Robot system, control system, mobile robot, and method for controlling a mobile robot

Abstract

To suppress deterioration in the efficiency of operation performed by a mobile robot.SOLUTION: A moving region in which a mobile robot 3 moves, includes: a first area; and a second area in which wireless communication environment is worse than that in the first area. A control system 2 includes a route search part 23 and a first control part 24. The route search part 23 searches for a moving route in which the mobile robot 3 moves. When part of the moving route is included in the second area, the first control part 24 causes a second control instruction to be transmitted from a first communication part 21 to the mobile robot 3 before the mobile robot 3 which moves along the moving route, enters the second area. The second control instruction includes a control instruction for instructing shift processing executed by the mobile robot 3 during movement in the second area. Based on the second control instruction, the mobile robot 3 executes the shift processing during the movement in the second area.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a robot system, a control system, a mobile robot, and a method for controlling a mobile robot. More specifically, the present disclosure relates to a robot system, a control system, a mobile robot, and a method for controlling a mobile robot that includes a mobile robot moving in a moving area.

Background Art

[0002] Patent Document 1 discloses a system for controlling the movement of a moving body by wireless communication. The system described in Patent Document 1 includes a wireless communication device that performs wireless communication with the moving body, and a control device that controls the moving body via the wireless communication device. The control device measures the communication quality of the wireless communication with the moving body. When the communication quality of the wireless communication deteriorates, the control device slows down the moving speed of the elevator, which is the moving body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the system described in Patent Document 1, when the communication quality of the wireless communication deteriorates, the control device slows down the moving speed of the moving body (mobile robot), so there is a problem that the efficiency of the work performed by the moving body decreases.

[0005] An object of the present disclosure is to suppress a decrease in the efficiency of work performed by a mobile robot.

Means for Solving the Problems

[0006] A robot system according to an aspect of the present disclosure includes a mobile robot and a control system that controls the mobile robot. The control system includes a first communication unit and, the It has a first communication unit and a control unit. The first communication unit performs wireless communication with the mobile robot. . Before The first control unit is for the mobile robot move to to cause the first communication unit to send a first control instruction for instructing a movement path to the mobile robot. . The movement area where the mobile robot moves The movement area includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, the first control unit causes the first communication unit to send a second control instruction to the mobile robot before the mobile robot moving along the movement path enters the second area. The second control instruction includes a control instruction for instructing a transition process that the mobile robot executes while moving in the second area. The mobile robot executes the transition process while moving in the second area based on the second control instruction. The transition process includes position correction processing for correcting the position of the mobile robot from a first point before entering the second area from the first area in the movement path to a second point after entering the first area from the second area in the movement path. A robot system according to one aspect of the present disclosure includes a mobile robot and a control system that controls the mobile robot. The control system has a first communication unit and a first control unit. The first communication unit performs wireless communication with the mobile robot. The first control unit causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot from the first communication unit to the mobile robot. The movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction to the mobile robot before the mobile robot moving along the movement path enters the second area. The second control instruction includes a control instruction for instructing a transition process that the mobile robot executes while moving in the second area. The mobile robot executes the transition process while moving in the second area based on the second control instruction. The mobile robot has a second storage unit that stores at least second map information regarding a map of the movement area, and a position estimation unit that estimates the position of the mobile robot in the movement area based on the second map information. The mobile robot moves along the movement path based on the first control instruction, the position estimated by the position estimation unit, and the second map information. The second map information includes first partial map information and second partial map information. The first partial map information is information regarding a first partial map that includes a part of the movement area including a first point before entering the second area from the first area in the movement path in one map area. The second partial map information is information regarding a second partial map that includes a part of the movement area including a second point after entering the first area from the second area in the movement path in one map area. The transition process includes a position correction process for changing the position of the mobile robot from the first point to the second point, and a map switching process for switching the second map information from the first partial map information to the second partial map information. A robot system according to an aspect of the present disclosure includes a mobile robot and a control system that controls the mobile robot. The control system includes a first communication unit and a first control unit. The first communication unit performs wireless communication with the mobile robot. The first control unit causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot from the first communication unit to the mobile robot. The movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction to the mobile robot before the mobile robot moving along the movement path enters the second area. The second control instruction includes a control instruction for instructing a transition process to be executed by the mobile robot while moving in the second area. The mobile robot executes the transition process while moving in the second area based on the second control instruction. The robot system further includes a second mobile robot different from the first mobile robot, and when the first mobile robot is present in the second area, the first control unit does not permit the second mobile robot to enter the second area. A robot system according to one aspect of the present disclosure includes a mobile robot and a control system that controls the mobile robot. The control system includes a first communication unit and a first control unit. The first communication unit performs wireless communication with the mobile robot. The first control unit causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot to the mobile robot. The movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction to the mobile robot before the mobile robot moving along the movement path enters the second area. The second control instruction includes a control instruction for instructing a transition process that the mobile robot executes while moving in the second area. The mobile robot executes the transition process while moving in the second area based on the second control instruction. By using a creation support system that supports the operation of setting a plurality of nodes where the mobile robot can move in first map information regarding a map of the movement area where the mobile robot moves, a first node and a second node are set from among the plurality of nodes, an area between the first node and the second node is set as the second area, the first node corresponds to a first point before entering the second area from the first area in the movement path, and the second node corresponds to a second point after entering the first area from the second area in the movement path.

[0007] The control system according to one aspect of the present disclosure has a first communication unit and, the and a control unit. The first communication unit performs wireless communication with a mobile robot having a second communication unit that performs wireless communication. . The The first control unit is for the mobile robot to move to cause the first communication unit to send a first control instruction for instructing a movement path to the mobile robot. The The movement area where the mobile robot moves movement area includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, the first control unit causes the first communication unit to send a second control instruction to the mobile robot before the mobile robot moving along the movement path enters the second area. The second control instruction includes a control instruction for instructing a transition process that the mobile robot executes while moving in the second area. The transition process includes a position correction process of correcting the position of the mobile robot from a first point before entering the second area from the first area in the movement path to a second point after entering the first area from the second area in the movement path.

[0008] The mobile robot according to one aspect of the present disclosure is a mobile robot used in the robot system. The mobile robot includes a second communication unit and a second control unit. The second communication unit performs wireless communication with the control system. The second control unit moves the mobile robot based on the first control instruction from the control system received by the second communication unit. When the second communication unit receives the second control instruction from the control system, the second control unit executes the transition process while moving in the second area.

[0009] The control method of the mobile robot according to one aspect of the present disclosure is , the including a first control instruction step and a second control instruction step . The In the first control instruction step, a first control instruction for instructing the mobile robot to move along the movement path is transmitted to the mobile robot. The The movement area where the mobile robot moves movement area includes a first area and a second area where the wireless communication environment is worse than that of the first area. In the second control instruction step, when a part of the movement path is included in the second area, before the mobile robot moving along the movement path enters the second area, a second control instruction is transmitted to the mobile robot. The second control instruction includes a control instruction for instructing a transition process that the mobile robot executes while moving in the second area. The transition process includes a position correction process of correcting the position of the mobile robot from a first point before entering the second area from the first area in the movement path to a second point after entering the first area from the second area in the movement path.

Effect of the Invention

[0010] According to the present disclosure, it is possible to suppress a decrease in the efficiency of the work performed by the mobile robot.

Brief Description of the Drawings

[0011]

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DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment) (1) Overview The robot system according to this embodiment will be described with reference to FIGS. 1 to 3. Each of the figures described in the following embodiments is a schematic diagram, and the ratio of the size and thickness of each component in each figure does not necessarily reflect the actual dimensional ratio.

[0013] FIG. 1 is a schematic system configuration diagram of a robot system 1 according to this embodiment. The robot system 1 is a system for controlling a mobile robot 3 that moves within a predetermined movement area A10 (see FIG. 3). In FIG. 1, the number of mobile robots 3 is one, but the robot system 1 may include a plurality of mobile robots 3.

[0014] As shown in FIG. 1, the robot system 1 according to this embodiment includes a mobile robot 3 and a control system 2 that controls the mobile robot 3.

[0015] The control system 2 includes a first communication unit 21, a first storage unit 22, a path search unit 23, and a first control unit 24.

[0016] The first communication unit 21 performs wireless communication with the mobile robot 3.

[0017] The first storage unit 22 stores at least first map information regarding a map of the movement area A10 in which the mobile robot 3 moves.

[0018] The path search unit 23 searches for a movement path along which the mobile robot 3 moves based on the first map information.

[0019] The first control unit 24 causes the first communication unit 21 to transmit a first control instruction for instructing the mobile robot 3 to the mobile robot 3.

[0020] The mobile robot 3 has a second communication unit 31 that performs wireless communication with the control system 2.

[0021] As shown in FIG. 4, the moving area A10 includes a first area A1 and a second area A2 where the wireless communication environment is worse than that of the first area A1.

[0022] When a part of the moving path is included in the second area A2, the first control unit 24 causes the first communication unit 21 to transmit a second control instruction to the mobile robot 3 before the mobile robot 3 moving along the moving path enters the second area A2. The second control instruction includes a control instruction for instructing the transition process that the mobile robot 3 executes while moving in the second area A2.

[0023] The mobile robot 3 executes a transition process while moving in the second area A2 based on the second control instruction.

[0024] The "mobile robot" referred to in the present disclosure includes an automated guided vehicle (AGV) and a drone, etc. The "mobile robot" referred to in the present disclosure is, for example, a wheeled, crawler-type, or leg-type (including walking type) robot. The mobile robot 3 autonomously moves along the moving path based on the first control instruction received from the control system 2. That is, the control system 2 indirectly controls the movement of the mobile robot 3 by outputting a first control instruction to the mobile robot 3. Note that the mobile robot 3 not only moves within a predetermined moving area A10, but may also have functions to execute various operations such as transportation, picking, welding, mounting, display, customer service, security, assembly, and inspection. In the following embodiments, a case where the mobile robot 3 is an AGV that performs an operation of transporting an object by moving in a moving area A10 within a facility such as a factory or a warehouse will be described as an example. Note that the mobile robot 3 is not limited to an AGV, and may be an automated truck or material handling equipment such as a forklift.

[0025] Also, the object transported by the mobile robot 3 is an article, or a pallet or cart for placing the article, etc. When the mobile robot 3 is used in a factory, the article that is the object transported by the mobile robot 3 may include parts or materials supplied to the manufacturing apparatus, finished products or semi-finished products manufactured by the manufacturing apparatus, or may include a component supply apparatus that supplies parts to the manufacturing apparatus.

[0026] The "moving area" as referred to in the present disclosure is a space in which one or more mobile robots 3 are deployed, and the mobile robot 3 moves within this moving area A10 in response to a first control instruction from the control system 2. The moving area A10 is, as an example, a warehouse, factory, construction site, store (including a shopping mall), logistics center, office, park, residence, school, hospital, station, airport, or parking lot, etc. Further, for example, when the mobile robot 3 is deployed inside a vehicle such as inside a ship, train, or airplane, the inside of the vehicle becomes the moving area A10. In the following embodiments, an example will be described in which the moving area A10 includes, for example, the first floor surface F1 and the second floor surface F2 of a two-story facility 100 (see FIG. 2), and the internal area of the car 110 of the elevator EV1 used for the mobile robot 3 to move between the first and second floors.

[0027] The control system 2 and the mobile robot 3 perform wireless communication. In the present embodiment, one or more wireless access points (denoted as AP in FIG. 1) AP1 are installed in the moving area A10, and the first communication unit 21 of the control system 2 performs wireless communication with the mobile robot 3 via the wireless access point AP1. Note that it is not essential for the first communication unit 21 to perform wireless communication with the mobile robot 3 via the wireless access point AP1, and the first communication unit 21 may directly perform wireless communication with the mobile robot 3.

[0028] Here, when there are objects that block radio waves such as equipment, shelves, and walls in the movement area A10, there are places in the movement area A10 where radio waves from the wireless access point AP1 are difficult to reach. Also, inside the car 110 of the elevator EV1, which is part of the movement area A10, when the door 111 (see Fig. 2) is closed (including the state where the car 110 moves between the first and second floors), the radio waves from the wireless access point AP1 are less likely to reach compared to the state where the door 111 is open. That is, the movement area A10 may include a first area A1 and a second area A2 where the wireless communication environment is worse than that of the first area A1. The second area A2 includes, for example, areas where radio waves are difficult to reach due to the presence of equipment, shelves, walls, etc., and areas inside the car 110 with the door 111 closed. Note that the area inside the car 110 becomes the first area under the condition that the door 111 is open, and becomes the second area under the condition that the door 111 is closed. That is, depending on whether a predetermined condition is satisfied for a certain location, it may be determined whether the location becomes the first area or the second area.

[0029] The control system 2 controls the mobile robot 3, for example, to move the mobile robot 3 from a first position to a second position within the movement area A10. Specifically, the control system 2 obtains the movement path of the mobile robot 3 from the first position to the second position, and transmits a first control instruction indicating this movement path to the mobile robot 3. The mobile robot 3 autonomously moves along the movement path from the first position towards the second position within the movement area A10 according to the first control instruction received from the control system 2. Thereby, the control system 2 indirectly controls the movement of the mobile robot 3.

[0030] In the robot system 1 according to this embodiment, when a part of the movement path of the mobile robot 3 is included in the second area A2, the first control unit 24 of the control system 2 causes the first communication unit 21 to transmit a second control instruction to the mobile robot 3 before the mobile robot 3 enters the second area A2. The second control instruction includes a control instruction for instructing the transition process that the mobile robot 3 should execute while moving in the second area A2. Since the control system 2 outputs the second control instruction to the mobile robot 3 before the mobile robot 3 enters the second area A2, the transition process can be executed based on the second control instruction while the mobile robot 3 is moving in the second area A2. Therefore, when the mobile robot 3 enters the first area A1 through the second area A2, the mobile robot 3 can finish the transition process and perform the next operation, so that a decrease in the efficiency of the operation performed by the mobile robot 3 can be suppressed.

[0031] Note that the movement of the mobile robot 3 in the second area A2 is not limited to the mobile robot 3 itself moving and passing through the second area A2. The movement of the mobile robot 3 in the second area A2 may include the case where the mobile robot 3 itself does not move, but a moving body carrying the mobile robot 3 (such as the car 110 of the elevator EV1) moves and passes through the second area A2. When the mobile robot 3 itself moves in the second area A2, in the case where the mobile robot 3 moves in the second area A2, the "transition process" includes, for example, a first control instruction for moving the mobile robot along the movement path in the second area A2. In the second area A2, when the mobile robot 3 itself does not move and a moving body carrying the mobile robot 3 (such as the car 110 of the elevator EV1) moves, the "transition process" includes, for example, at least a position correction process for correcting the position of the mobile robot 3 to the position after exiting the second area A2 and entering the first area A1.

[0032] (2) Configuration Hereinafter, the robot system 1 according to this embodiment will be described in detail with reference to FIGS. 1 to 6.

[0033] As described above, the robot system 1 includes a mobile robot 3 and a control system 2 that controls the movement of the mobile robot 3. The robot system 1 further includes a creation support system 4 installed with application software for setting a path along which the mobile robot 3 can move in the movement area A10. The robot system 1 further includes operation terminals 5 and 6 installed with application software for monitoring the operating state of the mobile robot 3 and inputting movement instructions for the mobile robot 3 to the control system 2. The operation terminal 5 is, for example, a notebook personal computer, and the operation terminal 6 is, for example, a tablet computer.

[0034] (2.1) Creation Support System The creation support system 4 is realized by, for example, a computer system. The creation support system 4 supports the work of creating map information in which a path along which the mobile robot 3 can move is set on an electronic map corresponding to the movement area A10 in the movement area A10 where the mobile robot 3 moves. The map information created by the creation support system 4 is held by the control system 2 and the mobile robot 3. That is, the map information created by the creation support system 4 becomes the first map information held by the control system 2 and the second map information held by the mobile robot 3. Note that the creation support system 4 may be inside the facility or outside the facility.

[0035] The creation support system 4 includes a third communication unit 41, a third storage unit 42, a UI unit 43, and a map creation unit 44.

[0036] The third communication unit 41 communicates with the control system 2 and the like via the network NT1. As a communication method between the third communication unit 41 and the control system 2, an appropriate communication method of wireless communication or wired communication is adopted.

[0037] The third storage unit 42 has at least one of a RAM (Random Access Memory) and a ROM (Read Only Memory). The third storage unit 42 stores map information and the like created by the map creation unit 44.

[0038] The UI unit 43 includes an input unit (such as a keyboard, a mouse, a pointing device, a touch panel, etc.) that receives user operations, and a display device that displays a screen for creating map information. The UI unit 43 outputs the information input by the user using the input unit to the map creation unit 44.

[0039] The map creation unit 44 mainly consists of, for example, a computer system having one or more processors and a memory. The functions of the map creation unit 44 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through an electrical communication line such as the Internet, or may be provided by being recorded on a non-temporary recording medium such as a memory card.

[0040] The map creation unit 44 creates map information based on the information input from the UI unit 43. The user uses the UI unit 43 to set a plurality of nodes within the movement area A10 where the mobile robot 3 can move, and one or more links indicating sections where the mobile robot 3 can move between any two nodes. When the map creation unit 44 receives the setting information of the nodes and links from the UI unit 43, it creates map information in which a path where the mobile robot 3 can move is set in an electronic map area indicating the movement area A10.

[0041] FIG. 3 shows an example of the map information MP1 created by the map creation unit 44. In the map information MP1 shown in FIG. 3, a plurality of nodes ND1 and a plurality of links LK1 are set on the map representing the movement area A10. Here, the plurality of nodes ND1 and the plurality of links LK1 represent a path RT1 along which the mobile robot 3 can move. In FIG. 3, the link LK1 represented by a straight line with an arrow indicates a one-way section where the moving direction of the mobile robot 3 is restricted in the direction of the arrow, and the link LK1 represented by a straight line without an arrow indicates a section where the mobile robot 3 can move in both directions.

[0042] When the map creation operation of the map information is completed, the map creation unit 44 stores the data of the created map information in the third storage unit 42 and transmits it from the third communication unit 41 to the control system 2. The control system 2 stores the data of the map information received from the creation support system 4 as first map information in the first storage unit 22. Further, the control system 2 transmits the data of the first map information to the mobile robot 3, and the mobile robot 3 stores the data of the first map information as second map information in the second storage unit 32. That is, the mobile robot 3 holds second map information having the same content as the first map information held by the control system 2.

[0043] By the way, in the present embodiment, since the movement area A10 includes the first floor and the second floor of the facility, the map information MP1 includes a map of the first floor part and a map of the second floor part. If the scale of the map representing the movement area A10 is reduced, the position accuracy of the mobile robot 3 deteriorates. Therefore, the scale of the map is a value corresponding to the required position accuracy, and thus the area of the real space area represented by one map area is also finite.

[0044] When the entire movement area A10 fits within one map area, the map creation unit 44 creates map information including overall map information regarding the overall map in which the entire movement area A10 is contained in one map area. When the entire movement area A10 including the first floor part and the second floor part fits within one map area, the map creation unit 44 creates map information MP2 including overall map information regarding the overall map as shown in FIG. 4.

[0045] The overall map represented by the map information MP2 is a map that includes the first - floor part map MP21 and the second - floor part map MP22 in one map area. Here, although the elevator EV1 is shown in the first - floor part map MP21 and the second - floor part map MP22 respectively, for the nodes set inside the car 110 of the elevator EV1, different coordinates are set for the node ND11 when the car 110 is on the first floor and the node ND21 when the car 110 is on the second floor. For example, the coordinates of the node ND11 when the car 110 is on the first floor are (x1, y1), and the coordinates of the node ND21 when the car 110 is on the second floor are (x2, y2).

[0046] On the other hand, when the entire movement area A10 does not fit within one map area, the map creation unit 44 creates map information including a plurality of partial map information regarding a plurality of partial maps. The plurality of partial maps are created by dividing the movement area A10 into a plurality of parts. Any two of the plurality of partial maps may partially overlap.

[0047] When the entire movement area A10 including the first - floor part and the second - floor part does not fit within one map area, the map creation unit 44 creates map information including partial map information MP3 (see FIG. 5) regarding a partial map representing only the first floor and partial map information MP4 (see FIG. 6) regarding a partial map representing only the second floor in one map area. That is, the map information created by the map creation unit 44 may include the partial map information MP3 and the partial map information MP4.

[0048] Here, although the elevator EV1 is shown in the partial map information MP3 representing the first - floor partial map and the partial map information MP4 representing the second - floor partial map respectively, different coordinates are set for the nodes ND11 and ND21 set inside the car 110 of the elevator EV1 between the first floor and the second floor. For example, the coordinates of the node ND11 set inside the car 110 in the partial map information MP3 representing the first - floor partial map are (x1, y1), and the coordinates of the node ND21 set inside the car 110 in the partial map information MP4 representing the second - floor partial map are (x3, y3).

[0049] In addition, in this embodiment, the control system 2 and the creation support system 4 are realized by separate computer systems, but the control system 2 and the creation support system 4 may be realized by one computer system.

[0050] (2.2) Operating terminal The operating terminals 5 and 6 are realized by, for example, a computer system. The operating terminals 5 and 6 are used, for example, to input a conveyance instruction for instructing the conveyance of an object to the control system 2.

[0051] The operating terminal 5 or 6 includes a UI unit that receives a user's operation and a fourth communication unit that communicates with the control system 2 via the network NT1 or the like. Note that the fourth communication unit may communicate with the control system 2 via the wireless access point AP1, the network NT1, or the like.

[0052] When the user inputs a conveyance instruction to convey an object within the movement area A10 to a desired conveyance destination using, for example, the UI unit of the operating terminal 5, the operating terminal 5 transmits conveyance instruction information based on the conveyance instruction input by the user to the control system 2 via the network NT1 or the like. The conveyance instruction information includes, for example, at least information about the object to be conveyed, information about the position where the object exists, and information about the position of the conveyance destination of the object.

[0053] In this embodiment, the operating terminals 5 and 6, the control system 2, and the creation support system 4 are realized by separate computer systems, but the control system 2 may have the functions of the operating terminals 5 and 6, or the creation support system 4 may have the functions of the operating terminals 5 and 6. Also, the operating terminals 5 and 6, the control system 2, and the creation support system 4 may be realized by one computer system.

[0054] (2.3) Control system The control system 2 is realized by, for example, a computer system. The control system 2 outputs a first control instruction including at least one of an instruction to move the mobile robot 3 and an instruction to cause the mobile robot 3 to carry an object. This control system 2 may be inside the facility included in the movement area A10 or outside the facility. Note that the control system 2 may be inside the facility or outside the facility.

[0055] The control system 2 includes a first communication unit 21, a first storage unit 22, a route search unit 23, and a first control unit 24.

[0056] The first communication unit 21 communicates with the mobile robot 3 via the network NT1 and the wireless access point AP1. The first communication unit 21 also communicates with the creation support system 4 and the operation terminals 5 and 6 via the network NT1. Note that the first communication unit 21 may communicate with the operation terminals 5 and 6 via the network NT1 and the wireless access point AP1. As a communication method between the wireless access point AP1, the creation support system 4, and the operation terminals 5 and 6 and the first communication unit 21, an appropriate communication method of wireless communication or wired communication is adopted.

[0057] The first storage unit 22 has at least one of a RAM and a ROM memory. The first storage unit 22 stores first map information regarding the map of the movement area A10, route information indicating the movement route of the mobile robot 3 searched by the route search unit 23, and the like.

[0058] The route search unit 23 searches for a movement route along which the mobile robot 3 moves based on the first map information, the current position information regarding the current position of the mobile robot 3 received from the mobile robot 3, and the conveyance instruction information received from the operation terminal 5 or 6. The route search unit 23 searches for a movement route in which, for example, the mobile robot 3 is moved from the current position to the position where the object exists and then the object is carried and moved to the conveyance destination position based on the first map information and the conveyance instruction information.

[0059] Note that when the route search unit 23 is specified with a first node as the starting point and a second node as the arrival point from among a plurality of nodes ND1 set in the first map information, it searches for a movement route from the first node to the second node. Here, the route search unit 23 may search for a route with a shorter movement distance or movement time for the mobile robot 3 to move between the first node and the second node as the movement route.

[0060] Also, when the route search unit 23 is specified with a first node as the starting point, a third node as the relay point, and a second node as the arrival point from among a plurality of nodes ND1 set in the first map information, it searches for a movement route from the first node through the third node to the second node. Here, the route search unit 23 may search for a route such that the movement distance or movement time for the mobile robot 3 to move between the first node and the third node is shorter, and the movement distance or movement time for the mobile robot 3 to move between the third node and the second node is shorter as the movement route.

[0061] The first control unit 24 is mainly configured by, for example, a computer system having one or more processors and a memory. The functions of the first control unit 24 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded in a non-transitory recording medium such as a memory card.

[0062] The first control unit 24 causes the route search unit 23 to search for a movement route of the mobile robot 3 based on the current position information received from the mobile robot 3, the conveyance instruction received from the operation terminal 5 or 6, and the first map information. The first control unit 24 creates a first control instruction to move the mobile robot 3 along the movement route based on the route information searched by the route search unit 23, and causes the first communication unit 21 to transmit the first control instruction to the mobile robot 3.

[0063] Further, the first control unit 24 outputs a control instruction to the controller PLC1 that controls the operation of the elevator EV1 via the first communication unit 21, thereby enabling the elevator EV1 to move between the first floor and the second floor.

[0064] (2.4) Mobile robot The mobile robot 3 includes a second communication unit 31, a second storage unit 32, an obstacle detection unit 33, a position estimation unit 34, a traveling system 35, and a second control unit 36.

[0065] The mobile robot 3 is, for example, a robot that travels on the floor surface of a facility (including the first floor surface F1 and the second floor surface F2) that is the movement area A10 using wheels. The traveling system 35 controls the rotation direction and rotation speed of a plurality of drive wheels, thereby causing the mobile robot 3 to travel on the floor surface of the facility that is the movement area A10 in a desired direction at a desired speed.

[0066] The second communication unit 31 performs wireless communication with the control system 2. Specifically, the second communication unit 31 communicates with the control system 2 and the like via the wireless access point AP1 and the network NT1. As a communication method between the second communication unit 31 and the wireless access point AP1, an appropriate communication method such as wireless communication or wired communication is adopted.

[0067] The second storage unit 32 has at least one of a RAM and a ROM as a memory. The second storage unit 32 stores at least second map information regarding the map of the movement area A10. The second storage unit 32 further stores identification information assigned to the mobile robot 3 and the like. The second storage unit 32 stores, for example, the first map information received from the control system 2 as the second map information. That is, the mobile robot 3 holds second map information having the same content as the first map information held by the control system 2.

[0068] The obstacle detection unit 33 includes, for example, a ranging sensor or the like that detects an object existing around the mobile robot 3. The ranging sensor includes, for example, a sensor such as LiDAR (Light Detection and Ranging). LiDAR irradiates light (laser light) around, and measures the distance to an object and the direction of the object based on the reflected light from the object existing around the mobile robot 3. Note that the obstacle detection unit 33 may include sensors such as a radar (RADAR: Radio Detection and Ranging), a sonar sensor, and an image sensor (camera) as sensors that detect an object existing around the mobile robot 3. The radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves and measures the distance to an object and the direction of the object based on the reflected wave from the object existing around the mobile robot 3.

[0069] The position estimation unit 34 estimates the position (current position) of the mobile robot 3 in the movement area based on the second map information. The position estimation unit 34 estimates, for example, the position coordinates of the current position in the movement area A10 based on the detection information of surrounding objects (for example, walls, shelves, facilities, etc. existing in the movement area A10) by the obstacle detection unit 33 and the second map information.

[0070] Note that the position estimation unit 34 may estimate the position coordinates of the current position of the mobile robot 3 in the movement area A10 by using an LPS (Local Positioning System) using radio beacons. The position estimation unit 34 may estimate the current position, for example, based on the radio wave intensity when a beacon signal transmitted from each of a plurality of transmitters installed above the movement area A10 (such as the ceiling of the facility) is received by a receiver provided in the mobile robot 3 and the installation positions of the respective transmitters. Further, the position estimation unit 34 may estimate the position coordinates of the current position of the mobile robot 3 by using a global satellite positioning system (GNSS: Global Navigation Satellite System) such as GPS (Global Positioning System), for example.

[0071] The second control unit 36 controls the overall operation of the mobile robot 3. The second control unit 36 mainly comprises, for example, a computer system having one or more processors and a memory. The functions of the second control unit 36 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0072] For example, every time a predetermined update period (e.g., 0.1 second) elapses, the second control unit 36 causes the position estimation unit 34 to perform an operation of estimating the current position, and updates the estimation result of the current position of the mobile robot 3. Then, the second control unit 36 causes the second communication unit 31 to transmit the estimation result of the current position to the mobile robot 3 together with the identification information of the mobile robot 3.

[0073] The second control unit 36 moves the mobile robot 3 based on the first control instruction from the control system 2 received by the second communication unit 31. Specifically, when the second communication unit 31 receives the first control instruction from the control system 2, the second control unit 36 controls the traveling system 35 based on the position estimated by the position estimation unit 34 (current position), the second map information, and the first control instruction, thereby moving the mobile robot 3 along the movement path. In other words, the mobile robot 3 moves along the movement path based on the first control instruction, the position estimated by the position estimation unit 34 (current position), and the second map information.

[0074] Further, when the second communication unit 31 receives a second control instruction from the control system 2 before entering the second area A2, the second control unit 36 executes a transition process based on the second control instruction while moving in the second area A2.

[0075] Here, a specific example of the transition process will be described below.

[0076] The mobile robot 3 holds second map information regarding the map of the movement area A10, and the position estimation unit 34 estimates the current position using measurement values measured by sensors such as a ranging sensor, an image sensor, or an encoder that measures the movement distance and the second map information. Then, the mobile robot 3 autonomously moves along the movement path indicated by the first control instruction based on the position estimated by the position estimation unit 34, the first control instruction received from the control system 2, and the second map information. Here, when the second area A2 is the internal area of the car 110 of the elevator EV1, when the mobile robot 3 on the car 110 moves from the first floor to the second floor, the position of the mobile robot 3 in the movement area A10 changes, but the position of the mobile robot 3 inside the car 110 does not change, and the measurement values of sensors such as the ranging sensor do not change. Therefore, the mobile robot 3 cannot detect that its position has changed, and when the car 110 arrives at the second floor, the position of the mobile robot 3 estimated by itself does not match the actual position. Further, when the second map information held by the mobile robot 3 includes partial map information regarding the partial map representing the first floor and partial map information regarding the partial map representing the second floor, the partial map information of the first floor is used while the mobile robot 3 is on the first floor, but when moving to the second floor by the elevator EV1, it is necessary to change the map information used to the partial map information of the second floor.

[0077] Therefore, it is preferable that the transition process performed while the mobile robot 3 moves in the second area A2 includes a position correction process for correcting the position of the mobile robot 3 and a map change process for changing the partial map used by the mobile robot 3. In the present embodiment, the movement area A10 includes at least two floors of the multi-story facility 100 and the internal area of the car 110 of the elevator EV1 that moves up and down between at least two floors. The second area A2 includes the internal area of the car 110 when the door 111 of the elevator EV1 is closed. Then, while the mobile robot 3 is in the internal area of the car 110 and the car 110 on which the mobile robot 3 rides moves, the mobile robot 3 executes the transition process.

[0078] Here, the position correction process is a process of correcting the position of the mobile robot 3 from the first point to the second point. The first point is a point before entering from the first area A1 to the second area A2 in the movement path. The second point is a point after entering from the second area A2 to the first area A1 in the movement path.

[0079] Also, the map switching process is a process of switching the second map information used by the mobile robot 3 from the first partial map information to the second partial map information when the second map information held by the mobile robot 3 includes the first partial map information and the second partial map information. The first partial map information is information regarding a first partial map that contains a part of the movement area A10 including the first point before entering from the first area A1 to the second area A2 in the movement path in one map area. The second partial map information is information regarding a second partial map that contains a part of the movement area A10 including the second point after entering from the second area A2 to the first area A1 in the movement path in one map area.

[0080] For example, when the second map information includes the partial map information MP3 (see FIG. 5) and the partial map information MP4 (see FIG. 6), the transition process performed when the mobile robot 3 rides in the car 110 of the elevator EV1 and moves from the first floor to the second floor includes a position correction process and a map switching process. Here, the partial map information MP3 (see FIG. 5) is map information regarding a partial map that includes only the first floor in one map area. The partial map information MP4 is map information regarding a partial map that includes only the second floor in one map area. When the mobile robot 3 rides in the car 110 of the elevator EV1 and moves from the first floor to the second floor, the point corresponding to the node ND11 in the car 110 when the car 110 is on the first floor becomes the first point. Also, the point corresponding to the node ND21 in the car 110 when the car 110 is on the second floor becomes the second point. Then, the partial map information MP3 regarding the partial map of the first floor including the first point (ND11) becomes the first partial map information, and the partial map information MP4 regarding the partial map of the second floor including the second point (ND21) becomes the second partial map information. Here, the position correction process is a process of correcting the position of the mobile robot 3 from the coordinates (x1, y1) of the node ND11 to the coordinates (x3, y3) of the node ND21. Also, the map switching process is a process of switching the second map information used by the mobile robot 3 from the partial map information MP3 (first partial map information) of the first floor to the partial map information MP4 (second partial map information) of the second floor. The second control unit 36 executes a transition process based on the second control instruction while the mobile robot 3 is moving in the second area, corrects the position of the mobile robot 3 to the coordinates (x3, y3) of the second point, and switches the second map information from the partial map information MP3 to the partial map information MP4.

[0081] While the mobile robot 3 is moving in the second area A2, by performing position correction processing and map switching processing, when the mobile robot 3 goes out of the second area A2, the position correction processing and the map switching processing are completed. Therefore, when the mobile robot 3 arrives at the second point through the second area A2, the position of the mobile robot 3 recognized by itself can be made to coincide with the actual position where the mobile robot 3 exists. As a result, the situation where the position of the mobile robot 3 estimated by the position estimation unit 34 does not coincide with the actual position where the mobile robot 3 exists, causing the mobile robot 3 to lose its own position and become unable to move, can be avoided. Also, by switching the second map information used by the mobile robot 3 to second partial map information regarding the second partial map including the second point, the mobile robot 3 can move while estimating its own position using the second partial map. Thus, the situation where the mobile robot 3 stops at the second point and becomes unable to move can be avoided, reducing the possibility that the work of the mobile robot 3 will be delayed or that it will interfere with the work of other mobile robots 3, and suppressing the possibility that the efficiency of the work performed by the mobile robot 3 will decrease.

[0082] In addition, compared to the case where the position correction processing and the map switching processing are started after the mobile robot 3 goes out of the second area A2 and becomes able to perform wireless communication with the control system 2, the mobile robot 3 can start moving at an earlier timing. Thus, a decrease in the efficiency of the work performed by the mobile robot 3 can be suppressed.

[0083] Also, there is an advantage that the installation cost of the robot system 1 can be reduced because there is no need to take measures such as adding more wireless access points to improve the wireless communication environment in the second area A2.

[0084] Note that when the second map information held by the mobile robot 3 includes the overall map information in which the entire movement area A10 is included in one map area, it is not necessary to execute the map switching processing during the movement in the second area, and only the position correction processing may be performed as the transition processing.

[0085] FIG. 4 shows an example of second map information including overall map information that accommodates the entire movement area A10 within a single map area. This second map information includes a map MP21 representing the first floor portion and a map MP22 representing the second floor portion. The coordinates of the node ND11 within the car 110 of the elevator EV1 in the map MP21 are, for example, (x1, y1), and the coordinates of the node ND21 within the car 110 of the elevator EV1 in the map MP22 are, for example, (x2, y2).

[0086] Here, the transition process performed when the mobile robot 3 rides in the car 110 of the elevator EV1 and moves from the first floor to the second floor includes a position correction process of correcting the position of the mobile robot 3 from the coordinates when the car 110 is on the first floor to the coordinates when the car 110 is on the second floor. Specifically, the second control instruction includes a process of correcting the position of the mobile robot 3 from the coordinates (x1, y1) of the first point (i.e., the node ND11) inside the car 110 when the car 110 is on the first floor to the coordinates (x2, y2) of the second point (i.e., the node ND21) inside the car 110 when the car 110 has moved to the second floor. The second control unit 36 executes a transition process based on the second control instruction while the mobile robot 3 is moving in the second area, and corrects the position of the mobile robot 3 to the coordinates (x2, y2) of the second point.

[0087] Also, the second area A2 is not limited to an area (e.g., the car 110 of the elevator EV1) where the mobile robot 3 itself stops but the car 110 carrying the mobile robot 3 moves to move the mobile robot 3. The second area A2 is an area where radio waves are difficult to reach due to the presence of facilities, shelves, walls, etc. in the movement area A10, and may be an area where the mobile robot 3 itself moves by moving.

[0088] FIG. 11 is an explanatory diagram showing an example of the second area A2. The creation support system 4 supports the operation of setting a plurality of nodes ND31 to ND36 in the first map information where the mobile robot 3 can move. When the user creates the first map information using the creation support system 4, when the user designates a first node (for example, node ND31) and a second node (for example, node ND35) using the UI unit 43, the area between the first node and the second node is set as the second area A2. The first node corresponds to a first point before entering the second area A2 from the first area A1 in the movement path. The second node corresponds to a second point after entering the first area A1 from the second area A2 in the movement path.

[0089] Here, when the mobile robot 3 is moved from the node ND31 through the nodes ND32 and ND33 to the node ND37, the second area A2 is included in the movement path of the mobile robot 3. In this case, the control system 2 moves the mobile robot 3 to the node ND31 which is the first point before the second area A2. Then, when the mobile robot 3 arrives at the first point corresponding to the node ND31 (the first node), the first control unit 24 of the control system 2 causes the first communication unit 21 to transmit a second control instruction to the mobile robot 3. The second control instruction in this case includes a control instruction (the first control instruction) for causing the mobile robot 3 to execute, as a transition process, the process of moving from the first point to the second point corresponding to the node ND37 (the second node). Specifically, this first control instruction includes a series of control instructions for moving the mobile robot 3 from the node ND31 through the node ND32 to the node ND33, turning at the node ND33 so as to face the node ND37, and then moving to the node ND37. In this case, the transition process performed by the mobile robot 3 in the second area A2 is a process of moving from the first point through the second area A2 to the second point according to a series of control instructions.

[0090] When the mobile robot 3 enters the second area A2, communication between the control system 2 and the mobile robot 3 may be interrupted. However, when it arrives at the first point (node ND31) in front of the second area A2, since it has received the first control instruction up to the second point (node ND37) outside the second area A2, the mobile robot 3 can autonomously move to the node ND37 according to the first control instruction. Then, when the mobile robot 3 arrives at the node ND37, since the node ND37 exists within the first area A1, the mobile robot 3 can receive the first control instruction from the control system 2 and can move from the second point toward the target node based on the first control instruction received at the second point.

[0091] In addition, when the control system 2 outputs a first control instruction to the mobile robot 3 to move within the second area A2, it is preferable that the control system 2 does not permit another mobile robot 3 to enter the second area A2 until this mobile robot 3 exits the second area A2. In other words, when the robot system 1 includes the first mobile robot 3 and the second mobile robot 3, the first control unit 24 does not permit the second mobile robot 3 to enter the second area A2 when the first mobile robot 3 exists in the second area A2. Thereby, the possibility that a plurality of mobile robots 3 that have entered the second area A2 obstruct each other's passage can be reduced. In addition, when the direction in which the mobile robot 3 moves within the second area A2 is determined in one direction, the control system 2 may permit a plurality of mobile robots 3 to enter the second area A2.

[0092] In addition, when the control system 2 outputs a first control instruction for instructing the mobile robot 3 that has arrived at the first point to move to the second point, if the mobile robot 3 does not arrive at the second point even after a predetermined passage time has elapsed from the time of the movement instruction, the control system 2 may output an alert notification to the operation terminals 5 and 6, for example. When the mobile robot 3 is present in the second area A2, since the control system 2 cannot communicate with the mobile robot 3, even if some abnormality (such as contact with an obstacle) has occurred in the mobile robot 3 and it has stopped, the control system 2 cannot grasp the abnormality of the mobile robot 3. Therefore, when the mobile robot 3 does not arrive at the second point even after a predetermined passage time has elapsed from the time of the movement instruction, the control system 2 can prompt the user of the operation terminals 5 and 6 to check the status of the mobile robot 3 by outputting an alert notification to the operation terminals 5 and 6, for example. Note that when the mobile robot 3 does not arrive at the second point even after a predetermined passage time has elapsed from the time of the movement instruction, the control system 2 may output an alert notification by voice from a speaker or the like installed in the movement area A10, for example.

[0093] (3) Operation Explanation The operation of the robot system 1 according to the present embodiment will be described based on FIGS. 7 to 10 and the like. Note that the flowcharts shown in FIGS. 7 to 10 are merely examples of the operations by the robot system 1, and the order of processing may be appropriately changed, and processing may be appropriately added or omitted.

[0094] (3.1) Operation of the Control System Hereinafter, the operation of the control system 2 when moving the mobile robot 3 existing on the first floor to the second floor will be described based on FIG. 7. In addition, an example will be described in which the second map information held by the mobile robot 3 includes overall map information regarding an overall map that includes the entire movement area A10 in one map area, and the transition process performed during ascending and descending in the elevator EV1 is a position correction process.

[0095] When moving the mobile robot 3 existing on the first floor to the second floor, the control system 2 outputs a first control instruction to move the mobile robot 3 existing on the first floor to the node ND11 inside the car 110 of the elevator EV1.

[0096] The mobile robot 3 periodically estimates its current position (for example, at intervals of 0.1 second), and transmits the estimation result of the current position to the control system 2 together with identification information. Based on the estimation result of the current position received from the mobile robot 3 to be controlled, the control system 2 determines whether the mobile robot 3 has arrived at the node ND11 inside the car 110 of the elevator EV1 (step S1). Here, when the car 110 of the elevator EV1 exists on the first floor and the door 111 of the elevator hall on the first floor is open, the inside of the car 110 is the first area A1, and the node ND11 inside the car 110 at this time is the first point before entering the second area A2.

[0097] When the control system 2 determines that the mobile robot 3 has arrived at the node ND11 inside the car 110 of the elevator EV1 (step S1: Yes), it determines whether the instruction for the preparation operation for the elevator EV1 to move up and down has been completed for the mobile robot 3 (step S2). If the instruction for the preparation operation has not been completed (step S2: No), the control system 2 gives an instruction for the preparation operation to the mobile robot 3 (step S3), and causes the mobile robot 3 to perform the preparation operation. The "preparation operation" includes, for example, a rotation instruction to rotate the mobile robot 3 on the spot so that the mobile robot 3 faces the direction of the entrance and exit of the car 110, and a load unloading instruction to lower the object being transported to the floor of the car 110 when the mobile robot 3 is transporting an object.

[0098] Next, the control system 2 transmits a second control instruction to the mobile robot 3 (step S4).

[0099] Here, when the second map information held by the mobile robot 3 includes the overall map information in which the entire movement area A10 (the first and second floors) fits within a single map area, the second control instruction includes a position correction process for correcting the current position of the mobile robot 3. The position correction process is a process of changing the current position of the mobile robot 3 from the coordinates of the node ND11 when the car 110 of the elevator EV1 is present on the first floor to the coordinates of the node ND21 when the car 110 of the elevator EV1 is present on the second floor.

[0100] Next, the control system 2 transmits an instruction for floor movement to move the car 110 of the elevator EV1 from the first floor to the second floor to the controller PLC1 of the elevator EV1 (step S5). When receiving the instruction for floor movement, the controller PLC1 closes the door 111 of the elevator hall on the first floor and moves the car 110 from the first floor to the second floor. Then, when the car 110 arrives at the second floor, the controller PLC1 stops the car 110 on the second floor and opens the door 111 of the elevator hall on the second floor. Here, until the car 110 moves from the first floor to the second floor with the doors 111 of the elevator halls on the first and second floors closed, the inside of the car 110 becomes the second area A2. And when the car 110 arrives at the second floor and the door 111 opens, the inside of the car 110 becomes the first area A1 again, and the node ND21 inside the car 110 at this time becomes the second point after entering from the second area A2 to the first area A1.

[0101] When the movement of the car 110 of the elevator EV1 moving vertically from the first floor to the second floor is detected using an acceleration sensor and / or a pressure sensor etc. mounted on the mobile robot 3, the second control unit 36 of the mobile robot 3 detects that the mobile robot 3 is moving in the second area A2. Then, the second control unit 36 of the mobile robot 3 executes a transition process while the mobile robot 3 is moving in the second area A2. When the mobile robot 3 holds the second map information including the maps of the first and second floors in a single map, the second control unit 36 performs a position correction process as the transition process. When the mobile robot 3 holds the second map information representing only the first floor and the second map information representing only the second floor, the second control unit 36 performs a map switching process and a position correction process as the transition process.

[0102] The control system 2 communicates with the controller PLC1 regularly to monitor the status of the elevator EV1. When it determines that the car 110 of the elevator EV1 has arrived at the destination floor, which is the second floor (step S7: Yes), it communicates with the mobile robot 3 to obtain information on the current position of the mobile robot 3.

[0103] Here, the control system 2 determines whether the information on the current position obtained from the mobile robot 3 matches the position of the mobile robot 3 at the destination floor (i.e., the coordinates of the node ND21) (step S8).

[0104] If the information on the current position obtained from the mobile robot 3 does not match the position of the mobile robot 3 at the destination floor (step S8: No), the control system 2 resends the second control instruction to the mobile robot 3 (step S10). For example, when the mobile robot 3 fails in the transfer process or the car 110 of the elevator EV1 stops at a floor different from the destination floor, the current position obtained from the mobile robot 3 (the position estimated by the position estimation unit 34) will not match the actual position. In that case, the control system 2 resends the second control instruction to the mobile robot 3, and the mobile robot 3 executes the transfer process again based on the second control instruction, so that the currently estimated position of the mobile robot 3 can be made to match the actual position.

[0105] And when the current position obtained from the mobile robot 3 matches the position of the mobile robot 3 at the destination floor (step S8: Yes), the control system 2 sends a first control instruction to move the mobile robot 3 from the node ND21 in the elevator EV1 to the target node to the mobile robot 3 (step S9). When the mobile robot 3 receives the first control instruction, it moves toward the target node specified in the first control instruction based on the second map information.

[0106] As described above, when the mobile robot 3 arrives at the first point in front of the second area A2, the control system 2 of this embodiment transmits a second control instruction to the mobile robot 3, and causes the mobile robot 3 to execute a transition process based on the second control instruction while moving in the second area A2. Therefore, when the mobile robot 3 moves to the second point outside the second area A2, it is highly likely that the mobile robot 3 has finished executing the transition process, and the control system 2 can output a first control instruction to the mobile robot 3 to move it outside the elevator EV1. Therefore, after the car 110 of the elevator EV1 arrives at the second floor and the door 111 opens, and the control system 2 becomes communicable with the mobile robot 3, compared with the case where the control system 2 transmits a second control instruction to the mobile robot 3, the mobile robot 3 can be moved outside the elevator EV1 at a faster timing. Therefore, the time from when the car 110 of the elevator EV1 arrives at the second floor and the door 111 opens until the mobile robot 3 moves outside the elevator EV1 can be shortened, and a decrease in the efficiency of the work (for example, the transport work) performed by the mobile robot 3 can be suppressed.

[0107] Note that while the mobile robot 3 was moving in the second area A2, the mobile robot 3 executed the second control instruction. However, if the execution of the transition process (for example, the position correction process) fails, when the car 110 of the elevator EV1 arrives at the second floor and the door 111 opens, and the internal area of the car 110 becomes the first area A1, the control system 2 outputs the second control instruction to the mobile robot 3 again. When the mobile robot 3 executes the transition process again based on the second control instruction and can perform the transition process normally, the control system 2 can transmit a first control instruction to the mobile robot 3 to move the mobile robot 3 outside the elevator EV1. Therefore, a situation where the mobile robot 3 continues to stop inside the car 110 of the elevator EV1 can be avoided, and the mobile robot 3 can be moved outside the elevator EV1.

[0108] (3.2) Operation of the Mobile Robot Next, the operation of the mobile robot 3 when the control system 2 moves the mobile robot 3 existing on the first floor to the second floor will be described based on FIG. 8. Note that the second map information held by the mobile robot 3 includes overall map information regarding an overall map in which the entire movement area A10 is included in one map area, and a case where the transition process performed during the ascent and descent in the elevator EV1 is a position correction process will be described as an example.

[0109] The control system 2 outputs a first control instruction to move the mobile robot 3 existing on the first floor to the node ND11 inside the car 110 of the elevator EV1. The mobile robot 3 to be controlled moves toward the node ND11 in the elevator EV1 based on the first control instruction received from the control system 2, and stops at that position when it arrives at the node ND11 (step S11).

[0110] The control system 2 periodically acquires the current position from the mobile robot 3, and when it determines that the mobile robot 3 has arrived at the node ND11 in the car 110 of the elevator EV1, it transmits a second control instruction to the mobile robot 3.

[0111] When the mobile robot 3 receives the second control instruction (step S12), it monitors the movement (vertical movement) of the car 110 on which the mobile robot 3 rides using an acceleration sensor and / or a barometric pressure sensor, etc. (step S13).

[0112] When the mobile robot 3 determines that the car 110 on which the mobile robot 3 rides has started to move (step S13: Yes), it executes a transition process based on the second control instruction (step S14).

[0113] Then, when the transfer process is completed (step S15: Yes), the mobile robot 3 sends notification information notifying the completion of the transfer process to the control system 2 (step S16). When the mobile robot 3 receives an ACK response to the notification information from the control system 2 (step S17: Yes), it ends the transfer process. Note that if the mobile robot 3 cannot receive an ACK response from the control system 2 within a predetermined waiting time after sending the notification information (step S17: No), it resends the notification information notifying the completion of the transfer process to the control system 2 (step S16).

[0114] The notification of the completion of the transfer process from the mobile robot 3 may be a notification of the information on the current position of the destination. Also, the ACK response to the notification information from the control system 2 may be a first control instruction to move the mobile robot 3 outside the elevator EV1.

[0115] (3.3) Operation of the entire robot system Next, the overall operation of the robot system 1 when the control system 2 moves the mobile robot 3 existing on the first floor to the second floor will be described based on FIG. 9. Note that the second map information held by the mobile robot 3 includes overall map information regarding an overall map in which the entire movement area A10 is included in one map area, and the case where the transfer process performed during the ascent and descent in the elevator EV1 is a position correction process will be taken as an example for the description.

[0116] When the control system 2 moves the mobile robot 3 existing on the first floor to the second floor, the control system 2 sends a control instruction to move the car 110 of the elevator EV1 to the first floor to the controller PLC1. Based on the control instruction received from the control system 2, the controller PLC1 moves the car 110 of the elevator EV1 to the first floor and keeps the door 111 on the first floor open.

[0117] Next, the control system 2 transmits a first control instruction to the mobile robot 3 to be controlled, instructing it to move to node ND11 inside the car 110 of the elevator EV1 located on the first floor. Based on the first control instruction received from the control system 2, the mobile robot 3 to be controlled moves towards node ND11 inside the car 110 of the elevator EV1.

[0118] When the mobile robot 3 arrives at node ND11 inside the car 110 of the elevator EV1 (step S21) and transmits its current position to the control system 2 (step S22), the control system 2 instructs the mobile robot 3 to perform preparatory operations before floor movement. The preparatory operations include at least the operation of rotating on the spot so as to face the entrance / exit of the car 110, and further include the operation of lowering the object being transported to the floor of the car 110 if there is an object being transported.

[0119] When the mobile robot 3 existing inside the car 110 of the elevator EV1 completes the preparatory operations (step S23), the mobile robot 3 transmits a completion notice of the preparatory operations to the control system 2. When the control system 2 receives the completion notice of the preparatory operations from the mobile robot 3, it transmits a second control instruction to the mobile robot 3 (step S24). Also, the control system 2 transmits a control instruction for floor movement to move the car 110 to the second floor to the controller PLC1 (step S25).

[0120] When the controller PLC1 receives the control instruction for floor movement from the control system 2, it closes the door 111 on the first floor and moves the car 110 of the elevator EV1 towards the target floor, which is the second floor (step S27).

[0121] The mobile robot 3 monitors whether the cage 110 has started moving to the target floor based on the detection results of, for example, an acceleration sensor and / or a barometric pressure sensor (step S26). When the mobile robot 3 detects that the cage 110 has started moving to the target floor, it determines that it has entered the second area A2 and executes a transition process (step S28). As a result, the mobile robot 3 can execute the transition process while moving in the second area A2, and can complete the transition process when it exits the second area A2 and enters the first area A1. Therefore, when the mobile robot 3 arrives at the second point outside the second area A2, the transition process (for example, position correction process) is completed. Thus, when the cage 110 of the elevator EV1 arrives at the second floor, the mobile robot 3 can start moving based on the first control instruction, and compared with the case where the transition process is executed after the cage 110 of the elevator EV1 arrives at the second floor, the time of stopping inside the cage 110 of the elevator EV1 can be shortened.

[0122] Note that although the mobile robot 3 detects the start of floor movement using an acceleration sensor or a barometric pressure sensor provided in the mobile robot 3, it may communicate with the controller PLC1 of the elevator EV1 and receive information notifying the start of floor movement from the controller PLC1 to detect the start of floor movement. FIG. 10 is a flowchart showing the overall operation of the robot system 1 in this case. The processes from S31 to S36 are the same as the processes from S21 to S26 in the flowchart of FIG. 9, and thus the description thereof is omitted.

[0123] When the mobile robot 3 receives the second control instruction transmitted from the control system 2 in step S34, it monitors whether the cage 110 of the elevator EV1 has started moving to the target floor (step S36).

[0124] When the controller PLC1 receives the floor movement control instruction transmitted from the control system 2 in step S35, it closes the first floor door 111 and moves the cage 110 of the elevator EV1 toward the target floor, which is the second floor (step S37).

[0125] The controller PLC1 has a communication device for performing wireless communication with the mobile robot 3 existing in the cage 110, and wirelessly transmits notification information indicating that the cage 110 has started floor movement to the destination floor to the mobile robot 3 (step S38).

[0126] When the mobile robot 3 receives the notification information from the controller PLC1, it determines that the cage 110 has started floor movement to the destination floor, that is, has entered the second area A2, and executes a transition process (for example, position correction process, etc.) (step S39). As a result, the mobile robot 3 can execute the transition process while moving in the second area A2, and can complete the transition process when it exits the second area A2 and enters the first area A1.

[0127] (4) Modification The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be variously modified according to design etc. as long as the object of the present disclosure can be achieved. Also, functions similar to those of the control system 2 may be embodied by a control method for the mobile robot 3, a computer program, or a non-transitory recording medium recording the program, etc. A control method for the mobile robot 3 according to one aspect includes a search step, a first control instruction step, and a second control instruction step. In the search step, a movement route along which the mobile robot 3 moves is searched based on first map information regarding a map of a movement area A10 in which the mobile robot 3 moves. In the first control instruction step, a first control instruction for instructing the movement route to the mobile robot 3 is transmitted to the mobile robot 3. The movement area A10 includes a first area A1 and a second area A2 having a worse wireless communication environment than the first area A1. In the second control instruction step, when the movement route includes the second area, a second control instruction for instructing a transition process that the mobile robot 3 executes while moving in the second area A2 is transmitted to the mobile robot 3 before the mobile robot 3 enters the second area A2. A (computer) program according to one aspect is a program for causing a computer system to execute a search step, a first control instruction step, and a second control instruction step.

[0128] The following are variations of the above-described embodiments. The variations described below can be applied in appropriate combinations.

[0129] The control system 2, the mobile robot 3, the creation support system 4, and the operation terminals 5 and 6 in the present disclosure include a computer system. The computer system mainly includes a processor and a memory as hardware. By the processor executing a program recorded in the memory of the computer system, the functions as the control system 2, the mobile robot 3, the creation support system 4, and the operation terminals 5 and 6 in the present disclosure are respectively realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI mentioned here have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, for an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit sections inside the LSI, it can also be adopted as a processor. The one or more electronic circuits may be integrated on one chip, or may be provided distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided distributed in a plurality of devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0130] In addition, it is not an essential configuration for the control system 2, the creation support system 4, and the operation terminals 5 and 6 that a plurality of functions in each of them are integrated in one housing. Each component of the control system 2, the creation support system 4, and the operation terminals 5 and 6 may be provided in a distributed manner in a plurality of housings. Furthermore, at least some functions of the control system 2, the creation support system 4, and the operation terminals 5 and 6 may be realized by a cloud (cloud computing) or the like.

[0131] Conversely, in the above embodiment, at least some functions of the control system 2, the creation support system 4, and the operation terminals 5 and 6 that are distributed among a plurality of devices may be integrated in one housing. For example, the functions distributed between the control system 2 and the creation support system 4 may be integrated in one housing. Also, the functions distributed between the control system 2 and the operation terminals 5 and 6 may be integrated in one housing. Also, the functions distributed between the creation support system 4 and the operation terminals 5 and 6 may be integrated in one housing. Also, the functions distributed among the control system 2, the creation support system 4, and the operation terminals 5 and 6 may be integrated in one housing.

[0132] In the above embodiment, the case where the first map information and the second map information include the overall map information has been described. However, in the overall map information, the layout of the maps of a plurality of regions included in the movement region A10 can be changed as appropriate.

[0133] FIG. 12 shows an example of the first map information and the second map information including the overall map information MP5. In the first map information and the second map information described in this embodiment, the map is created such that a predetermined direction (for example, north) is upward.

[0134] The overall map information MP5 includes maps MP5A and MP5B of two regions. When the two regions represented by the two maps MP5A and MP5B are long in the east-west direction, the two maps MP5A and MP5B are arranged side by side vertically.

[0135] FIG. 13 shows another example of the overall map information MP6 including the maps MP6A and MP6B of two regions. Since the two regions represented by the two maps MP6A and MP6B are long in the north-south direction, the two maps MP6A and MP6B are arranged side by side.

[0136] FIG. 14 shows another example of the overall map information MP7 including the maps MP7A, MP7B, and MP7C of three regions. If the sizes of the maps MP7A, MP7B, and MP7C of the three regions are different from each other, the layout may be changed so as to fit within a single map area. In the example of FIG. 14, the largest map MP7A is arranged in the upper row, and the maps MP7B and MP7C are arranged side by side in the lower row.

[0137] Also, FIG. 15 is an example of the partial map information MP8 including the partial map MP8A of the first part of the moving area A10, and FIG. 16 is an example of the partial map information MP9 including the partial map MP9A of the second part of the moving area A10. Here, the first part represented by the partial map MP8A is an area long in the east-west direction, and the second part represented by the partial map MP9A is an area long in the north-south direction. In this case, as shown in FIG. 17, the partial map MP8A is arranged in the upper row of the map area, and the partial map MP9A is arranged in the lower row of the map area after changing its orientation so that the north-south direction is parallel to the left-right direction, thereby fitting the two partial maps MP8A and MP9A within a single map area. In this way, by creating the overall map information MP10 in which the orientation of one partial map MP9A is changed to fit the two partial maps MP8A and MP9A within a single map area, the map switching process can be made unnecessary.

[0138] Also, as shown in FIG. 18, when the moving area A10 is long in the east-west direction and does not fit within a map area of a specified size, the entire map MP11A of the moving area A10 may be divided into two, and overall map information may be created by arranging the divided partial maps in the upper and lower sections. For example, the entire map MP11A is divided into left and right parts, creating a first partial map MP11B on the left side and a second partial map MP11C on the right side of the entire map MP11A. Then, as shown in FIG. 19, the partial maps MP11B and MP11C are arranged vertically to create overall map information MP12. In this way, when the entire map of the moving area A10 does not fit within a map area of a specified size, the entire map of the moving area A10 is divided and arranged so as to fit within a map area of a specified size, thereby creating overall map information MP12 in which the entire moving area A10 is contained within a map area of a specified size. As a result, the size of the map area of the overall map information MP12 can be reduced, and the storage capacity required to store the first map information and the second map information in the control system 2 and the mobile robot 3 can be reduced.

[0139] (Summary) As described above, the robot system (1) according to the first aspect includes a mobile robot (3) and a control system (2) that controls the mobile robot (3). The control system (2) includes a first communication unit (21), a first storage unit (22), a route search unit (23), and a first control unit (24). The first communication unit (21) performs wireless communication with the mobile robot (3). The first storage unit (22) stores at least first map information regarding a map of a moving area (A10) in which the mobile robot (3) moves. The route search unit (23) searches for a moving route along which the mobile robot (3) moves based on the first map information. The first control unit (24) causes the first communication unit (21) to transmit a first control instruction for instructing the mobile robot (3) of the moving route to the mobile robot (3). The mobile robot (3) includes a second communication unit (31) that performs wireless communication with the control system (2). The moving area (A10) includes a first area (A1) and a second area (A2) where the wireless communication environment is worse than that of the first area (A1). When a part of the moving route is included in the second area (A2), the first control unit (24) causes the first communication unit (21) to transmit a second control instruction to the mobile robot (3) before the mobile robot (3) moving along the moving route enters the second area (A2). The second control instruction includes a control instruction for instructing a transition process that the mobile robot (3) executes while moving in the second area (A2). The mobile robot (3) executes a transition process while moving in the second area (A2) based on the second control instruction.

[0140] According to this aspect, it is possible to suppress a decrease in the efficiency of the work performed by the mobile robot (3).

[0141] In the robot system (1) according to the second aspect, in the first aspect, the transition process includes a position correction process for correcting the position of the mobile robot (3) from a first point to a second point. The first point is a point before entering the second area (A2) from the first area (A1) on the moving route. The second point is a point after entering the first area (A1) from the second area (A2) on the moving route.

[0142] According to this aspect, the position of the mobile robot (3) can be made to coincide with the actual position.

[0143] In the robot system (1) of the third aspect, in the first or second aspect, the mobile robot (3) has a second storage unit (32) and a position estimation unit (34). The second storage unit (32) stores at least second map information regarding a map of the movement area (A10). The position estimation unit (34) estimates the position of the mobile robot (3) in the movement area (A10) based on the second map information. The mobile robot (3) moves along the movement path based on the first control instruction, the position estimated by the position estimation unit (34), and the second map information.

[0144] According to this aspect, the mobile robot (3) can autonomously move along the movement path based on the first control instruction, the position estimated by the position estimation unit (34), and the second map information while estimating the position of the mobile robot (3) based on the second map information.

[0145] In the robot system (1) of the fourth aspect, in the third aspect, the second map information includes overall map information regarding an overall map in which the entire movement area (A10) is contained in one map area.

[0146] According to this aspect, the mobile robot (3) can move based on the second map information including the overall map information.

[0147] In the robot system (1) according to the fifth aspect, in the third aspect, the second map information includes first partial map information and second partial map information. The first partial map information is information regarding a first partial map that includes a part of the movement area (A10) including the first point in one map area. The first point is a point before entering from the first area (A1) to the second area (A2) on the movement path. The second partial map information is information regarding a second partial map that includes a part of the movement area (A10) including the second point in one map area. The second point is a point after entering from the second area (A2) to the first area (A1) on the movement path. The transition process includes a position correction process for changing the position of the mobile robot (3) from the first point to the second point, and a map switching process for switching the second map information from the first partial map information to the second partial map information.

[0148] According to this aspect, the position of the mobile robot (3) can be made to coincide with the actual position, and movement can be performed using the second partial map information.

[0149] The robot system (1) according to the sixth aspect further includes a second mobile robot (3) different from the first mobile robot (3) which is the mobile robot (3) in any one of the first to fifth aspects. The first control unit (24) does not permit the second mobile robot (3) to enter the second area (A2) when the first mobile robot (3) exists in the second area (A2).

[0150] According to this aspect, the possibility that the second mobile robot (3) becomes an obstacle to the movement of the first mobile robot (3) can be reduced.

[0151] In the robot system (1) according to the seventh aspect, in any of the first to sixth aspects, the creation support system (4) is used to set the first node and the second node from among a plurality of nodes (ND1), whereby the area between the first node and the second node is set as the second area (A2). The creation support system (4) supports the operation of setting a plurality of nodes (ND1) in the first map information where the mobile robot (3) can move. The first node corresponds to a first point before entering the second area (A2) from the first area (A1) in the movement path. The second node corresponds to a second point after entering the first area (A1) from the second area (A2) in the movement path.

[0152] According to this aspect, the second area (A2) can be set using the creation support system (4).

[0153] In the robot system (1) according to the eighth aspect, in the seventh aspect, when the mobile robot (3) arrives at the first point corresponding to the first node, the first control unit (24) causes the first communication unit (21) to transmit a second control instruction to the mobile robot (3). The second control instruction includes a control instruction for causing the mobile robot (3) to execute, as a transition process, a process of moving from the first point to the second point corresponding to the second node.

[0154] According to this aspect, the mobile robot (3) can autonomously move to the second point based on the second control instruction received at the first point.

[0155] In the robot system (1) according to the ninth aspect, in any of the first to eighth aspects, the movement area (A10) includes at least two floors of the multi-story facility (100) and the internal area of the car (110) of the elevator (EV1) that moves up and down between at least two floors. The second area (A2) includes the internal area of the car (110) when the door (111) of the elevator (EV1) is closed.

[0156] According to this aspect, the transition process can be executed while the mobile robot (3) is moving on the elevator car (110).

[0157] In the robot system (1) according to the tenth aspect, in the ninth aspect, while the moving robot (3) is in the internal area of the cage (110) and the cage (110) carrying the moving robot (3) is moving, the moving robot (3) executes a transition process.

[0158] According to this aspect, the transition process can be executed while the moving robot (3) rides on the cage (110) of the elevator (EV1) and moves.

[0159] The control system (2) according to the eleventh aspect includes a first communication unit (21), a first storage unit (22), a path search unit (23), and a first control unit (24). The first communication unit (21) performs wireless communication with a moving robot (3) having a second communication unit (31) that performs wireless communication. The first storage unit (22) stores at least first map information regarding a map of a moving area (A10) in which the moving robot (3) moves. The path search unit (23) searches for a moving path along which the moving robot (3) moves based on the first map information. The first control unit (24) causes the first communication unit (21) to transmit a first control instruction for instructing the moving path to the moving robot (3) from the first communication unit (21) to the moving robot (3). The moving area (A10) includes a first area (A1) and a second area (A2) having a worse wireless communication environment than the first area (A1). When a part of the moving path is included in the second area (A2), the first control unit (24) causes the first communication unit (21) to transmit a second control instruction to the moving robot (3) before the moving robot (3) moving along the moving path enters the second area (A2). The second control instruction includes a control instruction for instructing a transition process that the moving robot (3) executes while moving in the second area (A2).

[0160] According to this aspect, it is possible to suppress a decrease in the efficiency of the work performed by the moving robot (3).

[0161] The mobile robot (3) of the 12th aspect is the mobile robot (3) included in the robot system (1) of any one of the 1st to 10th aspects. The mobile robot (3) includes a second communication unit (31) and a second control unit (36). The second communication unit (31) performs wireless communication with the control system (2). The second control unit (36) moves the mobile robot (3) based on the first control instruction from the control system (2) received by the second communication unit (31). When the second communication unit (31) receives a second control instruction from the control system (2), the second control unit (36) executes a transition process while moving in the second area (A2).

[0162] According to this aspect, it is possible to suppress a decrease in the efficiency of the work performed by the mobile robot (3).

[0163] The control method of the mobile robot (3) of the 13th aspect includes a search step, a first control instruction step, and a second control instruction step. In the search step, a movement route along which the mobile robot (3) moves is searched based on first map information regarding a map of a movement area (A10) in which the mobile robot (3) moves. In the first control instruction step, a first control instruction for instructing the movement route to the mobile robot (3) is transmitted to the mobile robot (3). The movement area (A10) includes a first area (A1) and a second area (A2) where the wireless communication environment is worse than that of the first area (A1). In the second control instruction step, when a part of the movement route is included in the second area (A2), before the mobile robot (3) moving along the movement route enters the second area (A2), a second control instruction is transmitted to the mobile robot (3). The second control instruction includes a control instruction for instructing a transition process that the mobile robot (3) executes while moving in the second area (A2).

[0164] According to this aspect, it is possible to suppress a decrease in the efficiency of the work performed by the mobile robot (3).

[0165] Not limited to the above aspects, various configurations (including modified examples) of the robot system (1) according to the above embodiments can be embodied by a control method of the control system (2), a (computer) program, or a non-transitory recording medium on which the program is recorded, etc.

[0166] Regarding the configurations according to the second to ninth aspects, they are not essential configurations of the robot system (1) and can be omitted as appropriate.

Explanation of Reference Numerals

[0167] 1 Robot system 2 Control system 3 Mobile robot, First mobile robot, Second mobile robot 4 Creation support system 21 First communication unit 22 First storage unit 23 Route search unit 24 First control unit 31 Second communication unit 32 Second storage unit 34 Position estimation unit 36 Second control unit 110 Basket 111 Door A1 First area A2 Second area A10 Movement area EV1 Elevator ND1 Node

Claims

1. A mobile robot, and a control system for controlling the mobile robot, wherein the control system includes a first communication unit that performs wireless communication with the mobile robot, and a first control unit that causes the first communication unit to transmit a first control instruction for instructing a moving path to the mobile robot to the mobile robot, the moving area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area, when a part of the moving path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction for instructing a transition process that the mobile robot executes while moving in the second area to the mobile robot before the mobile robot moving along the moving path enters the second area, the mobile robot executes the transition process while moving in the second area based on the second control instruction, the transition process includes a position correction process of correcting the position of the mobile robot from a first point before entering the second area from the first area in the moving path to a second point after entering the first area from the second area in the moving path, A robot system.

2. The mobile robot includes a second storage unit that stores at least second map information regarding a map of the moving area, and a position estimation unit that estimates the position of the mobile robot in the moving area based on the second map information, the mobile robot moves along the moving path based on the first control instruction, the position estimated by the position estimation unit, and the second map information, The robot system according to claim 1.

3. The second map information includes overall map information regarding an overall map in which the entire moving area is included in one map area, The robot system according to claim 2.

4. A mobile robot, and a control system for controlling the mobile robot, wherein the control system includes a first communication unit that performs wireless communication with the mobile robot, and a first control unit that causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot from the first communication unit to the mobile robot, the movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area, when a part of the movement path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction for instructing a transition process that the mobile robot executes while moving in the second area to the mobile robot before the mobile robot moving along the movement path enters the second area, the mobile robot executes the transition process while moving in the second area based on the second control instruction, the mobile robot includes a second storage unit that stores at least second map information regarding a map of the movement area, and a position estimation unit that estimates the position of the mobile robot in the movement area based on the second map information, the mobile robot moves along the movement path based on the first control instruction, the position estimated by the position estimation unit, and the second map information, the second map information includes first partial map information and second partial map information, the first partial map information is information regarding a first partial map that includes a part of the movement area including a first point before entering the second area from the first area in the movement path in one map area, the second partial map information is information regarding a second partial map that includes a part of the movement area including a second point after entering the first area from the second area in the movement path in one map area, The transition process includes a position correction process for changing the position of the mobile robot from the first point to the second point, and a map switching process for switching the second map information from the first partial map information to the second partial map information. Robot system.

5. A mobile robot, A control system for controlling the mobile robot, The control system, A first communication unit that performs wireless communication with the mobile robot, A first control unit that causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot to the mobile robot, The movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area, When a part of the movement path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction for instructing the transition process that the mobile robot executes while moving in the second area to the mobile robot before the mobile robot moving along the movement path enters the second area, The mobile robot executes the transition process while moving in the second area based on the second control instruction, The mobile robot further includes a second mobile robot different from the first mobile robot, When the first mobile robot exists in the second area, the first control unit does not permit the second mobile robot to enter the second area, Robot system.

6. A mobile robot, A control system for controlling the mobile robot, The control system, A first communication unit that performs wireless communication with the mobile robot, A first control unit that causes the first communication unit to transmit a first control instruction for instructing a movement path to the mobile robot to the mobile robot, The moving area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the moving path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction for instructing a transition process that the mobile robot executes while moving in the second area to the mobile robot before the mobile robot moving along the moving path enters the second area. Based on the second control instruction, the mobile robot executes the transition process while moving in the second area. By using a creation support system that supports the work of setting a plurality of nodes where the mobile robot can move in the first map information regarding the map of the moving area where the mobile robot moves, a first node and a second node are set from among the plurality of nodes, and an area between the first node and the second node is set as the second area. The first node corresponds to a first point before entering the second area from the first area in the moving path. The second node corresponds to a second point after entering the first area from the second area in the moving path. Robot system.

7. When the mobile robot arrives at the first point corresponding to the first node, the first control unit causes the first communication unit to transmit the second control instruction to the mobile robot. The second control instruction includes a control instruction for causing the mobile robot to execute, as the transition process, a process of moving from the first point to the second point corresponding to the second node. The robot system according to claim 6.

8. The moving area includes at least two floors of a multi-story facility and an internal area of an elevator car that moves up and down between the at least two floors. The second area includes the internal area of the car when the elevator door is closed. The robot system according to any one of claims 1 to 7.

9. While the mobile robot is inside the interior area of the basket and the basket on which the mobile robot rides is moving, the mobile robot executes the transfer process. The robot system according to claim 8.

10. The mobile robot has a second communication unit that performs wireless communication with the control system. The control system A first storage unit that stores at least first map information regarding a map of the moving area where the mobile robot moves; And a path search unit that searches for a moving path along which the mobile robot moves based on the first map information. The robot system according to any one of claims 1 to 9.

11. A first communication unit that performs wireless communication with a mobile robot having a second communication unit that performs wireless communication; And a first control unit that causes the first communication unit to transmit a first control instruction for instructing a moving path to the mobile robot to the mobile robot. The moving area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the moving path is included in the second area, the first control unit causes the first communication unit to transmit a second control instruction for instructing a transfer process that the mobile robot executes while moving in the second area to the mobile robot before the mobile robot moving along the moving path enters the second area. The transfer process includes a position correction process of correcting the position of the mobile robot from a first point before entering the second area from the first area in the moving path to a second point after entering the first area from the second area in the moving path. Control system.

12. A first storage unit that stores at least first map information regarding a map of the moving area where the mobile robot moves; A path search unit that searches for the movement path along which the mobile robot moves based on the first map information. The control system according to claim 11.

13. A mobile robot included in the robot system according to any one of claims 1 to 10, A second communication unit that performs wireless communication with the control system; A second control unit that moves the mobile robot based on the first control instruction from the control system received by the second communication unit. When the second communication unit receives the second control instruction from the control system, the second control unit executes the transition process while moving in the second area. Mobile robot.

14. including a first control instruction step of transmitting a first control instruction for instructing a movement path to the mobile robot to the mobile robot, The movement area where the mobile robot moves includes a first area and a second area where the wireless communication environment is worse than that of the first area. When a part of the movement path is included in the second area, before the mobile robot moving along the movement path enters the second area, a second control instruction for instructing the transition process that the mobile robot executes while moving in the second area is transmitted to the mobile robot. The method further includes a second control instruction step. The transition process includes a position correction process of correcting the position of the mobile robot from a first point before entering the second area from the first area in the movement path to a second point after entering the first area from the second area in the movement path. Control method for a mobile robot.

15. further including a search step of searching for the movement path along which the mobile robot moves based on the first map information regarding the map of the movement area where the mobile robot moves. The control method for a mobile robot according to claim 14.

Images