete getting off the elevator car, and the transportation efficiency of the elevator 8 can be improved without depending on the size of the elevator car 33 of the elevator 8.

[0049] Note that the technology of the present disclosure is not limited to the above-described embodiments. For example, in the example of FIG. 7, the determination of the planned movement paths of the two mobile robots 2 has been described. Of course, the number of mobile robots 2 is not limited to two, and the same applies to the case of three or more mobile robots 2. For example, as shown in FIG. 12, it is assumed that the first to third mobile robots 2A to 2C exist on the sixth to fourth floors of the facility 7, respectively, and there are tasks (destinations for receiving or delivering materials, etc.) on the first to third floors, respectively.

[0050] When the first to third mobile robots 2A to 2C use the elevator 8 simultaneously, the planned movement path of the first mobile robot 2A is a path that moves from the sixth floor to the first floor using the elevator 8, the planned movement path of the second mobile robot 2B is a path that moves from the fifth floor to the second floor using the elevator 8, and the planned movement path of the third mobile robot 2C is a path that moves from the fourth floor to the third floor using the elevator 8.

[0051] That is, when the first to third mobile robots 2A to 2C use the elevator 8 simultaneously, the planned movement paths of the first to third mobile robots 2A to 2C are determined such that the third mobile robot 2C boards the elevator car 33 later than the second mobile robot 2B, the second mobile robot 2B boards the elevator car 33 later than the first mobile robot 2A, the third mobile robot 2C gets off the elevator car 33 earlier than the second mobile robot 2B, and the second mobile robot 2B gets off the elevator car 33 earlier than the first mobile robot 2A.

[0052] In addition, the server 3 may determine each planned movement route so that the first mobile robot 2A and the second mobile robot 2B board the elevator car 33 on the same floor. Also in this case, when the first mobile robot 2A and the second mobile robot 2B use the elevator 8 simultaneously, the second mobile robot 2B boards the elevator car 33 after the first mobile robot 2A, and the second mobile robot 2B gets off the elevator car 33 before the first mobile robot 2A. The planned movement routes of the first mobile robot 2A and the second mobile robot 2B are determined.

[0053] In that case, it may be necessary for the second mobile robot 2B to wait while the first mobile robot 2A is boarding the elevator car 33. Therefore, the server 3 may cause the second mobile robot 2B to perform a turning operation by effectively using the waiting time. Specifically, as shown in FIG. 13, while the first mobile robot 2A is boarding the elevator car 33 on the sixth floor, the second mobile robot 2B, which is in the same elevator hall on the sixth floor, turns so as to face away from the elevator car 33 using that time.

[0054] When the boarding of the first mobile robot 2A into the elevator car 33 is completed, the second mobile robot 2B moves backward and boards the elevator car 33. When the elevator car 33 moves to the lower floor and arrives at the fourth floor, which is the destination of the second mobile robot 2B, the second mobile robot 2B can move forward and get off the elevator car 33, and the second mobile robot 2B no longer needs to turn in the elevator hall on the fourth floor.

[0055] In this way, by effectively using the time when the first mobile robot 2A is boarding the elevator car 33 and having the second mobile robot 2B turn, the second mobile robot 2B can get off the elevator car 33 facing forward. Note that even if the first mobile robot 2A and the second mobile robot 2B do not board the elevator car 33 on the same floor, the mobile robot 2 may turn so as to face away from the elevator in the elevator hall using the waiting time until the elevator car 33 arrives at its floor.

[0056] As described above, the 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 with appropriate changes, replacements, additions, omissions, etc. Further, it is also possible to form a new embodiment by combining the respective components described in the above embodiments. For example, a part of the configuration or method in one embodiment may be applied to other embodiments, and a part of the configuration in an embodiment can be arbitrarily extracted separately from other configurations in that embodiment. Further, among the components described in the accompanying drawings and the detailed description, there are not only components essential for solving the problems, but also components not essential for solving the problems for exemplifying the technology.

[0057] The functions of the elements disclosed in this specification can be executed using a circuit or a 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, a unit, or a means is hardware that executes the recited functions, or is hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification, or may be 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, the means, or the unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

[0058] [Aspect] The above-described embodiments are specific examples of the following aspects.

[0059] (Aspect 1) A system for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having a hoistway car, comprising: a processing circuit configured to determine a first planned movement path of a first mobile robot and a second planned movement path of a second mobile robot; the processing circuit: when the first planned movement path and the second planned movement path are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, the second mobile robot gets into the hoistway car after the first mobile robot, and the second mobile robot gets out of the hoistway car before the first mobile robot, determining the first planned movement path and the second planned movement path.

[0060] According to this configuration, the transportation efficiency of the elevator can be increased without depending on the size of the hoistway car of the elevator.

[0061] (Aspect 2) Determining the first planned movement path and the second planned movement path includes: determining the first planned movement path and the second planned movement path such that, in the moving direction of the hoistway car when the first mobile robot and the second mobile robot use the elevator, the floor on which the second mobile robot gets into the hoistway car is a floor after the floor on which the first mobile robot gets into the hoistway car. The robot movement system according to Aspect 1.

[0062] According to this configuration, the second mobile robot can smoothly get out of the hoistway car as compared with the case where the floor on which the second mobile robot gets into the hoistway car is a floor before the floor on which the first mobile robot gets into the hoistway car.

[0063] (Aspect 3) Determining the first planned movement path and the second planned movement path includes: In the moving direction of the hoist car when the first mobile robot and the second mobile robot use the elevator, determining the first planned movement path and the second planned movement path such that the floor where the second mobile robot gets off the hoist car is a floor before the floor where the first mobile robot gets off the hoist car, the robot movement system according to aspect 1 or 2, including this.

[0064] According to this configuration, the second mobile robot can smoothly get off the hoist car compared to the case where the floor where the second mobile robot gets off the hoist car is a floor after the floor where the first mobile robot gets off the hoist car.

[0065] (Aspect 4) The processing circuit causes the first mobile robot and the second mobile robot to board the hoist car so that the second mobile robot is closer to the door opening of the hoist car than the first mobile robot inside the hoist car, the robot movement system according to any one of aspects 1 to 3.

[0066] According to this configuration, the second mobile robot can get off the hoist car without being affected by the first mobile robot.

[0067] (Aspect 5) The processing circuit causes the first mobile robot and the second mobile robot to board the hoist car so that the second mobile robot overlaps the first mobile robot in the boarding direction of the hoist car, the robot movement system according to aspect 4.

[0068] According to this configuration, since the first mobile robot and the second mobile robot line up in the boarding direction with each other, even when another moving body such as a human is on the hoist car, the boarding and alighting of the moving robot and the other moving body to and from the hoist car can be performed smoothly.

[0069] (Aspect 6) Determining the first planned movement route and the second planned movement route includes determining the first planned movement route and the second planned movement route such that the first mobile robot and the second mobile robot board the elevator car on the same floor. The robot movement system according to any one of Aspects 1 to 5, wherein the processing circuit causes the second mobile robot to turn so as to face away from the elevator car while the first mobile robot is boarding the elevator car.

[0070] According to this configuration, by effectively using the time when the first mobile robot is boarding the elevator car and turning, the second mobile robot can get off the elevator car forward.

[0071] (Aspect 7) A system for moving a plurality of mobile robots in a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to command the first mobile robot so that when the first mobile robot and the second mobile robot use the elevator at the same time, the first mobile robot boards the elevator car before the second mobile robot, and the first mobile robot gets off the elevator car after the second mobile robot.

[0072] According to this configuration, the second mobile robot can smoothly get off the elevator car.

[0073] (Aspect 8) A system for moving a plurality of mobile robots in a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to command the second mobile robot so that when the first mobile robot and the second mobile robot use the elevator at the same time, the second mobile robot boards the elevator car after the first mobile robot, and the second mobile robot gets off the elevator car before the first mobile robot.

[0074] According to this configuration, the second mobile robot can smoothly descend from the elevator car.

[0075] (Aspect 9) A method for determining a first planned movement route of a first mobile robot and a second planned movement route of a second mobile robot in a multi-story facility equipped with an elevator having an elevator car, When the first planned movement route and the second planned movement route are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, the second mobile robot gets into the elevator car after the first mobile robot, and the first planned movement route and the second planned movement route are determined such that the second mobile robot gets out of the elevator car before the first mobile robot.

[0076] According to this method, the transportation efficiency of the elevator can be improved without depending on the size of the elevator car.

[0077] (Aspect 10) A robot movement program that causes at least one processor to execute the method according to Aspect 9.

[0078] According to this configuration, the transportation efficiency of the elevator can be improved without depending on the size of the elevator car.

Explanation of Signs

[0079] 1 Robot movement system 2 Mobile robot 2A First mobile robot 2B Second mobile robot 3 Server 7 Facility 8 Elevator 20 Processing circuit 21 Processor 33 Elevator car N Communication network P2 Program

Claims

1. A system for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having a hoistway car, comprising a processing circuit configured to determine a first planned movement path for a first mobile robot and a second planned movement path for a second mobile robot, wherein the processing circuit, when the first planned movement path and the second planned movement path are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, determines the first planned movement path and the second planned movement path such that the second mobile robot enters the hoistway car after the first mobile robot and exits the hoistway car before the first mobile robot. A robot movement system.

2. Determining the first planned movement path and the second planned movement path includes, determining the first planned movement path and the second planned movement path such that, in the moving direction of the hoistway car when the first mobile robot and the second mobile robot use the elevator, the floor on which the second mobile robot enters the hoistway car is a floor after the floor on which the first mobile robot enters the hoistway car. The robot movement system according to claim 1.

3. Determining the first planned movement path and the second planned movement path includes, determining the first planned movement path and the second planned movement path such that, in the moving direction of the hoistway car when the first mobile robot and the second mobile robot use the elevator, the floor on which the second mobile robot exits the hoistway car is a floor before the floor on which the first mobile robot exits the hoistway car. The robot movement system according to claim 1.

4. The processing circuit causes the first mobile robot and the second mobile robot to enter the hoistway car such that the second mobile robot is closer to the door opening of the hoistway car than the first mobile robot within the hoistway car. The robot movement system according to claim 1.

5. The processing circuit causes the first mobile robot and the second mobile robot to enter the hoistway car such that the second mobile robot overlaps the first mobile robot in the direction of entering the hoistway car. The robot movement system according to claim 4.

6. ​ Determining the first planned movement route and the second planned movement route includes determining the first planned movement route and the second planned movement route such that the first mobile robot and the second mobile robot board the elevator on the same floor. The robot movement system according to claim 1, wherein the processing circuit causes the second mobile robot to turn so as to face away from the elevator while the first mobile robot is boarding the elevator.

7. A system for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to command the first mobile robot to board the elevator car before the second mobile robot and to disembark from the elevator car after the second mobile robot when the first mobile robot and the second mobile robot use the elevator simultaneously.

8. A system for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having an elevator car, A robot movement system comprising a processing circuit configured to command the second mobile robot to board the elevator car after the first mobile robot and to disembark from the elevator car before the first mobile robot when the first mobile robot and the second mobile robot use the elevator simultaneously.

9. A method for determining a first planned movement route of a first mobile robot and a second planned movement route of a second mobile robot in a multi-story facility equipped with an elevator having an elevator car, When the first planned movement route and the second planned movement route are determined such that the first mobile robot and the second mobile robot use the elevator simultaneously, the first planned movement route and the second planned movement route are determined such that the second mobile robot boards the elevator car after the first mobile robot and disembarks from the elevator car before the first mobile robot. A robot movement method.

10. A robot movement program that causes at least one processor to execute the method according to claim 9.

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