Robot mobility system, robot mobility method, and robot mobility program

Abstract

This system allows for the efficient completion of multiple tasks while preventing prolonged elevator waiting times for other users. [Solution] The processing circuit of the robot movement system is configured such that when assigning multiple tasks to the mobile robot, it outputs a request signal to ask a human to perform at least a portion of a specific task that involves moving to a different floor, selected from the multiple tasks, and when it receives an acceptance signal indicating acceptance of the request signal, it determines the task plan so as to exclude at least a portion of the specific task from the task plan for assigning the multiple tasks to the mobile robot.

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 distributed cooperation system in which a plurality of robots cooperate with each other in one environment where the plurality of robots are distributed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in order for a robot to move to a different floor, it is necessary to use an elevator. If the use of the elevator by robots increases, it may impair the convenience of passengers or reduce the task processing efficiency of the robots. Therefore, it is desirable to suppress the use of the elevator by the robots.

[0005] Therefore, an aspect of the present disclosure aims to suppress the use of the elevator by the robots.

Means for Solving the Problems

[0006] A robotic mobility system according to one aspect of the present disclosure is a system that causes a mobile robot to perform tasks including movement from a starting point to a destination within a multi-story facility equipped with an elevator having a lifting car, and comprises a processing circuit. The processing circuit is configured to, when assigning a plurality of tasks to the mobile robot, output a request signal that asks a human to perform at least a portion of a specific task that involves movement to different floors selected from the plurality of tasks, and when receiving an acceptance signal indicating acceptance of the request signal, determine the task plan so as to exclude at least a portion of the specific task from the task plan for assigning the plurality of tasks to the mobile robot.

[0007] A robot movement method according to one aspect of the present disclosure is a method for causing a mobile robot to perform a task that includes moving an object from a starting point to a destination within a multi-story facility equipped with an elevator having a lifting car, and when assigning a plurality of tasks to the mobile robot, the method includes outputting a request signal that asks a human to perform at least a portion of a specific task selected from the plurality of tasks that involves moving to different floors, and when receiving an acceptance signal indicating acceptance of the request signal, determining the task plan so as to exclude at least a portion of the specific task from the task plan that assigns the plurality of tasks to the mobile robot.

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

[0009] According to one aspect of this disclosure, it is possible to restrict the use of elevators by robots. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of the robotic mobile system according to the embodiment. [Figure 2] Figure 2 is a block diagram of the mobile robot shown in Figure 1. [Figure 3] Figure 3 is a block diagram of the information processing terminal shown in Figure 1. [Figure 4] Figure 4 is a block diagram of the server shown in Figure 2. [Figure 5] Figure 5 is a block diagram of the elevator shown in Figure 1. [Figure 6] Figure 6 is a diagram illustrating the challenges of task planning, where tasks distributed across different floors are assigned to mobile robots. [Figure 7] Figure 7 is a conceptual time diagram of the task processing of the second mobile robot in Figure 6. [Figure 8] Figure 8 is a diagram illustrating the changes to the task plan in the robotic mobile system shown in Figure 1. [Figure 9]Figure 9 is a conceptual time diagram of the task processing of the second mobile robot in Figure 8. [Figure 10] Figure 10 is a flowchart illustrating the server processing shown in Figure 4. [Modes for carrying out the invention]

[0011] The embodiments will be described below with reference to the drawings.

[0012] Figure 1 is a schematic diagram of a robot mobility system 1 according to an embodiment. As shown in Figure 1, the robot mobility system 1 comprises a plurality of autonomously moving mobile robots 2 and a server 5 that can communicate with the plurality of mobile robots 2 via a communication network N. The communication network N may be, for example, the internet, but it may also be an intranet or the like. The mobile robots 2 autonomously move between floors in a multi-story facility 7 equipped with elevators 8. Note that the number of mobile robots 2 in the facility 7 may be as few as one.

[0013] Facility 7 is not particularly limited as long as it has an elevator 8, but could be a hospital, for example. Facility 7 has multiple people 3, each possessing an information processing terminal 4 that can connect to a communication network N. The information processing terminal 4 can be a portable information terminal such as a smartphone, tablet, smartwatch, augmented reality head-mounted device, or laptop computer. The information processing terminal 4 may be placed in a predetermined location where multiple people 3 may be present, such as a staff station in facility 7. In that case, one of the multiple people 3 at the staff station can check the output of the information processing terminal 4 and operate the information processing terminal 4.

[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 driving 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. The task assigned to the mobile robot 2 is a movement task from the starting point to the destination. Therefore, the wheels 18 are an example of a driven body that performs the movement task. In the present embodiment, the movement task is a delivery task of receiving a conveyed object at the starting point and delivering the conveyed object to the destination. Therefore, the body 19 has a carrier 19a. On the carrier 19a, for example, materials that need to be conveyed are placed. The distance measuring sensor 14 and the touch panel display 15 will be described later. Note that the movement task assigned to the mobile robot 2 may be a security task of moving while monitoring the surroundings from the starting point to the destination, or a guiding task of guiding a person from the starting point to the destination. The starting point and the destination of the movement task may be set on the same floor or on different floors from each other.

[0016] FIG. 2 is a block diagram of the mobile robot 2 in FIG. 1. As shown in FIG. 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 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 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 measures the surroundings of the mobile robot 2 to three-dimensionally detect the shape of the surroundings of the mobile robot 2. The distance measurement sensor 14 detects position data of the outer surface of an obstacle in the facility 7 by receiving a reflected wave from an obstacle around the mobile robot 2. For example, the distance measurement sensor 14 may emit light, radio waves, or ultrasonic waves toward the surroundings of the mobile robot 2 and receive the reflected wave. The distance measurement sensor 14 may receive a reflected wave obtained by reflecting light, radio waves, or ultrasonic waves existing in the external world by an object. The distance measurement sensor 14 can measure the omnidirectional horizontal direction with respect to the mobile robot 2. Note that the distance measurement sensor 14 may two-dimensionally measure the surroundings of the mobile robot 2.

[0019] The distance measuring sensor 14 may, for example, detect the distance to an obstacle by measuring the time from the time laser light is irradiated until the reflected wave is received. The distance measuring sensor 14 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measuring sensor 14 is a three-dimensional LIDAR sensor. The distance measuring 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 distance measuring sensor 14 may be an infrared distance measuring sensor, a millimeter-wave radar, or a depth-sensing camera. The depth-sensing camera may measure the distance to an object using parallax from a stereo camera.

[0020] The processing circuit 10 determines the position of the mobile robot 2 on the map data by matching the surrounding shape detected by the distance measuring sensor 14 with the map shape shown in the map data. In other words, the positioning sensor is realized by combining the distance measuring sensor 14 with software that matches the shape detected by the distance measuring sensor 14 with the map data 5. The mobile robot 2 can download map data from the map data storage unit 35 of the server 5, which will be described later.

[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. A keyboard, mouse, or the like may be used as the user input interface, or it may be a smartphone or tablet terminal capable of communicating with the mobile robot 2. A non-touch panel display may be used as the user output interface. Furthermore, the mobile robot 2 may have at least one of a speaker and a lamp as a user output interface.

[0022] The travel actuator 16 includes a wheel drive actuator that drives the wheels 18. The travel actuator 16 is, for example, an electric motor. The travel actuator 16 includes a braking actuator that drives a brake that brakes the wheels 18. The mobile robot 2 may change its direction of travel by making the rotation speeds of the left and right wheels 18 different, by making the rotation directions of the left and right wheels 18 different, or by steering the wheels 18 with a steering actuator. The mobile robot 2 may have an opposing 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 sends information about its own mobile robot 2 to the server 5 via the communication network N. The communication interface 17 also functions as a receiver that receives information about other mobile robots 2 transmitted from the server 5.

[0024] Figure 3 is a block diagram of the information processing terminal 4 shown in Figure 1. As shown in Figure 3, the information processing terminal 4 includes a processing circuit 20, a positioning sensor 24, a display 25, an operation interface 26, and a communication interface 27. The processing circuit 20 includes a processor 21, a system memory 22, and a storage memory 23.

[0025] The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include RAM. The storage memory 23 is an example of a computer-readable medium, and is a non-temporary, tangible medium. The storage memory 23 may include ROM. The storage memory 23 may include a hard disk, flash memory, or a combination thereof. The storage memory 23 stores the control program P2. An example of a processing circuit 20 is a configuration in which the processor 21 executes the control program P2 read from the system memory 22.

[0026] The positioning sensor 24 may be a satellite positioning sensor such as a GPS sensor. The positioning sensor 24 only needs to be capable of acquiring the position of the information processing terminal 4, and may use a positioning technology other than satellite positioning technology. The positioning sensor 24 may be, for example, a wireless receiver capable of receiving radio waves transmitted by multiple access points of a wireless LAN built within the facility 7. In this case, the position of the information processing terminal 4 can be determined by calculating the distance from each wireless access point to the information processing terminal 4 based on the strength of the radio waves from each of the multiple access points received by the positioning sensor 24.

[0027] The display 25 may be, for example, a liquid crystal display or an organic EL display. The operating interface 26 is a user interface operated by a human 3. The operating interface 26 includes, for example, at least one selected from a touch panel, keyboard, mouse, etc. If the display 25 is a touch panel, the display 25 also serves as the operating interface 26.

[0028] The communication interface 27 is for connecting to the communication network N, and may be, for example, a communication device that connects to a mobile phone network, or a device that connects to the communication network N via a wireless LAN access point.

[0029] Figure 4 is a block diagram of server 5 in Figure 1. As shown in Figure 4, server 5 includes a processing circuit 30 and a communication interface 34. The communication interface 34 is electrically connected to the processing circuit 30. The processing circuit 30 includes a processor 31, system memory 32, and storage memory 33. The communication interface 34 is connected to a communication network N by wire or wireless. The processor 31 may include a CPU (Central Processing Unit). The system memory 32 may include RAM. The storage memory 33 may include a hard disk, flash memory, or a combination thereof. The storage memory 33 stores program P3. An example of a configuration in which the processor 31 executes program P3 read from the storage memory 33 to the system memory 32 is the processing circuit 30.

[0030] The storage memory 33 has a map data storage unit 35 that stores map data of the facility 7 to which the mobile robot 2 travels. The map data storage unit 35 is a database that stores map data. The map data identifies the shape of the area in which the mobile robot 2 can travel. For example, the map data identifies the shape of each floor in the facility 7. The map data identifies the outline of the area in which the mobile robot 2 can travel by identifying the contours of obstacles on each floor. The map data storage unit 35 may be a database located outside the server 5 and connected to the server 5 in a communicative manner.

[0031] The storage memory 33 has a human data storage unit 36 ​​that stores data about each human 3. The human data storage unit 36 ​​is a database that stores information including acceptance history, in which each human 3 has indicated acceptance to a request signal, as will be described later. The human data storage unit 36 ​​may be a database located outside the server 5 and connected to the server 5 in a communicative manner.

[0032] Figure 5 is a block diagram of the elevator 8 shown in Figure 1. As shown in Figure 5, the elevator 8 comprises an elevator control device 81, an elevator hall control panel 82, and a elevator car 83. The elevator control device 81 includes a communication interface 41 connected to a communication network N, an actuator 42 for raising or lowering the elevator car 83, and a control processing circuit 43 for controlling the actuator 42. The control processing circuit 43 has a configuration in which, for example, a processor executes a control program read from storage memory to system memory.

[0033] The elevator hall control panel 82 is installed in the elevator hall on each floor of the facility 7. The elevator hall control panel 82 includes a communication interface 51, an upward call registration button 52, and a downward call registration button 53. The communication interface 51 is connected by wire or wirelessly to the communication interface 41 of the elevator control device 81. The communication interface 51 may also be connected to a communication network N. The upward call registration button 52 and the downward call registration button 53 are positioned 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 83 is transmitted to the elevator control device 81 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 83 is transmitted to the elevator control device 81 via the communication interface 51.

[0034] The elevator car 83 has an internal space for a mobile object to ride in and is driven by an actuator 42 to rise or fall to different floors. The internal space of the elevator car 83 is large enough to accommodate, for example, multiple mobile robots 2 simultaneously. The elevator car 83 includes a communication interface 61 and a destination floor selection button 62. The communication interface 61 is connected by wire or wirelessly to the communication interface 41 of the elevator control device 81. The communication interface 61 may also be connected to a communication network N. The destination floor selection button 62 is positioned to be operable within the internal space of the elevator car 83. When a destination floor is selected by operating the destination floor selection button 62, the destination floor registration of the elevator car 83 is transmitted to the elevator control device 81 via the communication interface 61.

[0035] The control processing circuit 43 of the elevator control device 81 determines the movement and stopping of the elevator car 83 and controls the actuator 42 according to information based on the operation of the upward call registration button 52, the downward call registration button 53, and the destination floor specification button 62. In addition, as will be described later, the control processing circuit 43 of the elevator control device 81 also refers to information received from the server 5 via the communication network N to determine the movement and stopping of the elevator car 83 and controls the actuator 42.

[0036] Figure 6 is a diagram illustrating the task planning challenges in which tasks distributed across different floors are assigned to mobile robots 2A and 2B. As shown in Figure 6, it is assumed that different tasks 1 to 5 (transportation of transported objects) have their departure points (receiving points for transported objects) on the sixth to second floors of facility 7, and the destination (delivery point for transported objects) for all tasks is on the first floor of facility 7. Server 5 determines the planned movement path for each mobile robot 2 based on known methods, for example, the LNS (Large Neighborhood Search) algorithm, so that each mobile robot 2 can efficiently handle all tasks within facility 7.

[0037] Assume that Task 1, starting from the sixth floor, and Task 3, starting from the fourth floor, are assigned to the first mobile robot 2A. Then, assume that Task 2, starting from the fifth floor, Task 4, starting from the third floor, and Task 5, starting from the second floor, are assigned to the second mobile robot 2B. In this case, because the second mobile robot 2B is assigned so many tasks, there is a possibility that it may not be able to reach the first-floor destination by the required time.

[0038] Figure 7 is a conceptual time diagram of the task processing of the second mobile robot 2B in Figure 6. In the conceptual time diagram of Figure 7, the horizontal axis represents time, and the vertical axis represents each task. In Figure 7, the arrows indicate the movement of the second mobile robot 2B. In Figure 7, the fine dashed lines corresponding to each task indicate the time range in which arrival at the departure point of each task is required. In Figure 7, the coarse dashed lines corresponding to each task indicate the time range in which arrival at the destination of each task is required. Since the second mobile robot 2B needs to descend from the elevator car 83 to the fifth, third, and second floors and stop by the departure points of tasks 2, 4, and 5, it exceeds the time range in which arrival at the destination of task 2 is required by time ΔT. In light of these circumstances, the following countermeasures are taken in this embodiment.

[0039] Figure 8 is a diagram illustrating the change in the task plan in the robot mobile system 1 of Figure 1. As shown in Figure 8, it is assumed that there are different departure points (receiving points for transported items) for tasks 1 to 5 (transportation of transported items) on the sixth to second floors of facility 7, and the destination (delivery destination for transported items) for all tasks is on the first floor of facility 7. Server 5 determines the planned movement path for each mobile robot 2 based on known methods, for example, the LNS (Large Neighborhood Search) algorithm, so that each mobile robot 2 can efficiently handle all tasks within facility 7.

[0040] Server 5 requests Human 3 to perform some of the tasks from Tasks 1 to 5. For example, suppose Task 1, which starts on the sixth floor, and Task 3, which starts on the fourth floor, are assigned to the first mobile robot 2A. Then, suppose Task 2, which starts on the fifth floor, and Task 4, which starts on the third floor, are assigned to the second mobile robot 2B. In this case, instead of assigning Task 5 (a specific task) which starts on the second floor, Server 5 requests Human 3 to perform it. If Human 3 accepts the request, Server 5 determines a revised task plan by changing the task plan to exclude Task 5 from the initial task plan assigned to the second mobile robot 2B.

[0041] Human 3, who accepted Task 5, receives the object to be transported at the Task 5 departure point on the second floor, moves to the third floor using the stairs, and delivers the object to the Task 4 departure point. In this way, when the second mobile robot 2B arrives at the Task 4 departure point on the third floor, it can receive both the object to be transported for Task 4 and the object to be transported for Task 5, and deliver them to the respective destinations for Task 4 and 5 on the first floor.

[0042] Figure 9 is a conceptual time diagram of the task processing of the second mobile robot 2B in Figure 8. In the conceptual time diagram of Figure 9, the horizontal axis represents time, and the vertical axis represents each task. In Figure 9, the arrows indicate the movement of the second mobile robot 2B. In Figure 9, the fine dashed lines corresponding to each task indicate the time range in which arrival at the departure point of each task is required. In Figure 9, the coarse dashed lines corresponding to each task indicate the time range in which arrival at the destination of each task is required. The second mobile robot 2B descends from the elevator car 83 to the fifth and third floors and stops at the departure points of tasks 2 and 4. On the other hand, human 3 carries the object to be transported, received at the departure point of task 5 on the second floor, to the departure point of task 4 on the third floor using the stairs. Therefore, the second mobile robot 2B can proceed to the first floor without descending from the elevator car 83 on the second floor, and can arrive at the destination within the time range in which arrival at the destinations of tasks 2, 4, and 5 is required.

[0043] Figure 10 is a flowchart illustrating the processing of Server 5 in Figure 4. As shown in Figure 10, Server 5 obtains task information that details each task to be assigned to one of the mobile robots 2 (step S1). The task information includes, for example, the type of task (e.g., delivery, patrol, etc.), the origin of the task, the destination of the task, the time range in which arrival at the origin is required, and the time range in which arrival at the destination is required. The task information may include information about multiple tasks.

[0044] Next, Server 5 selects a robot from each mobile robot 2 to assign each task to and determines the planned movement path for each mobile robot 2 (Step S2). That is, Server 5 determines the planned movement path for each mobile robot 2 so that it includes the departure and destination of the assigned task. This determines the initial task plan for each mobile robot 2. The planned movement path for each mobile robot 2 is determined based on a known method (e.g., the LNS algorithm) so that each mobile robot 2 efficiently distributes all tasks within Facility 7. Note that there may be only one mobile robot 2 in Facility 7, in which case Server 5 has no choice in selecting which mobile robot 2 to use.

[0045] Server 5 determines whether this initial task plan satisfies predetermined requirements (step S3). The requirements include a requirement regarding the arrival time of the mobile robot 2 at the departure or destination of each task. The requirements may also include that the task execution cost of the task plan is less than a threshold. The task execution cost may be a function value calculated in the task plan that increases as the planned travel distance of each mobile robot 2 increases. The task execution cost may also be a function value calculated in the task plan that increases as the planned number of times the elevator 8 is used by each mobile robot 2 increases.

[0046] Server 5 calculates a task plan that can satisfy the requirements by delegating at least a portion of a specific task selected from all tasks to Human 3 (Step S4). At this time, Server 5 determines a specific task (corresponding to Task 5 in Figure 8) to which at least a portion of the execution will be entrusted to Human 3, such that all requirements regarding the departure point and arrival time of Mobile Robot 2 to the destination of all tasks assigned to each Mobile Robot 2 are met, and the task execution cost is minimized.

[0047] Task execution costs may include human burden costs, which are set to increase as the burden on human 9 increases when human 3 performs at least a portion of a specific task. Human burden costs may include, for example, human travel costs, which are set to increase as the difference in the number of floors between the floor closest to the starting floor of the specific task among the starting floors of all tasks other than the specific task, and the starting floor of the specific task, increases. That is, the specific task is determined such that the difference in the number of floors between the starting floor of the specific task where human 3 receives the transported object and the floor where human 3 delivers the transported object using the stairs (the starting floor of the task closest to the starting floor of the specific task) does not increase. This makes it less likely that a task plan that places a large workload on human 3 will be determined. In addition, human burden costs may be set to increase as the distance traveled by human 9 increases when human 3 performs at least a portion of the specific task.

[0048] A specific task may be selected such that the difference in the number of floors between the floor closest to the starting or ending point of the specific task (among the remaining tasks excluding the specific task) and the floor at the starting point of the specific task is less than a threshold. This also makes it less likely that a task plan that places a heavy workload on human 3 will be determined.

[0049] Server 5 may select a specific task such that the departure or destination of the remaining tasks, excluding the specific task, does not fall on the same floor as the specific task's departure. In other words, by transferring the specific task to human 3, the mobile robot 2 no longer needs to use elevator 8 to descend to the departure floor of the specific task solely for that task. This reduces the opportunities for the mobile robot 2 to use elevator 8, effectively preventing prolonged waiting times for other users of elevator 8.

[0050] Server 5 sends a request signal to the information processing terminal 4 held by Human 3, requesting Human 3 to perform at least a portion of the determined specific task (step S5). At least a portion of the specific task includes moving to a different floor. Server 5 may also request Human 3 to perform only a portion of the movement from the starting point to the destination in the specific task. For example, Human 3 may receive the object to be transported at the starting point of the specific task, then use the stairs to deliver the object to a mobile robot 2 on a different floor from the starting point, and the mobile robot delivers the object to the destination. Alternatively, Server 5 may also request Human 3 to perform the entire movement from the starting point to the destination in the specific task.

[0051] Server 5 determines the destination of the request signal if there are multiple people 3 within Facility 7 who possess an information processing terminal 4, such that the closer a person 3 is to the starting point of a specific task, the more likely that person 3's information processing terminal 4 is to be selected as the destination of the request signal. For example, Server 5 calculates the human travel cost for multiple people 3 within Facility 7 and selects the information processing terminal 4 of the person 3 with the lowest human travel cost as the destination of the request signal. The human travel cost is set to increase as the distance from the person 3's current location to the starting point of the specific task increases.

[0052] Server 5 determines whether or not it has received a response signal from the information processing terminal 4 that received the request signal (step S6). If it is determined that no response signal has been received from the information processing terminal 4 that received the request signal (step S6:N), Server 5 either waits or resends the request signal. Server 5 may also cancel the request signal and send it to another person 3's information processing terminal 4 if the elapsed time since sending the request signal exceeds a predetermined time limit without receiving a response signal.

[0053] When it is determined that a response signal has been received from the information processing terminal 4, which is the destination of the request signal (step S6:Y), the server 5 determines whether the response signal is an acceptance signal that accepts the request or a rejection signal that rejects the request (step S7).

[0054] If the response signal is determined to be a rejection signal (step S7:N), the server 5 sends a request signal to another person 3 (step S5). The server 5 may update the information of the person 3 who issued the rejection in the person data storage unit 36 ​​so that the person 3 who issued the rejection is less likely to be selected as the recipient of the next request signal.

[0055] For example, server 5 may record the number of rejections for each person 3 in the person data storage unit 36. In this case, server 5 should add an additional value to the person travel cost that increases with the number of rejections. This would make it less likely for a person 3 with a high number of rejections to be selected as the destination for the next request signal, thereby suppressing frequent instances of people 3 being asked to perform a task and then being rejected. Server 5 may also exclude a person 3 who has rejected a request from being the destination for the next request signal for a predetermined period of time, so that such a person 3 is less likely to be selected as the destination for the next request signal. Note that in steps S5 to S7, a specific task is requested to person 3 in a way that allows for rejection, but it may also be a mandatory request that does not allow for rejection. In this case, steps S6 and S7 may be omitted.

[0056] Furthermore, if Server 5 determines that the time from the transmission of the initial request signal to the reception of the acceptance signal exceeds a predetermined timer time, it may return to step S4 and recalculate a task plan different from the current task plan. Also, Server 5 may determine which specific task to delegate to Human 3 based on the priority of the tasks. For example, Server 5 may select a task with a lower priority from among the tasks as the specific task.

[0057] When the response signal is determined to be an acceptance signal (step S7:Y), the server 5 changes the task plan determined in step S2 to the task plan calculated in step S4 (step S8). That is, the server 5 discards the initial task plan determined in step S2 and decides on the task plan calculated in step S4 as the revised task plan. In this revised task plan, the departure or destination of a particular task is modified, and a part of that particular task is excluded from the initial task plan. In the example in Figure 8, the round trip movement from getting off the elevator car 83 on the second floor to the departure point of task 5 and then back onto the elevator car 83 is excluded from the initial task plan. That is, the destination of task 5 is not modified, and the departure point of task 5 is modified to be the same as the departure point of task 4.

[0058] Human 3 may, but is not limited to, carry the object to be transported to an intermediate point along the planned travel route of mobile robot 2. Human 3 may use the stairs to carry the object to the floor where the starting point of task 5 is located, and mobile robot 2 may deviate from the planned travel route to receive the object from human 3.

[0059] Server 5 sends a confirmation signal to the information processing terminal 4 that sent the acceptance signal (step S9). Person 3, having confirmed receipt of the confirmation signal at the information processing terminal 4, assists with the task plan by performing a portion of the requested specific task. In the example in Figure 8, Person 3, having confirmed receipt of the confirmation signal at the information processing terminal 4, receives the item to be transported at the starting point of task 5 on the second floor and delivers the item to the starting point of task 4 on the third floor using the stairs. Once Person 3 has completed the requested portion of the specific task, they send a completion notification to Server 5 using the information processing terminal 4.

[0060] Human 3 may also send a completion notification to server 5 using the touch panel display 15 of mobile robot 2. Furthermore, completion of the portion of a specific task requested by human 3 may be determined by other means. For example, if the mobile robot 2's sensors detect that an object has been placed on its carrier 19a, mobile robot 2 may determine that the portion of the specific task requested by human 3 has been completed. The mobile robot 2's sensors may include, for example, a camera for photographing the object inside the carrier 19a, an RFID reader capable of communicating with RFID tags attached to the object inside the carrier 19a, or a weighing scale capable of detecting the load weight of the carrier 19a.

[0061] Server 5 receives a notification of completion of support (step S10). Upon receiving the notification of completion of support, Server 5 may instruct the information processing terminal 4 to output a message or sound indicating gratitude on its display and / or speaker. Additionally, when Server 5 receives an acceptance signal, it may instruct the information processing terminal 4 to output a message or sound indicating gratitude on its display and / or speaker.

[0062] When server 5 receives a support completion notification, it updates the acceptance history of the human 3 corresponding to the information processing terminal 4 that sent the support completion notification in the human data storage unit 36. For example, server 5 may record the number of acceptances for each human 3 in the human data storage unit 36, which is the number of times acceptance was indicated in response to the request signal. This makes it possible to identify human 3s who have accepted many tasks and to provide incentives to those human 3s.

[0063] Furthermore, Server 5 may determine the priority of requests to Human 3 so that each Human 3's acceptance history is equal in order to level out the workload. For example, Server 5 may multiply the aforementioned human travel cost by a coefficient that increases according to the number of past acceptances.

[0064] The configuration described above makes it possible to reduce the use of the elevator 8 by the mobile robot 2. For example, by obtaining only the minimum necessary assistance from human 3, it is possible to perform tasks on the mobile robot 2 while reducing its burden and enabling it to complete multiple tasks. In addition, since human 3 can travel by stairs instead of using the elevator 8, the opportunities for the mobile robot 2 to use the elevator 8 can be reduced, thus preventing prolonged waiting times for other users.

[0065] As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology.

[0066] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), GPUs (Graphics Processing Units), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0067] [Pattern] The embodiments described above are specific examples of the following embodiments.

[0068] (Aspect 1) A system for enabling a mobile robot to perform tasks, including movement from a starting point to a destination, within a multi-story facility equipped with an elevator with a lifting car, It includes a processing circuit, and the processing circuit is When assigning multiple tasks to the mobile robot, it outputs a request signal to ask a human to perform at least a portion of a specific task selected from the multiple tasks that involves moving to different floors, Upon receiving an acceptance signal indicating acceptance of the request signal, the task plan is determined to exclude at least a portion of the specific task from the task plan that assigns the plurality of tasks to the mobile robot. A robotic mobile system configured to perform the following actions.

[0069] This configuration allows mobile robots to perform tasks with minimal human assistance, reducing their workload and enabling them to complete multiple tasks. Furthermore, since humans can use the stairs instead of the elevator, the need for mobile robots to use the elevator is reduced, thus preventing prolonged elevator wait times for other users.

[0070] (Aspect 2) The robotic mobile system according to Embodiment 1, wherein determining the task plan to exclude at least a portion of the specified task includes determining the task plan to exclude a portion of the specified task by modifying the origin or destination of the specified task.

[0071] This configuration allows for easy optimization of task planning when a portion of a specific task is assigned to a human.

[0072] (Aspect 3) The processing circuit is configured to determine whether the task plan satisfies a predetermined requirement. The robot movement system according to embodiment 1 or 2, wherein outputting the request signal includes outputting the request signal when it is determined that the task plan does not satisfy the requirements.

[0073] This configuration allows a mobile robot to perform a task while simultaneously completing multiple tasks to meet the requirements.

[0074] (Aspect 4) The robotic mobility system according to embodiment 3, wherein the request includes a request relating to the arrival time of the mobile robot to the departure point or destination of the plurality of tasks.

[0075] This configuration prevents situations where a task cannot arrive at its origin or destination by the required time.

[0076] (Aspect 5) The robotic mobile system according to embodiment 3 or 4, wherein the requirement includes a requirement relating to the cost of performing a task, which is determined based on at least one of the planned distance traveled by the mobile robot and the planned number of uses of the elevator.

[0077] This configuration prevents a decrease in the robot's movement efficiency.

[0078] (Aspect 6) A robotic mobile system according to any one of embodiments 3 to 5, wherein the requirement includes a requirement relating to the degree of burden on the human when the human performs at least a part of the specific task.

[0079] This configuration makes it less likely that task plans that would require a large amount of human assistance will be decided upon. (Aspect 7) A robotic mobility system according to any one of embodiments 3 to 6, wherein the requirement includes a requirement for human mobility costs set to increase as the difference in the number of floors between the floor closest to the floor of the starting point of the specific task among the floors of the remaining tasks other than the specific task, and the floor of the starting point of the specific task, increases.

[0080] This configuration makes it less likely that task plans that would require a large amount of human assistance will be decided upon.

[0081] (Pattern 8) The robot movement system according to any one of embodiments 1 to 7, wherein the processing circuit selects the specific task such that the departure or destination of the remaining tasks other than the specific task among the plurality of tasks does not exist on the same floor as the departure of the specific task.

[0082] This configuration reduces the opportunities for mobile robots to use elevators, thereby effectively preventing prolonged elevator waiting times for other users.

[0083] (Aspect 9) The robot movement system according to embodiment 8, wherein the processing circuit selects the specific task from among the plurality of tasks, such that the difference in the number of floors between the floor closest to the floor of the departure point of the specific task among the floors of the departure points of the remaining tasks other than the specific task, and the floor of the departure point of the specific task is less than a threshold.

[0084] This configuration reduces the burden on a person who has to move from the starting point of a specific task to the starting point or destination of another task using stairs.

[0085] (Aspect 10) The robot mobility system according to any one of embodiments 1 to 9, wherein the processing circuit, upon receiving a rejection signal indicating rejection of the request signal, updates the information of the person who issued the rejection so that the person who issued the rejection is less likely to be selected as the recipient of the next request signal.

[0086] This configuration helps to reduce the frequent occurrence of humans refusing to perform tasks that have been requested from them.

[0087] (Aspect 11) It also includes a database that stores the acceptance history of multiple people, The robot movement system according to any one of embodiments 1 to 10, wherein the processing circuit updates the acceptance history of the person who presented the acceptance when it receives the acceptance signal.

[0088] This configuration allows us to identify individuals who have accepted many tasks and provide them with incentives.

[0089] (Aspect 12) A method for having a mobile robot perform a task, including moving an object from a starting point to a destination, within a multi-story facility equipped with an elevator with a lifting car, When assigning multiple tasks to the mobile robot, it outputs a request signal to ask a human to perform at least a portion of a specific task selected from the multiple tasks that involves moving to different floors, Upon receiving an acceptance signal indicating acceptance of the request signal, the task plan is determined to exclude at least a portion of the specific task from the task plan that assigns the plurality of tasks to the mobile robot. A robot movement method, including

[0090] (Aspect 13) A robot movement program that causes at least one processor to perform the procedure described in embodiment 12. [Explanation of Symbols]

[0091] 1. Robot mobility system 2 Mobile robots 2A First Mobile Robot 2B Second Mobile Robot 3 Human 4. Information Processing Terminal 5 Servers 7 facilities 8 Elevator 30 Processing Circuits 31 processors 83 Lifting basket P3 Program

Claims

1. A system for enabling a mobile robot to perform tasks, including movement from a starting point to a destination, within a multi-story facility equipped with an elevator with a lifting car, It includes a processing circuit, and the processing circuit is When assigning multiple tasks to the mobile robot, it outputs a request signal to ask a human to perform at least a portion of a specific task selected from the multiple tasks that involves moving to different floors, Upon receiving an acceptance signal indicating acceptance of the request signal, the task plan is determined to exclude at least a portion of the specific task from the task plan that assigns the plurality of tasks to the mobile robot. A robotic mobile system configured to perform the following actions.

2. Determining the task plan to exclude at least a portion of the specified tasks includes determining the task plan to exclude a portion of the specified tasks by modifying the origin or destination of the specified tasks, the robotic mobile system according to claim 1.

3. The processing circuit is configured to determine whether the task plan satisfies a predetermined requirement. The robot movement system according to claim 1 or 2, wherein outputting the request signal includes outputting the request signal when it is determined that the task plan does not satisfy the requirements.

4. The robotic mobility system according to claim 3, wherein the request includes a request relating to the arrival time of the mobile robot to the departure point or destination of the plurality of tasks.

5. The robotic mobility system according to claim 3, wherein the requirement includes a requirement relating to the cost of performing a task, which is determined based on at least one of the planned distance traveled by the mobile robot and the planned number of uses of the elevator.

6. The robotic mobility system according to claim 3, wherein the requirement includes a requirement relating to the burden on the human being when performing at least a portion of the specific task.

7. The robotic mobility system according to claim 3, wherein the requirement includes a requirement relating to human mobility costs set to increase as the difference in the number of floors between the floor closest to the floor of the starting point of the specific task among the floors of the starting points of the remaining tasks other than the specific task, and the floor of the starting point of the specific task, increases.

8. The robot movement system according to claim 1 or 2, wherein the processing circuit selects the specific task such that the departure or destination of the remaining tasks other than the specific task among the plurality of tasks does not exist on the same floor as the departure of the specific task.

9. The robot movement system according to claim 8, wherein the processing circuit selects the specific task from among the plurality of tasks other than the specific task such that the difference in the number of floors between the floor closest to the floor of the starting point of the specific task among the floors of the starting points or destinations of the remaining tasks is less than a threshold.

10. The robot movement system according to claim 1 or 2, wherein the processing circuit, upon receiving a rejection signal indicating rejection of the request signal, updates the information of the person who issued the rejection so that the person who issued the rejection is less likely to be selected as the recipient of the next request signal.

11. It also includes a database that stores the acceptance history of multiple individuals, The robot movement system according to claim 1 or 2, wherein the processing circuit updates the acceptance history of the person who presented the acceptance when it receives the acceptance signal.

12. A method for having a mobile robot perform a task, including moving an object from a starting point to a destination, within a multi-story facility equipped with an elevator having a lifting car, When assigning multiple tasks to the mobile robot, it outputs a request signal to ask a human to perform at least a portion of a specific task selected from the multiple tasks that involves moving to different floors, Upon receiving an acceptance signal indicating acceptance of the request signal, the task plan is determined to exclude at least a portion of the specific task from the task plan that assigns the plurality of tasks to the mobile robot. A robot movement method, including...

13. A robot movement program that causes at least one processor to execute the method according to claim 12.

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