Robot movement system, robot movement method, and robot movement program

Abstract

To prevent decrease in elevator transport efficiency when a plurality of mobile robots located on different floors uses an elevator.SOLUTION: A robot movement system comprises a processing circuit configured to determine the order of floors to call an elevator car when a first mobile robot and a second mobile robot located on a different floor from the first mobile robot are scheduled to use the elevator simultaneously on the basis of the scheduled use of the elevator by the first mobile robot and the scheduled use of the elevator by the second mobile robot.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 technology]

[0002] Patent Document 1 discloses a system that rearranges the positions of multiple autonomous mobile robots in an elevator car according to the order in which they will disembark. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 066056 Summary of the Invention [Problem to be solved by the invention]

[0004] When multiple autonomous mobile robots located on different floors each call an elevator car, the movement efficiency of the autonomous mobile robots may decrease depending on the timing of the calls.

[0005] Therefore, one aspect of the present disclosure aims to prevent a decrease in the movement efficiency of mobile robots when multiple mobile robots located on different floors use an elevator. [Means for solving the problem]

[0006] A robot movement system according to one embodiment of the present disclosure is a robot movement system that moves multiple mobile robots within a multi-story facility equipped with an elevator having an elevator car, and is equipped with a processing circuit configured to determine the order of floors to call the elevator car when the first mobile robot and the second mobile robot use the elevator simultaneously, based on the planned use of the elevator by a first mobile robot and the planned use of the elevator by a second mobile robot located on a different floor from the first mobile robot.

[0007] A robot movement method according to one embodiment of the present disclosure is a method for moving multiple mobile robots within a multi-story facility equipped with an elevator with a lift car, and determines the order of floors to call the lift car when the first mobile robot and the second mobile robot use the elevator simultaneously based on the planned use of the elevator by a first mobile robot and the planned use of the elevator by a second mobile robot located on a different floor from the first mobile robot.

[0008] A robot movement program according to one aspect of the present disclosure causes at least one processor to execute the method. The program may be stored in a computer-readable storage medium. The storage medium is a non-transitory, tangible medium. The storage medium may be built into or external to a computer (e.g., a personal digital assistant, a personal computer, a server, etc.). The storage medium may include RAM, ROM, EEPROM, storage, etc., and may be, for example, a hard disk, flash memory, or optical disk. The program stored in the storage medium may be executed in a computer to which the storage medium is directly connected, or in a computer connected to the storage medium via a network (e.g., the Internet). [Effects of the Invention]

[0009] According to one aspect of the present disclosure, when multiple mobile robots located on different floors use an elevator, it is possible to prevent a decrease in the movement efficiency of the mobile robots. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a robot movement system according to an embodiment. [Figure 2] FIG. 2 is a block diagram of the mobile robot of FIG. [Figure 3] FIG. 3 is a block diagram of the server of FIG. [Figure 4] FIG. 4 is a block diagram of the elevator of FIG. [Figure 5] FIG. 5 is a diagram illustrating the problem that arises when multiple mobile robots use an elevator at the same time. [Figure 6] FIG. 6 is a diagram for explaining the determination of the order of calling the elevator cars in the robot movement system of FIG. [Figure 7] FIG. 7 is a flowchart illustrating the processing of the server in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment 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 autonomously moving mobile robots 2, a server 3 capable of communicating 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 may be, for example, the Internet, but may also be an intranet or the like. The mobile robots 2 autonomously move between floors in a multi-story facility 7 equipped with an elevator 8. The facility 7 is not particularly limited as long as it has an elevator 8, but may be, for example, a hospital.

[0013] The database 4 stores map data 5 of the facility 7 in which the mobile robot 2 moves. The map data 5 specifies the shape of the area in which the mobile robot 2 can move. For example, the map data 5 specifies the shape of each floor in the facility 7. The map data 5 specifies the outline of the area in which the mobile robot 2 can move by specifying the outline of obstacles on each floor. The database 4 may be built into the server 3 or may be connected to the server 3 via a communication network N.

[0014] The multiple mobile robots 2 have the same configuration. The mobile robots 2 are equipped with a navigation function and move autonomously toward their destination. If the mobile robot 2 travels via stopover points before reaching its final destination, the mobile robot 2 may move to the stopover point closest to its current location as its destination. The mobile robot 2 runs on the ground, but may also fly in the air. The multiple mobile robots 2 may also have different configurations. As an example, the mobile robot 2 includes multiple wheels 18, a body 19, at least one distance 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 this embodiment, the task of the mobile robot 2 includes moving to a destination to receive or deliver goods or the like, so the wheels 18 are an example of a driven body that performs the task. The body 19 has a carrier 19a. For example, goods or the like that need to be transported are loaded on the carrier 19a. The distance sensor 14 and the touch panel display 15 will be described later.

[0016] Fig. 2 is a block diagram of the mobile robot 2 of Fig. 1. As shown in Fig. 2, the mobile robot 2 includes a processing circuit 10, a distance measurement sensor 14, a touch panel display 15, a travel actuator 16, and a communication interface 17. 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 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 to 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 travel 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 measures the distance around the mobile robot 2 in three dimensions, thereby detecting the shape of the area around the mobile robot 2 in three dimensions. The distance measurement sensor 14 detects the position data of the outer surface of obstacles within the facility 7 by receiving reflected waves from obstacles around the mobile robot 2. For example, the distance measurement sensor 14 may emit light, radio waves, or ultrasonic waves toward the area around the mobile robot 2 and receive the reflected waves. The distance measurement sensor 14 may also receive reflected waves of light, radio waves, or ultrasonic waves in the external world reflected by objects. The distance measurement sensor 14 can measure distances in all horizontal directions based on the mobile robot 2. Note that the distance measurement sensor 14 may also measure distances around the mobile robot 2 in two dimensions.

[0019] The ranging sensor 14 may, for example, measure the time between emitting laser light and receiving the reflected wave to detect the distance to an obstacle. The ranging sensor 14 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the ranging sensor 14 is a three-dimensional LIDAR sensor. The ranging sensor 14 may also be a sensor assembly including a forward-facing LIDAR sensor, a rear-facing LIDAR sensor, a left-facing LIDAR sensor, and a right-facing LIDAR sensor. The ranging sensor 14 may also be an infrared ranging sensor, a millimeter-wave radar, or a depth-sensing camera. The depth-sensing camera may measure the distance to an object using parallax created by a stereo camera.

[0020] The processing circuit 10 locates 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. In other words, a positioning sensor is realized by combining the distance measurement sensor 14 with software that matches the shape detected by the distance measurement sensor 14 with the map data 5.

[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 a keyboard, a mouse, or the like may be used as the user input interface, or a smartphone or tablet terminal capable of communicating with the mobile robot 2 may be used. A non-touch panel display may be used as the user output interface.

[0022] The traveling actuators 16 include wheel drive actuators that drive the wheels 18 to rotate. The traveling actuators 16 are, for example, electric motors. The traveling actuators 16 include braking actuators that drive brakes that brake the wheels 18. The traveling direction of the mobile robot 2 may be changed by varying the rotation speed of the left and right wheels 18, by varying the rotation direction of the left and right wheels 18, or by steering the wheels 18 with a steering actuator. The mobile robot 2 may have an opposed differential two-wheel mechanism or an omnidirectional Mecanum mechanism.

[0023] The communication interface 17 is an interface that wirelessly connects to the communication network N. The communication interface 17 functions as a transmitter that transmits information about the 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] 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 connecting to the communication network N via a wired or wireless connection and an interface for connecting to the database 4 via a wired or wireless connection. The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include RAM. The storage memory 23 may include a hard disk, a flash memory, or a combination thereof. The storage memory 23 stores a program P2. A configuration in which the processor 21 executes the program P2 read from the storage memory 23 to 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 a lift car 33. The elevator control device 31 includes a communication interface 41 connected to a communication network N, an actuator 42 that raises or lowers the lift car 33, and a control processing circuit 43 that controls the actuator 42. The control processing circuit 43 has a configuration in which a processor executes a control program read from a storage memory to a system memory, for example.

[0026] The elevator hall operation panel 32 is installed in the elevator hall of each floor in the facility 7. The elevator hall operation panel 32 includes a communication interface 51, an up-direction call registration button 52, and a down-direction 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. The communication interface 51 may also be connected to the communication network N. The up-direction call registration button 52 and the down-direction call registration button 53 are arranged so as to be operable in the elevator hall. When the up-direction call registration button 52 is pressed, a car call registration for traveling to an upper floor using the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 51. When the down-direction call registration button 53 is pressed, a car call registration for traveling 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 ride in, and is driven by an actuator 42 to rise or fall to different floors. 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. The communication interface 51 may also be connected to the communication network N. The destination floor designation button 62 is arranged so as to be operable in the internal space of the elevator car 33. When a destination floor is selected by operating the destination floor designation button 62, the destination floor registration of the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 61.

[0028] The control processing circuit 43 of the elevator control device 31 determines whether to move or stop the elevator car 33 and controls the actuator 42 in accordance with information based on the operation of the up call registration button 52, the down call registration button 53, and the destination floor designation button 62. The control processing circuit 43 of the elevator control device 31 also determines whether to move or stop the elevator car 33 and controls the actuator 42 by referring to information received from the server 3 via the communication network N, as will be described later.

[0029] FIG. 5 illustrates the issues that arise when multiple mobile robots use an elevator simultaneously. As shown in FIG. 5, it is assumed that the starting points (receiving points of the transported objects) of different tasks (transporting the transported objects) are located on the fifth and sixth floors of a facility 7, and that the destinations (delivery destinations of the transported objects) of both tasks are located on the first floor of the facility 7. It is assumed that the elevator car 33 is located on a floor lower than the fifth floor (for example, the third floor). The server 3 determines the planned movement route of each mobile robot 2 based on a known method (for example, the LNS (Large Neighborhood Search) algorithm) so that each mobile robot 2 efficiently shares all tasks within the facility 7.

[0030] Assume that a task starting from the sixth floor is assigned to the first mobile robot 2A, and a task starting from the fifth floor is assigned to the second mobile robot 2B. In this case, if the second mobile robot 2B arrives at the elevator hall earlier than the first mobile robot 2A, and the elevator car 33 is called to the fifth floor before the sixth floor, there will be wasted movement of the elevator car 33. Specifically, the elevator car 33 moves from the third floor to the fifth floor, the second mobile robot 2B gets into the elevator car 33 when it arrives at the fifth floor, and the elevator car 33 moves downward to the first floor, and the second mobile robot 2B gets out of the elevator car 33. Then, the elevator car 33 moves from the first floor to the sixth floor, and the first mobile robot 2A gets into the elevator car 33 when it arrives at the sixth floor, and the elevator car 33 moves downward to the first floor, and the first mobile robot 2A gets out of the elevator car 33.

[0031] In this case, the number of round trips of the elevator car 33 increases, reducing the transport efficiency of the elevator 8. Furthermore, the first mobile robot 2A will have to wait in the elevator hall for a long time until the elevator car 33 arrives at the sixth floor. This may reduce the overall operating efficiency of the multiple mobile robots 2. In view of these circumstances, the following measures are taken in this embodiment.

[0032] Fig. 6 is a diagram for explaining the determination of the order of calling the elevator cars 33 in the robot movement system 1 of Fig. 1. Fig. 7 is a flowchart for explaining the processing of the server 3 of Fig. 2. The operation of the robot movement system 1 will be explained below along the flow of Fig. 7 with reference to Fig. 6 etc. The processing of the server 3 is executed by the processing circuit 20.

[0033] First, the server 3 acquires (step S1) the planned movement route of each mobile robot 2. The 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 2 efficiently shares all tasks within the facility 7.

[0034] Next, the server 3 refers to each of the acquired planned travel routes and extracts each of the mobile robots 2 that are scheduled to use the elevator 8 (step S2). That is, the server 3 extracts planned travel routes that include the elevator 8 from each of the acquired planned travel routes.

[0035] Next, the server 3 acquires the planned time of use of the elevator 8 and the planned direction of movement in the elevator 8 for each mobile robot 2 that is scheduled to use the elevator 8 (step S3).

[0036] Regarding the scheduled time of using the elevator 8, if the current position of the mobile robot 2 is already in the elevator hall, the server 3 regards the scheduled time of the mobile robot 2 to use the elevator 8 as the current time. If the mobile robot 2 is on a floor away from the elevator hall, the server 3 estimates the scheduled time of arrival of the mobile robot 2 at the elevator hall, i.e., the scheduled time of the mobile robot 2 to use the elevator 8, based on the scheduled movement path and movement speed of the mobile robot 2.

[0037] Regarding the planned direction of movement in the elevator 8, if the planned movement path indicates that the mobile robot 2 will use the elevator 8 to move to a lower floor, the server 3 regards the planned direction of movement in the elevator 8 as downward. If the planned movement path indicates that the mobile robot 2 will use the elevator 8 to move to an upper floor, the server 3 regards the planned direction of movement in the elevator 8 as upward.

[0038] Next, the server 3 determines whether a specific condition is met with respect to the information acquired in step S3 (step S4). Here, an example will be described in which it is determined whether the specific condition is met for a first mobile robot 2A and a second mobile robot 2B that are located on different floors. The first mobile robot 2A is assigned a task of movement (transportation) starting from the sixth floor and ending on the first floor, and the second mobile robot 2B is assigned a task of movement (transportation) starting from the fifth floor and ending on the first floor. The elevator car 33 of the elevator 8 is located on a floor (e.g., the third floor) lower than the floor on which the first mobile robot 2A and the second mobile robot 2B are located.

[0039] The specific conditions include a first condition that the absolute value of the difference between a first scheduled use time, which is the scheduled time when the first mobile robot 2A will use the elevator 8, and a second scheduled use time, which is the scheduled time when the second mobile robot 2B will use the elevator 8, is less than a threshold value. The threshold value may be, for example, a value in the range of 20 to 180 seconds, preferably a value in the range of 30 to 120 seconds, and more preferably a value in the range of 40 to 90 seconds. This makes it possible to determine whether the scheduled use of the elevator 8 by the first mobile robot 2A and the scheduled use of the elevator 8 by the second mobile robot 2B overlap in time.

[0040] The specific condition further includes a second condition that the first expected movement direction, which is the direction in which the first mobile robot 2A ascends and descends when using the elevator 8, and the second expected movement direction, which is the direction in which the second mobile robot 2B ascends and descends when using the elevator 8 simultaneously with the first mobile robot 2A, are the same. If both the second condition and the first condition are met, it is determined that the specific condition is met. Whether the specific condition is met is determined regardless of whether the first mobile robot 2A or the second mobile robot 2B arrives at the elevator hall first.

[0041] If it is determined that the specific condition is met (step S4: Y), the server 3 determines whether the planned movement direction of the first mobile robot 2A and the second mobile robot 2B in the elevator 8 is downward (step S5). If it is determined that the planned movement direction of the first mobile robot 2A and the second mobile robot 2B in the elevator 8 is downward (step S5: Y), the server 3 determines the order of floors to call the elevator car 33 so that the elevator car 33 is called first for the sixth floor where the first mobile robot 2A is located and then for the fifth floor where the second mobile robot 2B is located (step S6).

[0042] That is, the server 3 determines the order of floors for calling the elevator car 33 so that the order of calling the elevator car 33 for the floor where the first mobile robot 2A is located and the order of calling the elevator car 33 for the floor where the second mobile robot 2B is located are arranged downward (in the planned direction of movement in the elevator). Then, when the server 3 determines that the first mobile robot 2A and the second mobile robot 2B have arrived at the elevator hall or are approaching within a predetermined distance, it instructs the elevator control device 31 to call the elevator car 33 for the sixth and fifth floors in the determined order.

[0043] At this time, if it is determined that the second mobile robot 2B has arrived at the elevator hall before the first mobile robot 2A or has approached within a predetermined distance, the elevator car 33 will be called for the sixth floor where the first mobile robot 2A is located before the fifth floor where the second mobile robot 2B is located. In this case, the call for the elevator car 33 for the fifth floor where the second mobile robot 2B is located is put on hold until the call for the elevator car 33 for the sixth floor where the first mobile robot 2A is located is made.

[0044] If it is determined in step S5 that the planned movement direction of the first mobile robot 2A and the second mobile robot 2B in the elevator 8 is upward (step S5: N), the server 3 determines the order of floors to call the elevator car 33 so that the order of calling the elevator car 33 for the floor where the second mobile robot 2B is located and the order of calling the elevator car 33 for the floor where the first mobile robot 2A is located are arranged in the upward direction (planned movement direction of the elevator) (step S7). Then, when the server 3 determines that the first mobile robot 2A and the second mobile robot 2B have arrived at the elevator hall or are within a predetermined distance, it instructs the elevator control device 31 to call the elevator car 33 for each floor where the first mobile robot 2A and the second mobile robot 2B are located in the determined order.

[0045] According to the configuration described above, when multiple mobile robots 2A, 2B on different floors use the elevator 8, the waiting time of the mobile robots 2A, 2B can be reduced overall, preventing a decrease in the overall movement efficiency of the multiple mobile robots 2A, 2B. Unnecessary round trips of the elevator car 33 are reduced, allowing the elevator 8 used by the multiple mobile robots 2A, 2B to operate efficiently.

[0046] It should be noted that the technology of the present disclosure is not limited to the above-described embodiment. For example, in the example of Fig. 6, the determination of the planned movement path of two mobile robots 2 is explained, but 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.

[0047] As described above, the above-described embodiments have been described as examples of the technology disclosed in this application. However, the technology of the present disclosure is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. For example, some configurations or methods in one embodiment may be applied to other embodiments, and some configurations in one embodiment may be separated from other configurations in that embodiment and extracted as desired. Furthermore, the components described in the accompanying drawings and detailed description include not only components essential for solving the problem, but also components that are not essential for solving the problem, and are used to illustrate the technology.

[0048] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), graphics processing units (GPUs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0049] [Aspect] The above-described embodiments are examples of the following aspects.

[0050] (Aspect 1) A robot movement system for moving a plurality of mobile robots within a facility having a plurality of floors and equipped with an elevator having an elevator car, comprising: A robot movement system comprising a processing circuit configured to determine the order of floors to call the elevator cars when the first mobile robot and the second mobile robot use the elevator simultaneously, based on a planned use of the elevator by the first mobile robot and a planned use of the elevator by the second mobile robot located on a different floor from the first mobile robot.

[0051] According to this configuration, when multiple mobile robots on different floors use the elevator, it is possible to prevent a decrease in the movement efficiency of the mobile robots.

[0052] (Aspect 2) the processing circuit is configured to acquire a first planned movement direction, which is a direction of ascent and descent when the first mobile robot uses the elevator, and a second planned movement direction, which is a direction of ascent and descent when the second mobile robot uses the elevator simultaneously with the first mobile robot; Determining the order includes: The robot movement system of aspect 1 includes, when it is determined that a specific condition is met, including a condition that the first planned movement direction and the second planned movement direction are the same direction of travel, determining the order of calling the elevator car on the floor where the first mobile robot is located and calling the elevator car on the floor where the second mobile robot is located so that the orders are aligned in the direction of travel.

[0053] With this configuration, when the first mobile robot is on a higher floor than the second mobile robot and the planned direction of movement when the first mobile robot and the second mobile robot use the elevator is downward, the elevator car is called first on the floor where the first mobile robot is, and the elevator car is called later on the floor where the second mobile robot is. Also, when the first mobile robot is on a lower floor than the second mobile robot and the planned direction of movement when the first mobile robot and the second mobile robot use the elevator is upward, the elevator car is called first on the floor where the first mobile robot is, and the elevator car is called later on the floor where the second mobile robot is. This reduces unnecessary round trips of the elevator car.

[0054] (Aspect 3) Determining the order includes: A robot movement system as described in aspect 2, which includes, when the second mobile robot is located on a floor on the traveling side of the first mobile robot in the direction of travel and the second mobile robot arrives at the elevator before the first mobile robot, suspending the call of the elevator car at the floor where the second mobile robot is located until the call of the elevator car at the floor where the first mobile robot is located is made.

[0055] According to this configuration, the standby of the second mobile robot can improve the overall movement efficiency of the multiple mobile robots.

[0056] (Aspect 4) the processing circuit is configured to obtain a first scheduled use time, which is a scheduled time when the first mobile robot will use the elevator, and a second scheduled use time, which is a scheduled time when the second mobile robot will use the elevator; 4. The robot movement system according to aspect 2 or 3, wherein the specific condition includes a condition that a difference between the first scheduled use time and the second scheduled use time is less than a threshold value.

[0057] This configuration can improve the overall movement efficiency of multiple mobile robots while reducing the waiting time of each mobile robot.

[0058] (Aspect 5) 1. A method for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having an elevator car, comprising: A robot movement method that determines the order of floors to call the elevator cars when the first mobile robot and the second mobile robot use the elevator simultaneously, based on the planned use of the elevator by the first mobile robot and the planned use of the elevator by the second mobile robot that is located on a different floor from the first mobile robot.

[0059] (Aspect 6) A robot movement program that causes at least one processor to execute the method described in embodiment 5. [Explanation of symbols]

[0060] 1. Robotic mobility system 2. Mobile robots 2A First Mobile Robot 2B Second Mobile Robot 3 Server 7 Facilities 8. Elevator 20 Processing circuit 21 processors 33 Lifting basket P2 Program

Claims

1. A robot movement system for moving a plurality of mobile robots within a multi-story facility equipped with an elevator including an elevator car, comprising: A robot movement system comprising a processing circuit configured to determine the order of floors to call the elevator cars when the first mobile robot and the second mobile robot use the elevator simultaneously, based on the planned use of the elevator by the first mobile robot and the planned use of the elevator by a second mobile robot located on a different floor from the first mobile robot.

2. the processing circuit is configured to acquire a first planned movement direction, which is a direction of ascent and descent when the first mobile robot uses the elevator, and a second planned movement direction, which is a direction of ascent and descent when the second mobile robot uses the elevator simultaneously with the first mobile robot; Determining the order includes:

2. The robot movement system of claim 1, further comprising: when it is determined that a specific condition is met, including a condition that the first planned movement direction and the second planned movement direction are the same direction of travel, determining the order of calling the elevator car at the floor where the first mobile robot is located and calling the elevator car at the floor where the second mobile robot is located so that the order is aligned in the direction of travel.

3. Determining the order includes:

3. The robot movement system of claim 2, further comprising: when the second mobile robot is located on a floor on the forward side of the direction of travel of the first mobile robot and the second mobile robot arrives at the elevator before the first mobile robot, suspending the call of the elevator car at the floor where the second mobile robot is located until the call of the elevator car at the floor where the first mobile robot is located is made.

4. the processing circuit is configured to obtain a first scheduled use time that is a scheduled time when the first mobile robot will use the elevator, and a second scheduled use time that is a scheduled time when the second mobile robot will use the elevator; The robot movement system according to claim 2 , wherein the specific condition includes a condition that a difference between the first scheduled use time and the second scheduled use time is less than a threshold value.

5. 1. A method for moving a plurality of mobile robots within a multi-story facility equipped with an elevator having an elevator car, comprising: A robot movement method that determines the order of floors to call the elevator cars when the first mobile robot and the second mobile robot use the elevator simultaneously, based on the planned use of the elevator by a first mobile robot and the planned use of the elevator by a second mobile robot located on a different floor from the first mobile robot.

6. A robot movement program that causes at least one processor to perform the method of claim 5.

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