Article management system

Abstract

To provide an article management system that allows an autonomous mobile robot to move and facilitates the article management in a space where a large number of articles are stored.SOLUTION: The article management system comprises: an autonomous mobile robot that moves an article; and an article information management device that stores a map along which the autonomous mobile robot moves and registers an object of the article on the map, the object includes affiliation information indicating whether the article belongs to another article, and the autonomous mobile robot moves the article based on a registered position of the object and affiliation information.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an article management system. [Background technology]

[0002] Patent Document 1 listed below discloses an item management system comprising: a database containing information on at least items within the living space; an item operation means for specifying an item to be moved and an installation position to which the item to be moved is to be moved; a work robot having an item holding means for holding the item, which holds the item to be moved by the holding means and installs it at the installation position; and an installation posture determination means for determining the posture of the item to be moved when installed by the work robot based on information from the database and in accordance with information on other items near the installation position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-249389 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned item management system, item coordinates are assigned to each item in the database, and when an item is moved, the item coordinates of the item are updated. Incidentally, in automated warehouses and the like, multiple items may be stored in a storage box. In such cases, in order to move the storage box using a work robot, the storage box and all of the items contained in the storage box must be specified before the items can be moved. Furthermore, when a large number of items of the same type (e.g., several hundred or more) are stored in an automated warehouse, the search range for the items within the automated warehouse becomes wide, and it takes a long time to identify the item.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide an item management system that facilitates item management in a space where an autonomous mobile robot moves and stores a large number of items. [Means for solving the problem]

[0006] In order to solve the above problems, the item management system of the present invention comprises an autonomous mobile robot that moves items, and an item information management device that stores a map on which the autonomous mobile robot moves and registers an object of the item on the map, the object including affiliation information indicating whether the item belongs to other items, and the autonomous mobile robot moves the item based on the registered position of the object and the affiliation information. [Effects of the Invention]

[0007] According to the present invention, an autonomous mobile robot can move around and facilitate the management of items in a space storing a large number of items. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of an article management system according to an embodiment. [Figure 2] 1 is a diagram showing a space in which an autonomous mobile robot moves according to an embodiment; [Figure 3] FIG. 10 is a diagram illustrating a list file stored in an article management server according to an embodiment. [Figure 4] FIG. 2 is a diagram illustrating a hierarchical structure of objects according to an embodiment. [Figure 5] FIG. 10 is a diagram illustrating the placement of objects on a map according to an embodiment. [Figure 6] 10 is a flowchart illustrating a first mode of an autonomous mobile robot according to an embodiment. [Figure 7] 10 is a flowchart illustrating a first mode of an autonomous mobile robot according to an embodiment. [Figure 8]FIG. 8 is a diagram showing the movement of objects on the map as the flowcharts shown in FIGS. 6 and 7 proceed. [Figure 9] FIG. 10 is a flowchart illustrating a second mode of the autonomous mobile robot according to an embodiment. [Figure 10] FIG. 10 is a flowchart illustrating a second mode of the autonomous mobile robot according to an embodiment. [Figure 11] 11A and 11B are diagrams showing the movement of objects on a map as the flowcharts shown in FIGS. 9 and 10 proceed. [Figure 12] 11A and 11B are diagrams showing the movement of objects on a map as the flowcharts shown in FIGS. 9 and 10 proceed. [Figure 13] 10 is a flowchart illustrating a third mode of an autonomous mobile robot according to an embodiment. [Figure 14] 10 is a flowchart illustrating a third mode of an autonomous mobile robot according to an embodiment. [Figure 15] FIG. 15 is a diagram showing the movement of objects on the map as the flowcharts shown in FIGS. 13 and 14 proceed. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] FIG. 1 is a configuration diagram of an item management system 3 according to one embodiment. 1, the article management system 3 includes an autonomous mobile robot 1 and an article management server 2 (article information management device). The autonomous mobile robot 1 and the article management server 2 are configured to be able to communicate with each other via a wireless or wired network.

[0011] The autonomous mobile robot 1 comprises a carriage section 10 having a running function, a gatepost section 20 having a pair of pillar sections 21, 21 extending vertically from the carriage section 10 and a connecting section 22 connecting the upper ends of the pair of pillar sections 21, 21, and a pair of arms 30 assembled so as to be movable along the extension direction of the pillar sections 21.

[0012] The cart unit 10 has a plurality of wheels 11 and is configured to be self-propelled by a traveling device having a drive motor, a control device, a braking device, etc. (not shown). The autonomous mobile robot 1 according to this embodiment is self-propelled by the cart unit 10 and can move within a warehouse where goods are stored.

[0013] The bogie unit 10 has a flat box-shaped bogie body 12, which houses the above-mentioned drive motor, control device, braking device, etc. The top surface 13 of the bogie body 12 is formed flat and can be used as a loading space on which items or boxes can be placed.

[0014] A gatepost 20 stands upright in the vertical direction (up-down direction) at the rear corner of the upper surface 13 of the carriage body 12. The gatepost 20 is formed in a gate shape having a pair of pillars 21, 21 standing upright in the vertical direction from the upper surface 13 of the carriage body 12 and a connecting portion 22 connecting the upper ends of the pillars 21, 21 to each other.

[0015] Arms 30 (first arm member 30a, second arm member 30b) are attached to the front side of pillar 21. Pillar 21 is equipped with a movement mechanism (not shown), and arm 30 is attached so that it can move up and down on pillar 21 by this movement mechanism. Note that the movement mechanism can use various conventionally known configurations as long as it can move arm 30 along the up and down direction of pillar 21, but it is preferable that the movement mechanism be configured by, for example, a drive motor and a circular belt member that can be rotated by the drive motor.

[0016] Furthermore, flanges 23 are formed at a predetermined interval on the opposing side surfaces of the pillars 21, protruding from one pillar 21 toward the other pillar 21. The length of the flanges 23 along the opposing direction is formed to be such that a box can be held on the flanges 23 between the pillars 21, and a predetermined gap is formed between the flanges 23.

[0017] The connecting part 22 is provided with a first imaging unit 40 in the approximate center. The first imaging unit 40 can be any of various conventionally known cameras. The first imaging unit 40 can capture an image in front of the autonomous mobile robot 1 according to this embodiment. Note that the first imaging unit 40 is preferably, for example, an omnidirectional camera capable of capturing 360° images.

[0018] The arm 30 has a first arm member 30a and a second arm member 30b attached to each of the pair of pillars 21, 21. The first arm member 30a has a hand capable of grasping an object and a multi-joint mechanism for moving the hand. The hand is provided with a second imaging unit (not shown) that captures an image of the object. The second arm member 30b has a similar configuration to the first arm member 30a.

[0019] FIG. 2 is a diagram showing a space in which the autonomous mobile robot 1 according to one embodiment moves. 2 shows a room 100 provided with a door 101 through which the autonomous mobile robot 1 enters and exits. The room 100 is, for example, one of many rooms in a warehouse.

[0020] A table 102 is provided on the floor of the room 100. A shelf 103 with multiple levels (three levels in the example of FIG. 2) is provided on a side wall of the room 100. A box 104 and a drink 105 are placed on the table 102. A marker ID 104a is attached to the box 104 as identification information.

[0021] The marker ID 104a is a barcode or two-dimensional code that can be read by the first imaging unit 40 of the autonomous mobile robot 1 described above or a second imaging unit (not shown) of the arm 30. The marker ID 104a may also be an electronic tag.

[0022] Boxes 104 containing drinks 105 are placed on the top shelf 103. Another box 104 containing drinks 105 is also placed on the second shelf 103 from the top. Note that no items are placed on the bottom shelf 103.

[0023] The article management server 2 shown in FIG. 1 stores a map along which the autonomous mobile robot 1 moves, and registers article objects on the map. For example, the article management server 2 stores a map of a room 100 shown in FIG. 2, and registers the objects of the articles (door 101, table 102, shelf 103, box 104, and drink 105) present in the room 100 on the map. The article management server 2 has a database and manages a list file of the objects for each room 100. By creating a list file for each room 100, in a facility such as a warehouse with many rooms 100, it becomes possible to search for articles by room 100 (by list file) without having to search for articles throughout the entire facility or entire floor, thereby reducing search time.

[0024] FIG. 3 is a diagram showing a list file stored in the article management server 2 according to an embodiment. The list file shown in Fig. 3 includes registered "item," "name," "position and orientation relative to the room origin," "affiliation information," "size," and "identification information." Note that "Room 1" refers to, for example, room 100 shown in Fig. 2.

[0025] The list file shown in Figure 3 is divided into lists of fixed objects that cannot be moved by the autonomous mobile robot 1, and movable objects that can be moved by the autonomous mobile robot 1. The list of movable objects is for objects such as boxes and drinks whose position data is frequently rewritten while the autonomous mobile robot 1 is in operation. The list of fixed objects is for objects such as doors and tables that represent the map (environment) in which the autonomous mobile robot 1 operates.

[0026] The data for fixed objects is only rewritten when the user edits the map, and is not expected to be rewritten while the autonomous mobile robot 1 is in operation. In this way, by dividing the list file into fixed objects and movable objects, the range in which the autonomous mobile robot 1 searches for objects can be limited to movable objects, as will be described later, thereby shortening the time required to search for objects. Hereinafter, unless otherwise specified, the term "list file" refers to both types of lists.

[0027] An "item" is the object name of an item registered on a map. For example, the door 101 shown in Figure 2 has the object name "Door1." "Name" is the name of an object registered on a map. For example, the three-tiered shelf 103 shown in Figure 2 is distinguished as "Table2, Table3, Table4" in "Item", but has the common name "Table" in "Name".

[0028] "Position and orientation relative to the room origin" refers to the object's registered position and rotational orientation data relative to the map origin. The object's registered position is managed using coordinate data in the XYZ Cartesian coordinate system. The rotational orientation data is managed using Euler angles of Roll, Pitch, and Yaw. The "room origin" may be set to, for example, the center coordinates of the room 100 shown in FIG. 2, the coordinates of the entrance to the room 100, or any other coordinates.

[0029] "Belonging information" indicates whether an object (item object) registered on a map belongs to another object (an object of another item). "Belonging information" includes one label data. For example, box 104 placed on table 102 shown in FIG. 2 is registered as "Box1" and belongs to "Table1" which is table 102. Note that "belonging information" is information about the belonging of objects to each other, and is distinguished from information about the room to which the object belongs.

[0030] 2 is registered as "Object2" and belongs to "Box2", which is the box 104 placed on the top shelf 103. Furthermore, "Box2" belongs to "Table2", which is also the top shelf 103.

[0031] In this way, an object includes a subordinate object to which it belongs and a superior object to which it belongs, and the affiliation information of a subordinate object includes one label data that identifies the superior object. In other words, objects form a hierarchical structure in which a superior object can be identified from a subordinate object. It is also possible to update the "belonging information." For example, when an item is picked up by the autonomous mobile robot 1, the "belonging information" of the object of that item can be changed to "robot."

[0032] "Size" refers to the size of an object registered on the map. The size of an object is managed by the parameters width "W", depth "D", and height "H". "Size" is registered for all objects, including fixed objects and movable objects.

[0033] "Identification information" is information that links a real-world item with an object registered on a map. For example, box 104 shown in FIG. 2 has marker ID 104a, which serves as identification information. A six-sided image of drink 105 shown in FIG. 2 is stored in advance in item management server 2, and autonomous mobile robot 1 reads out the six-sided image to identify the drink.

[0034] "Identification information" is registered, for example, for movable objects (box 104, drink 105) that can be moved by the autonomous mobile robot 1. Note that fixed objects (door 101, table 102, and shelf 103) can be identified without registering "identification information" by referring to their "position and orientation relative to the room origin" and "size." However, "identification information" may also be registered for fixed objects.

[0035] However, when a new object is placed (registered) in the environment of the autonomous mobile robot 1, the orientation of the object is not necessarily placed (registered) in a direction that is convenient for the autonomous mobile robot 1. By registering the rotational orientation data and "size" data described above in advance and using them, it becomes possible to perform each action in a situation where it is difficult to complete an action using only the object's position coordinate data, such as the action step of searching for a surface with a marker or the like attached to identify the object using "identification information," or the action step of searching for the coordinates of the handle part using image recognition or the like to pick up the object, eliminating the need to perform processing steps to compensate each time, and allowing each action to be performed through the shortest possible steps. This can improve the task execution performance of the autonomous mobile robot 1.

[0036] Next, a specific example of the item management system 3 will be described with reference to FIGS.

[0037] Fig. 4 is a diagram showing a hierarchical structure of objects according to one embodiment, and Fig. 5 is a diagram showing the arrangement of objects on a map 200 according to one embodiment. In this example, the article management server 2 stores a map 200 as shown in Fig. 5. The map 200 shown in Fig. 5 is a plan view of the space in which the autonomous mobile robot 1 moves.

[0038] A robot object 201 representing the autonomous mobile robot 1 is registered on the map 200. Also registered on the map 200 are a table object 202 representing the table 102 and a box object 204 representing the box 104. Furthermore, two types of movement target objects 205A and 205B, which are movement targets for the autonomous mobile robot 1, are registered on the map 200. These objects can be easily identified based on their "belonging information."

[0039] For example, in Fig. 5, objects to be moved 205A and 205B placed on the floor of map 200 do not belong to any other objects, and therefore can be identified as "obj0" and "obj1" from the affiliation information shown in Fig. 4. Also, for example, objects to be moved 205A and 205B contained in the same box object 204 in Fig. 5 belong to the same box object 204, "Box0," and therefore can be identified as "obj2" and "obj3" from the affiliation information shown in Fig. 4. Furthermore, box object 204 placed on the floor of map 200 in Fig. 5 does not belong to any other objects, and therefore can be identified as "Box2" from the affiliation information shown in Fig. 4.

[0040] Next, we will explain the characteristic operations of the autonomous mobile robot 1 that use the above-mentioned affiliation information. In the following explanation, we will explain a first mode in which the autonomous mobile robot 1 goes to retrieve an item, a second mode in which the autonomous mobile robot 1 puts away an item, and a third mode in which the autonomous mobile robot 1 rearranges the location of an item.

[0041] (First mode: Going to get an item) Figures 6 and 7 are flowcharts illustrating the first mode of the autonomous mobile robot 1 according to an embodiment. The letters (A, B) in the figures indicate the connection between the flowcharts in Figures 6 and 7. Figure 8 is a diagram showing the movement of objects on the map 200 as the flowcharts in Figures 6 and 7 progress. When the autonomous mobile robot 1 goes to retrieve an item, it first presents the type of object to be retrieved (step S1). Note that the type of object may be presented by, for example, the user of the item management system 3.

[0042] In step S2, for example, when the object to be moved 205A (object A) is specified (step S2), the autonomous mobile robot 1 accesses the item management server 2 and searches, based on the "affiliation information" of the object to be moved 205A, whether there is an object (higher-level object) to which the object to be moved 205A belongs (step S3).

[0043] For example, as shown in Figure 8(a), if multiple objects 205A to be moved of the same type are registered on map 200 and object 205A to be moved belongs to either "BOX0" or "BOX1" which are box objects 204, autonomous mobile robot 1 acquires data belonging to "BOX0" or "BOX1" as the search range for object 205A to be moved (step S4). Note that autonomous mobile robot 1 does not acquire data belonging to "BOX3" to which object 205A to be moved does not belong.

[0044] In step S5, for example, if "BOX1" is specified out of "BOX0" and "BOX1", the autonomous mobile robot 1 acquires information about "obj4", which is the object 205A to be moved and belongs to "BOX1" (step S6). Next, the autonomous mobile robot 1 moves to the position of "obj4" based on the "position and orientation relative to the Room origin" of "obj4" (step S7).

[0045] Then, the autonomous mobile robot 1 picks up the item corresponding to "obj4" as shown in FIG. 8(b) based on the "position and orientation relative to the Room origin" and "identification information" of "obj4" (step S8). If the autonomous mobile robot 1 succeeds in picking up the item corresponding to "obj4", it transmits this information to the item management server 2. Then, the item management server 2 changes the "affiliation information" of "obj4" to "robot" (step S9). This completes the operation of the autonomous mobile robot 1 to retrieve the item.

[0046] According to this first mode, the following effects can be obtained in the picking operation of a specific type of object when multiple objects of the same type exist on the map 200. (1) As explained in step S4, the search range is the higher-level object to which the specified object belongs, so there is no need to search all objects, and the search time can be reduced. (2) In conventional picking, detailed data such as serial numbers are input within the same type of object to specify the object to be picked, but since it is now possible to uniquely determine objects on map 200 without specifying such detailed data, it is possible to specify a more specific object to be picked with less input. For example, in the example shown in Figure 2, it is possible to specify drink 105 on table 102, drink 105 in box 104 on top shelf 103, etc. (3) When there are multiple objects of a specific type that belong to the same category, the output after the operation is completed is the same regardless of which object is picked in reality, so object management on the map 200 can be performed, and data processing is less cumbersome. For example, in Figure 8, whether "obj0" or "obj1" in "BOX0" is picked in reality, the result is the same: the object to be moved 205A is picked from "BOX0". In other words, data management on the map 200 can be performed using a less cumbersome process such as "handling data in descending order of data name notation."

[0047] (Second mode: Putting things away) Figures 9 and 10 are flowcharts illustrating the second mode of the autonomous mobile robot 1 according to an embodiment. The letter (C) in the figures indicates the connection between the flowcharts in Figures 9 and 10. Figures 11 and 12 are diagrams illustrating the movement of objects on the map 200 as the flowcharts in Figures 9 and 10 progress. When the autonomous mobile robot 1 puts away an item, it first reads the map 200 (step S21). The map 200 is acquired from the item management server 2. Objects are registered in the map 200 as shown in FIG. 11(a).

[0048] The autonomous mobile robot 1 moves along a predetermined route based on the information on the map 200 (step S22). At this time, for example, as shown in FIG. 11(b), it is assumed that the autonomous mobile robot 1 discovers an object (object to be moved 205A) in a non-predetermined location on the map 200 (step S23). In this case, the autonomous mobile robot 1 picks up an item corresponding to the object to be moved 205A (step S24).

[0049] If the autonomous mobile robot 1 succeeds in picking up the item corresponding to the object to be moved 205A, it transmits that information to the item management server 2. Then, the item management server 2 identifies "obj4" from the "item" of the object to be moved 205A, and changes its "belonging information" to "robot" (step S25).

[0050] Next, the autonomous mobile robot 1 acquires data relating to "BOX0" and "BOX1" based on the "affiliation information" of the object to be moved 205A (step S26). Note that the autonomous mobile robot 1 does not acquire data relating to "BOX2" to which the object to be moved 205A does not belong.

[0051] Next, the autonomous mobile robot 1 moves to "BOX0" and then to "BOX1" in that order (step S27), as shown in Figure 12(a), based on the "position and orientation relative to the room origin" of "BOX0" and "BOX1."Then, using the imaging unit, the autonomous mobile robot 1 checks the number of items corresponding to the object to be moved 205A that are contained in "BOX0" and "BOX1," the destinations of the movement (step S28).

[0052] The autonomous mobile robot 1 determines whether there is a discrepancy between the number of objects 205A to be moved contained in "BOX0" and "BOX1" obtained in step S1 and the number of objects 205A to be moved contained in "BOX0" and "BOX1" recognized in step S28 (step S29).

[0053] For example, as shown in FIG. 12(a), if the number of objects to be moved 205A contained in "BOX0" matches the number of objects to be moved 205A contained in "BOX0" shown in FIG. 11(a) (if step S29 is NO), return to step S27 and move to the next "BOX1".

[0054] If the number of objects 205A to be moved contained in "BOX1" does not match the number of objects 205A to be moved contained in "BOX1" shown in Figure 11(a) (for example, if there is one object 205A to be moved missing), the autonomous mobile robot 1 acquires a method for placing "obj4" into "BOX1" (step S30). Then, the autonomous mobile robot 1 executes a placing operation to place the picked "obj4" into "BOX1". This completes the operation of the autonomous mobile robot 1 to put away the items.

[0055] According to this second mode, the following effects can be obtained in the operation of tidying up objects in a situation where multiple objects of the same type exist on the map 200. (1) As explained in step S21, if you know the map that specifies the object's affiliation, when you find an object in a non-prescribed location, you can specify where to place the found object and also how to place it by defining an action instruction for each type of object it belongs to. For example, in the example shown in Figure 2, you can specify that on the top shelf 103, you should open box 104 and place drink 105 inside it.

[0056] (Third mode: rearranging items) 13 and 14 are flowcharts illustrating the third mode of the autonomous mobile robot 1 according to an embodiment. The letter (D) in the figures indicates the connection between the flowcharts in Fig. 13 and Fig. 14. Fig. 15 is a diagram showing the movement of objects on the map 200 as the flowcharts in Fig. 13 and Fig. 14 progress. When the autonomous mobile robot 1 changes the location of an item, it first presents the type of object to be moved (step S41). The type of object may be presented by the user of the item management system 3, for example.

[0057] In step S42, for example, when "BOX1", which is a box object 204, is specified (step S42), the autonomous mobile robot 1 moves to the position of "BOX1" based on the "position and orientation relative to the Room origin" of "BOX1" (step S43).

[0058] Then, the autonomous mobile robot 1 picks up the item corresponding to "BOX1" as shown in FIG. 15(b) based on the "position and orientation relative to the Room origin" and "identification information" of "BOX1" (step S44). If the autonomous mobile robot 1 succeeds in picking up the item corresponding to "BOX1", it transmits this information to the item management server 2. Then, the item management server 2 changes the "affiliation information" of "BOX1" to "robot" (step S45).

[0059] After picking up "BOX1," the autonomous mobile robot 1 moves toward its destination (goal) (step S46). If the coordinate data of "robot" changes during this time (step S47), the article management server 2 updates the coordinate data of "BOX1" (step S48). The article management server 2 also updates the coordinate data of "obj3," "obj4," "obj5," and "obj6" that belong to "BOX1" (step S49).

[0060] In parallel with this process, as shown in FIG. 15(c), it is determined whether the autonomous mobile robot 1 has moved from map 200A to map 200B (whether it has moved to another room) (step S50). When "robot" moves from map 200A to map 200B, the article management server 2 changes the room data for "BOX1" (the list file shown in FIG. 3) (step S51). The article management server 2 also changes the room data for "obj3," "obj4," "obj5," and "obj6" that belong to "BOX1" (step S52). When an object ("BOX1," "obj3," "obj4," "obj5," or "obj6") moves to another room, the object is added to the list file for the destination map 200B and deleted from the list file for the source map 200A. This allows other autonomous mobile robots 1 to share the latest information (list files) through the article management server 2.

[0061] When the autonomous mobile robot 1 reaches the destination (goal) (step S53), it places the item corresponding to "BOX1" at the destination (goal). This completes the operation of the autonomous mobile robot 1 to rearrange the items.

[0062] According to this third mode, the following effects can be obtained when changing the arrangement of objects in a situation where multiple objects of the same type exist on the map 200. (1) When moving multiple objects simultaneously, instead of inputting each object individually as the object to be moved, by having a structure of the object to be moved and the multiple objects that belong to it, it becomes possible to simultaneously manage a large amount of internal data such as coordinate data and room data of multiple objects with only a small input of specifying a single object (for example, only "BOX1").

[0063] As explained above, the item management system 3 of this embodiment comprises an autonomous mobile robot 1 that moves items, and an item management server 2 that stores a map 200 along which the autonomous mobile robot 1 moves and registers item objects on the map 200, the objects containing affiliation information indicating whether the item belongs to other items, and the autonomous mobile robot 1 moves the items based on the registered location and affiliation information of the object. This configuration makes it easy to manage items within a space where the autonomous mobile robot 1 moves and stores a large number of items.

[0064] In this embodiment, an object includes a subordinate object to which it belongs and a superior object to which it belongs. This configuration makes it possible to build a hierarchical structure in which a superior object can be identified from a subordinate object.

[0065] In this embodiment, the affiliation information of a lower-level object includes one label data item that identifies a higher-level object. This configuration eliminates the need to input detailed data into the affiliation information.

[0066] In this embodiment, the objects include movable objects that can be moved and fixed objects that cannot be moved. With this configuration, fixed objects can be excluded from the movement targets of the autonomous mobile robot 1, and the search range for the movement targets can be narrowed.

[0067] In this embodiment, the autonomous mobile robot 1 has a first mode in which it goes to retrieve an item, and in the first mode, if the item to be moved belongs to another item, the autonomous mobile robot 1 picks up the item that belongs to the other item. With this configuration, the search range for the item to be picked can be narrowed down to the item to which it belongs, thereby shortening the search time.

[0068] In this embodiment, the autonomous mobile robot 1 has a second mode for putting away items, and in the second mode, if the item to be moved belongs to another item, the autonomous mobile robot 1 moves to the registered position of the other item and places the item there. With this configuration, the original location of the item to be placed can be easily identified from the affiliation information of the item to be placed.

[0069] In this embodiment, the autonomous mobile robot 1 also has a third mode for changing the location of items, and in the third mode, if an item to be moved is attached to another item, the autonomous mobile robot picks up the item, moves it to the destination location, and places it there, and the item management server updates the registered locations of the item and other items attached to it to the destination location. With this configuration, when multiple objects are moved simultaneously, it is possible to simultaneously manage a large amount of internal data, such as the registered locations of multiple objects, with just a single object designation (for example, "BOX1"), without having to input each object as the object to be moved one by one.

[0070] While the preferred embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the above-described embodiments. The shapes and combinations of the components shown in the above-described embodiments are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0071] For example, in the above embodiment, an item management server is exemplified as one form of an item information management device, but another form of an item information management device may be, for example, an information processing device incorporated into an autonomous mobile robot. [Explanation of symbols]

[0072] 1...autonomous mobile robot, 2...item management server (item information management device), 3...item management system, 10...cart section, 11...wheel, 12...cart body, 13...top surface, 20...post section, 21...post section, 22...connecting section, 23...flange section, 30...arm section, 30a...first arm member, 30b...second arm member, 40...first imaging section, 100...room, 101...door, 102...table, 103...shelf, 104...box, 105...drink, 200...map, 200A...map, 200B...map, 201...robot object, 202...table object, 204...box object, 205A...object to be moved, 205B...object to be moved

Claims

1. an autonomous mobile robot that moves an item; an article information management device that stores a map on which the autonomous mobile robot moves and registers an object of the article on the map; The object includes affiliation information indicating whether the item belongs to another item, the autonomous mobile robot moves the item based on the registered position of the object and the affiliation information; Inventory management system.

2. The object is The subordinate objects to which it belongs, and the parent object to which it belongs, The article management system according to claim 1 .

3. The affiliation information of the lower object includes one label data that identifies the higher object. The article management system according to claim 2 .

4. The object is a movable object; and a fixed object that cannot be moved. The article management system according to any one of claims 1 to 3.

5. the autonomous mobile robot has a first mode in which it goes to retrieve the item; In the first mode, if the item to be moved belongs to another item, the autonomous mobile robot picks up the item belonging to the other item; The article management system according to any one of claims 1 to 3.

6. the autonomous mobile robot has a second mode in which the item is put away; In the second mode, if the item to be moved belongs to another item, the autonomous mobile robot moves to the registered position of the other item and places the item; The article management system according to any one of claims 1 to 3.

7. the autonomous mobile robot has a third mode in which the arrangement of the item is changed; In the third mode, if the item to be moved belongs to another item, the autonomous mobile robot picks up the item and moves to a destination location to place it; The item information management device updates the registered locations of the item and other items belonging to the item to the target location. The article management system according to any one of claims 1 to 3.

Images