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

Abstract

This robot movement system is a system for moving a mobile robot in a multi-story facility equipped with an elevator having a lift car, and includes a processing circuit configured to change a planned travel route for the mobile robot by changing the travel route of the mobile robot using the elevator, on the basis of information on planned use of the elevator by a prioritized mobile body.

Description

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

[0001] The present disclosure relates to a robot movement system, a robot movement method, and a robot movement program.

[0002] In recent years, a system has been proposed in which a self-propelled robot uses an elevator to move to other floors in a building where the robot is installed and perform various tasks. Patent Document 1 discloses an elevator system that prevents the self-propelled robot from riding in the elevator with general users. Specifically, when a general user registers a car call at an elevator hall on any floor before the elevator car containing the robot arrives at the destination floor, the car is stopped at the nearest floor and the robot is allowed to get off.

[0003] Japanese Patent Application Laid-Open No. 2020-109034

[0004] In the configuration of Patent Document 1, there is a possibility that the efficiency of movement will decrease because the robot riding in the car will frequently get off at an intermediate floor before arriving at the destination floor.

[0005] Therefore, one aspect of the present disclosure aims to enable each moving body, including a mobile robot, to move efficiently as a whole within a facility equipped with an elevator.

[0006] A robot movement system according to one aspect of the present disclosure is a system for moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, and includes a processing circuit configured to change the planned movement path of the mobile robot by changing the movement path of the mobile robot using the elevator based on information regarding the planned use of the elevator by a priority moving object.

[0007] Another aspect of the present disclosure relates to a robot movement system that moves a mobile robot within a multi-story facility equipped with an elevator having a lift car, and includes a processing circuit configured to output a command to cause the mobile robot to disembark from the lift car at a floor other than the scheduled destination floor when it is determined that the relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0008] A robot movement system according to yet another aspect of the present disclosure is a system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, and includes a processing circuit configured to determine a floor at which the mobile robot should descend from the elevator car based on multiple tasks within the facility when it is determined that the relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0009] A robot movement method according to one aspect of the present disclosure is a method for autonomously moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, and changes the planned movement path of the mobile robot by changing the movement path of the mobile robot using the elevator based on information regarding the planned use of the elevator by a priority moving body.

[0010] A robot movement program according to one aspect of the present disclosure causes at least one processor to execute the method. The program may be stored in a computer-readable storage medium. The storage medium is a non-transitory, tangible medium. The storage medium may be built into or external to a computer (e.g., a mobile information terminal, a personal computer, a server, etc.). The storage medium may include RAM, ROM, EEPROM, storage, etc., such as a hard disk, flash memory, or optical disk. The program stored in the storage medium may be executed in a computer to which the storage medium is directly connected, or in a computer connected to the storage medium via a network (e.g., the Internet).

[0011] According to one aspect of the present disclosure, by changing the elevator-using travel route of a mobile robot so that a priority moving object can efficiently use the elevator, it is possible to prevent the priority moving object from arriving at its destination late due to the mobile robot. On the other hand, when a moving object other than the priority moving object uses the elevator, the mobile robot does not necessarily need to change its elevator-using travel route. Therefore, all moving objects, including the mobile robot, can move efficiently within a facility equipped with elevators.

[0012] FIG. 1 is a schematic diagram of a robot movement system according to an embodiment. FIG. 2 is a block diagram of the mobile robot of FIG. 1. FIG. 3 is a block diagram of the server of FIG. 1. FIG. 4 is a block diagram of the elevator of FIG. 1. FIG. 5 is a diagram explaining issues when a priority moving body uses an elevator. FIG. 6 is a diagram explaining changes to the planned movement path of a mobile robot in the robot movement system of FIG. 1. FIG. 7 is a main flowchart explaining processing by the server of FIG. 3. FIG. 8 is a sub-flowchart explaining processing by the server of FIG. 3. FIG. 9 is a flowchart of the path change processing of FIG. 8.

[0013] Hereinafter, an embodiment will be described with reference to the drawings.

[0014] FIG. 1 is a schematic diagram of a robot movement system 1 according to an embodiment. As shown in FIG. 1 , the robot movement system 1 includes a plurality of autonomously moving mobile robots 2, a server 3 capable of communicating with the plurality of mobile robots 2 via a communication network N, and a database 4 connected to the server 3. The communication network N may be, for example, the Internet or an intranet. The mobile robots 2 autonomously move among floors in a multi-story facility 7 equipped with an elevator 8. The facility 7 is not particularly limited, but may be, for example, a hospital. The facility 7 may contain a plurality of moving objects, including the mobile robots 2, transport beds, transport carts, etc. In this embodiment, the task assigned to the mobile robot 2 includes movement to a destination. The task may include work at a starting point, a relay point, or a destination. Task types include, for example, movement, delivery, or patrol security. Detailed task information includes, for example, the starting point of the task, the destination of the task, a time range in which arrival at the starting point is required, and a time range in which arrival at the destination is required.

[0015] The database 4 stores map data 5 of the facility 7 in which the mobile robot 2 moves. The map data 5 specifies the shape of the area in which the mobile robot 2 can move. For example, the map data 5 specifies the shape of each floor in the facility 7. The map data 5 specifies the outline of the area in which the mobile robot 2 can move by specifying the outline of obstacles on each floor. The database 4 may be built into the server 3, or may be connected to the server 3 via a communication network N.

[0016] The multiple mobile robots 2 have the same configuration. The mobile robots 2 are equipped with a navigation function and move autonomously toward their destination. If the mobile robot 2 travels via stopover points before reaching its final destination, the mobile robot 2 may travel to the stopover point closest to its current location as its destination. The mobile robot 2 runs on the ground, but may also fly in the air. The multiple mobile robots 2 may also have different configurations. As an example, the mobile robot 2 includes multiple wheels 18, a body 19, at least one distance sensor 14, a touch panel display 15, etc.

[0017] The wheels 18 are drive wheels for traveling. The body 19 is supported by the wheels 18. The wheels 18 are an example of a propulsion body that moves the mobile robot 2. In this embodiment, the task of the mobile robot 2 includes moving to a destination to receive or deliver goods or the like, so the wheels 18 are an example of a driven body that performs the task. The body 19 has a carrier 19a. For example, goods or the like that need to be transported are loaded on the carrier 19a. The distance sensor 14 and the touch panel display 15 will be described later.

[0018] Figure 2 is a block diagram of the mobile robot 2 of Figure 1. As shown in Figure 2, the mobile robot 2 includes a processing circuit 10, a distance measurement sensor 14, a touch panel display 15, a travel actuator 16, and a communication interface 17. These devices 14 to 17 are electrically connected to the processing circuit 10.

[0019] The processing circuit 10 includes a processor 11, a system memory 12, and a storage memory 13. The processor 11 may include a CPU (Central Processing Unit). The system memory 12 may include RAM. The storage memory 13 may include a hard disk, a flash memory, or a combination thereof. The storage memory 13 stores a control program P1. A configuration in which the processor 11 executes the control program P1 read from the storage memory 13 to the system memory 12 is an example of the processing circuit 10. The processor 11 controls at least one of the touch panel display 15 and the travel actuator 16 according to the control program P1, based on information input from at least one of the distance measurement sensor 14, the touch panel display 15, and the communication interface 17.

[0020] The distance measurement sensor 14 measures the distance around the mobile robot 2 in three dimensions, thereby detecting the shape of the area around the mobile robot 2 in three dimensions. The distance measurement sensor 14 detects the position data of the outer surfaces of obstacles within the facility 7 by receiving reflected waves from obstacles around the mobile robot 2. For example, the distance measurement sensor 14 may emit light, radio waves, or ultrasonic waves toward the area around the mobile robot 2 and receive the reflected waves. The distance measurement sensor 14 may also receive reflected waves of light, radio waves, or ultrasonic waves in the external world that are reflected by objects. The distance measurement sensor 14 can measure distances in all horizontal directions relative to the mobile robot 2. Note that the distance measurement sensor 14 may also measure distances around the mobile robot 2 in two dimensions.

[0021] The ranging sensor 14 may detect the distance to an obstacle by measuring the time between emitting laser light and receiving the reflected wave. The ranging sensor 14 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the ranging sensor 14 is a three-dimensional LIDAR sensor. Note that the ranging sensor 14 may be a sensor assembly including a forward-facing LIDAR sensor, a rear-facing LIDAR sensor, a left-facing LIDAR sensor, and a right-facing LIDAR sensor. The ranging sensor 14 may be an infrared ranging sensor, a millimeter-wave radar, or a depth-sensing camera. The depth-sensing camera may measure the distance to an object by utilizing parallax created by a stereo camera.

[0022] The processing circuit 10 identifies the position of the mobile robot 2 on the map data 5 by matching the shape of the surroundings detected by the distance measurement sensor 14 with the shape of the map data 5. In other words, a positioning sensor is realized by combining the distance measurement sensor 14 with software that matches the shape detected by the distance measurement sensor 14 with the map data 5.

[0023] The touch panel display 15 is an example of a user interface. That is, the touch panel display 15 serves as both a user input interface and a user output interface. Note that the user input interface may be a keyboard, a mouse, or the like, or may be a smartphone or tablet terminal capable of communicating with the mobile robot 2. A non-touch panel display may be used as the user output interface.

[0024] The traveling actuators 16 include wheel drive actuators that drive the wheels 18 to rotate. The traveling actuators 16 are, for example, electric motors. The traveling actuators 16 include braking actuators that drive brakes that brake the wheels 18. The traveling direction of the mobile robot 2 may be changed by varying the rotation speed of the left and right wheels 18, by varying the rotation direction of the left and right wheels 18, or by steering the wheels 18 with a steering actuator. The mobile robot 2 may have an opposed differential two-wheel mechanism or an omnidirectional Mecanum mechanism.

[0025] The communication interface 17 is an interface that wirelessly connects to the communication network N. The communication interface 17 functions as a transmitter that transmits information about the mobile robot 2 to the server 3 via the communication network N. The communication interface 17 functions as a receiver that receives information about other mobile robots 2 transmitted from the server 3.

[0026] FIG. 3 is a block diagram of the server 3 in FIG. 1. As shown in FIG. 3, the server 3 includes a processing circuit 20 and a communication interface 24. The communication interface 24 is electrically connected to the processing circuit 20. The processing circuit 20 includes a processor 21, a system memory 22, and a storage memory 23. The communication interface 24 includes an interface for connecting to the communication network N via a wired or wireless connection and an interface for connecting to the database 4 via a wired or wireless connection. The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include RAM. The storage memory 23 may include a hard disk, a flash memory, or a combination thereof. The storage memory 23 stores a program P2. A configuration in which the processor 21 executes the program P2 read from the storage memory 23 to the system memory 22 is an example of the processing circuit 20.

[0027] Fig. 4 is a block diagram of the elevator 8 in Fig. 1. As shown in Fig. 4, the elevator 8 includes an elevator control device 31, an elevator hall operation panel 32, and a lift car 33. The elevator control device 31 includes a communication interface 41 connected to the communication network N, an actuator 42 that raises or lowers the lift car 33, and a control processing circuit 43 that controls the actuator 42. The control processing circuit 43 has a configuration in which a processor executes a control program read from a storage memory to a system memory, for example.

[0028] The elevator hall operation panel 32 is installed in the elevator hall of each floor in the facility 7. The elevator hall operation panel 32 includes a communication interface 51, an up-direction call registration button 52, and a down-direction call registration button 53. The communication interface 51 is connected to the communication interface 41 of the elevator control device 31 by wire or wirelessly. The communication interface 51 may also be connected to the communication network N. The up-direction call registration button 52 and the down-direction call registration button 53 are arranged so as to be operable in the elevator hall. When the up-direction call registration button 52 is pressed, a car call registration for traveling to an upper floor using the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 51. When the down-direction call registration button 53 is pressed, a car call registration for traveling to a lower floor using the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 51.

[0029] The elevator car 33 has an interior space for the mobile object to ride in and is driven by an actuator 42 to rise or fall toward different floors. The interior space of the elevator car 33 is large enough to accommodate both the mobile robot 2 and a priority mobile object 6 (described later). The interior space of the elevator car 33 may also be large enough to prevent the movement of either the mobile robot 2 or the priority mobile object 6 when both are riding in the elevator car 33. The elevator car 33 includes a communication interface 61 and a destination floor designation button 62. The communication interface 61 is connected to the communication interface 41 of the elevator control device 31 via a wired or wireless connection. The communication interface 51 may also be connected to the communication network N. The destination floor designation button 62 is operably disposed in the interior space of the elevator car 33. When a destination floor is selected by operating the destination floor designation button 62, the destination floor registration for the elevator car 33 is transmitted to the elevator control device 31 via the communication interface 61.

[0030] The control processing circuit 43 of the elevator control device 31 determines whether to move or stop the elevator car 33 and controls the actuator 42 in accordance with information based on the operation of the up call registration button 52, the down call registration button 53, and the destination floor designation button 62. The control processing circuit 43 of the elevator control device 31 also references information received from the server 3 via the communication network N, as will be described later, to determine whether to move or stop the elevator car 33 and control the actuator 42.

[0031] 5 is a diagram illustrating the issues that arise when a priority mobile object 6 uses an elevator 8. As shown in FIG. 6, it is assumed that the facility 7 is a hospital, the planned movement path of the first mobile robot 2A includes movement from the sixth floor to the first floor of the facility 7, a second mobile robot 2B is located on the fifth floor of the facility 7, and a transport bed, which is an example of a priority mobile object 6, is about to move from the second floor to the first floor of the facility 7 with a patient on board. The initial planned movement path of each mobile robot 2 is determined based on a known method (e.g., an LNS algorithm) so that each mobile robot efficiently shares all tasks within the facility 7.

[0032] When the nurse carrying the priority moving object 6 presses the downward call registration button 53 on the second floor to call the elevator car 33 for the first mobile robot 2A to get into on the sixth floor, the elevator car 33 carrying the first mobile robot 2A will stop on the second floor before arriving at the first floor, which is the destination floor of the first mobile robot 2A. With the first mobile robot 2A present in the internal space of the elevator car 33, the priority moving object 6 cannot get into the elevator car 33, so the first mobile robot 2A must get out of the elevator car 33 on the second floor.

[0033] When the first mobile robot 2A descends from the elevator car 33, the priority mobile object 6 must move aside to allow the first mobile robot 2A to move and must wait until the first mobile robot 2A has completely descended from the elevator car 33. This causes a delay in the priority mobile object 6 getting into the elevator car 33, delaying the priority mobile object 6's arrival at its destination (e.g., an operating room). Furthermore, if, after the planned movement path of the first mobile robot 2A is determined, a temporary task (such as receiving or delivering supplies) that has not yet been assigned to any mobile robot 2 occurs on the fourth floor of the facility 7, the second mobile robot 2B, which is on the fifth floor, must change its planned movement path and move to the fourth floor to perform the task. In consideration of this situation, the following measures are taken in this embodiment.

[0034] Figure 6 is a diagram illustrating a change in the planned movement path of the first mobile robot 2A in the robot movement system 1 of Figure 1. As shown in Figure 6, in the robot movement system 1 according to this embodiment, the planned movement path of the first mobile robot 2A is changed so that the first mobile robot 2A gets off the elevator car 33 at an intermediate floor (for example, the fourth floor) between the sixth floor where the elevator car 33 is entered and the second floor where the priority mobile object 6 is located.

[0035] When the first mobile robot 2A gets off at an intermediate floor and the empty elevator car 33 arrives at the second floor, the priority moving object 6 can immediately get into the elevator car 33 without having to retreat or wait. In other words, the priority moving object 6 is prevented from bumping into the first mobile robot 2A when trying to get into the elevator car 33. As a result, the priority moving object 6 is prevented from arriving at its destination late.

[0036] Furthermore, if a temporary task arises on the fourth floor of facility 7 after the planned movement path of first mobile robot 2A has been determined, first mobile robot 2A can execute the temporary task by setting the fourth floor as the intermediate floor when it gets off elevator car 33, allowing first mobile robot 2A to execute the task at an intermediate floor after getting off elevator car 33 at that floor, thereby preventing a decrease in efficiency of the changed planned movement path of first mobile robot 2A. Furthermore, a decrease in efficiency caused by second mobile robot 2B changing its planned movement path to move to a different floor is also prevented.

[0037] Fig. 7 is a main flowchart explaining the processing of the server 3 in Fig. 3. Fig. 8 is a sub-flowchart explaining the processing of the server 2 in Fig. 3. Fig. 9 is a flowchart of the path change processing in Fig. 8. Below, focusing on the first mobile robot 2A (see Fig. 6) of the multiple mobile robots 2, the processing of the server 3 will be mainly explained according to the flow of Figs. 7 to 9 while appropriately referring to Figs. 1 to 4 and 6. The processing of the server 3 is executed by the processing circuit 20.

[0038] The tasks in the facility 7 may be tasks entered into the touch panel display 15 of the mobile robot 2 and registered in the server 3 via the communication network N, or may be tasks registered in the server 3 from another terminal via the communication network N. In this embodiment, the task is movement of the mobile robot 2 to a destination, and the task request is a movement request. The server 3 takes into account all registered tasks and the positions of all mobile robots 2, assigns each task to an appropriate mobile robot 2, and determines a planned movement route for the mobile robot 2 assigned the task. Upon receiving the task request, the mobile robot 2 moves autonomously toward the destination.

[0039] 7, the server 3 acquires the current location of the first mobile robot 2A measured by the distance measurement sensor 14 from the first mobile robot 2A via the communication network N, and also acquires the planned movement path of the first mobile robot 2A to acquire the destination floor for movement by the elevator 8 (step S1). The server 3 determines whether the first mobile robot 2A has arrived at the elevator hall of the facility 7 (step S2). If it is determined that the first mobile robot 2A has arrived at the elevator hall, the server 3 sets "1" to the flag (step S3) and commands the elevator control device 31 to register a call for the elevator car 33 to the current floor where the first mobile robot 2A is located (the sixth floor in FIG. 6) (step S4).

[0040] The server 3 determines whether the elevator car 33 has arrived at the current floor (the sixth floor in FIG. 6 ) where the first mobile robot 2A is located and whether the elevator door at the current floor has opened (step S5). If it is determined that the elevator door has opened, the server 3 instructs the elevator control device 31 to extend the elevator door opening time beyond the normal time (step S6). After confirming that the elevator door is open (step S7: Y), the server 3 instructs the first mobile robot 2A to get into the elevator car 33 (step S8). The server 3 then determines whether the first mobile robot 2A has completed getting into the elevator car 33 (step S9).

[0041] When it is determined that the first mobile robot 2A has completed boarding the elevator car 33, the server 3 commands the elevator control device 31 to register a call for the elevator car 33 to the destination floor (the first floor in FIG. 6) of the first mobile robot 2A (step S10). The server 3 determines whether the elevator car 33 carrying the first mobile robot 2A has arrived at the destination floor (the first floor in FIG. 6) and the elevator door at the destination floor has opened (step S11).

[0042] If it is determined that the elevator door is open, the server 3 sets the flag to "0" (step S12) and commands the elevator control device 31 to extend the opening time of the elevator door beyond the normal time (step S13). After confirming that the elevator door is open (step S14: Y), the server 3 commands the first mobile robot 2A to get off the elevator car 33 (step S15). The server 3 determines whether the first mobile robot 2A has finished getting off the elevator car 33 (step S16).

[0043] The flow of Fig. 8 is executed in parallel with the flow of Fig. 7. As shown in Fig. 8, the server 3 determines whether the flag is "1" (see step S3 of Fig. 7) (step S21). That is, the server 3 determines whether the first mobile robot 2A has arrived at the elevator hall. If it is determined that the flag is "1", the server 3 acquires a planned movement path of the first mobile robot 2A (step S22). The server 3 refers to the planned movement path and determines whether the first mobile robot 2A plans to use the elevator 8 (step S23).

[0044] In this embodiment, when the server 3 determines that the first mobile robot 2A is planning to use the elevator 8 by referring to the planned movement path of the first mobile robot 2A, the current position of the first mobile robot 2A is already in the elevator hall, so the planned time when the first mobile robot 2A will use the elevator 8 is considered to be the current time. Note that even if the current position of the first mobile robot 2A is on a floor away from the elevator hall, the server 3 may estimate the planned use of the elevator 8 by the first mobile robot 2Ab and the planned time when the first mobile robot 2A will use the elevator 8 by referring to the planned movement path of the first mobile robot 2A and the movement speed of the first mobile robot 2A.

[0045] When it is determined that the first mobile robot 2A is scheduled to use the elevator 8, the server 3 acquires the scheduled time when the priority mobile object 6 will use the elevator 8 (step S24).

[0046] A priority mobile object 6 is a mobile object that has been given priority among the mobile objects present in the facility 7. For example, if the priority mobile object 6 is a patient transport bed, the nurse who transports the transport bed can use their mobile device to issue a priority registration command to the server 3, which then assigns priority to the mobile device. The mobile device has a positioning function and periodically transmits location information of the mobile device to the server 3 via the communication network N. The mobile device of the nurse who transports the transport bed moves along with the transport bed. Therefore, the location information of the mobile device essentially means the location information of the transport bed, and assigning priority to the mobile device essentially means assigning priority to the transport bed. The position of the priority mobile object 6 that has been assigned priority may be calculated by extracting the priority mobile object 6 from images captured by an environmental camera installed in the facility 7 using known image recognition technology.

[0047] If the priority mobile object 6 has a positioning terminal, the positioning terminal may periodically transmit location information of the priority mobile object 6 to the server 3. The server 3 may grant priority to the positioning terminal by instructing the server 3 to register priority from the positioning terminal of the priority mobile object 6. The server 3 may grant priority to the positioning terminal of the priority mobile object 6 by instructing the server 3 to register priority from another terminal connected to the communication network N. The server 3 may grant priority to the positioning terminal or the mobile terminal of the priority mobile object 6 based on a predetermined program.

[0048] When the server 3 receives a signal indicating that a person accompanying the priority mobile object 6 has pressed the up direction call registration button 52 or the down direction call registration button 53 on the elevator hall operation panel 32, the server 3 may determine the time of reception of the signal as the scheduled time of use of the elevator 8 by the priority mobile object 6. When the server 3 determines that the location of the mobile phone accompanying the priority mobile object 6 has arrived at the elevator hall, the server 3 may determine the arrival time as the scheduled time of use of the elevator 8 by the priority mobile object 6. When the person accompanying the priority mobile object 6 transmits information indicating the scheduled time of use of the elevator from the mobile terminal to the server 3, the server 3 may determine the scheduled time of use of the elevator 8 by the priority mobile object 6 based on the information.

[0049] If the priority mobile object 6 has a positioning terminal, when the server 3 determines that the position of the priority mobile object 6 has arrived at the elevator hall, the server 3 may determine the arrival time as the scheduled time for the priority mobile object 6 to use the elevator 8. If the priority mobile object 6 has a positioning terminal, the server 3 may estimate the scheduled time for the priority mobile object 6 to use the elevator 8 based on the position and movement speed of the priority mobile object 6 or the mobile terminal.

[0050] The server 3 acquires the planned direction of movement in which the priority moving object 6 will move using the elevator 8 (step S25). That is, the server 3 acquires the planned direction of movement indicating whether the priority moving object 6 will move upward or downward using the elevator 8. For example, when the server 3 receives a signal indicating that a person accompanying the priority moving object 6 has pressed the upward call registration button 52 or the downward call registration button 53 on the elevator hall operation panel 32, the server 3 may determine the direction indicated by the signal as the planned direction of movement in which the priority moving object 6 will move using the elevator 8.

[0051] When information indicating the direction in which a person accompanying the priority moving object 6 will move by the elevator 8 is transmitted from the mobile terminal to the server 3, the server 3 may determine the planned moving direction in which the priority moving object 6 will move by using the elevator 8 based on the information. The server 3 may estimate the direction in which the priority moving object 6 will move by using the elevator 8 based on the type of the priority moving object 6. For example, the server 3 may estimate the direction in which the priority moving object 6 will move by using the elevator 8 by AI prediction based on past performance.

[0052] The server 3 determines whether a predetermined path change condition, indicating that the planned movement path of the first mobile robot 2A needs to be changed, is met (step S26). The path change condition is that the priority moving object 6 is scheduled to use the elevator 8 to get into the elevator car 33 carrying the first mobile robot 2A, and the planned elevator movement direction of the first mobile robot 2A is toward the floor where the priority moving object 6 is located (the second floor in FIG. 6 ) (e.g., downward). Note that in a configuration in which multiple elevators arranged in parallel corresponding to one elevator hall are controlled as a group, the server 3 may identify the elevator car 33 carrying the first mobile robot 2A from the multiple elevator cars 33 and execute this control for the identified car 33.

[0053] In this embodiment, steps S22 to S26 are performed after the first mobile robot 2A arrives at the elevator hall (steps S2 and S3), but steps S22 to S26 may also be performed when the current location of the first mobile robot 2A is on a floor away from the elevator hall. In this case, determining that the priority mobile object 6 plans to use the elevator 8 so as to get into the elevator car 33 carrying the first mobile robot 2A may include determining that the time difference between the planned time for the first mobile robot 2A to use the elevator 8 and the planned time for the priority mobile object 6 to use the elevator 8 is less than a predetermined threshold.

[0054] Furthermore, when the server 3 determines that the relative positional relationship between the priority moving object 6 and the elevator 8 satisfies a predetermined condition, it may output a command to cause the first mobile robot 2A to get off the elevator car 33 at a floor other than the scheduled destination floor. For example, determining that the priority moving object 6 plans to use the elevator 8 to get into the elevator car 33 carrying the first mobile robot 2A may include determining that the distance from the priority moving object 6 to the elevator hall is less than a predetermined threshold. In this case, the AND condition may also be that the moving direction of the priority moving object 6 is facing the elevator hall.

[0055] If it is determined that the path change condition is met, the server 3 executes a path change process (step S27). The path change process is shown in the flowchart of FIG. 9. As shown in FIG. 9, the server 3 determines whether there is an intermediate floor between the floor where the first mobile robot 2A gets into the elevator car 33 (the sixth floor in FIG. 6) and the floor where the priority moving object 6 is located (the second floor in FIG. 6) (step S31). If it is determined that there is no intermediate floor, the server 3 ends the process without changing the planned movement path of the first mobile robot 2A. If it is determined that there is an intermediate floor, the server 3 determines whether there are multiple intermediate floor candidates (step S32).

[0056] If it is determined that there is only one intermediate floor candidate, the server 3 instructs the elevator control device 31 to change the destination floor for the call registration of the elevator car 33 so that the first mobile robot 2A can get off the elevator car 33 to that intermediate floor (step S36). Specifically, the server 3 instructs the elevator control device 31 to cancel the call registration of the elevator car 33 for the original destination floor of the first mobile robot 2A, and also instructs the elevator control device 31 to register a call of the elevator car 33 for that intermediate floor. Note that if the original destination floor of the first mobile robot 2A and the destination floor of the priority moving object 6 are the same, there is no need to cancel the call registration of the get-off car 33 for the original destination floor of the first mobile robot 2A.

[0057] If it is determined that there are multiple intermediate floor candidates (the third to fifth floors in FIG. 6), the server 3 determines whether there are tasks on those intermediate floors (step S33). If it is determined that there are tasks on those intermediate floors, the server 3 recalculates the planned movement path of the first mobile robot 2A so as to include the tasks on the intermediate floors in the planned movement path, taking into account the temporary tasks as well (step S34).

[0058] That is, the server 3 changes the planned movement path of the first mobile robot 2A so that the first mobile robot 2A gets off the elevator car 33 at a specific intermediate floor (the fourth floor in FIG. 6 ) among multiple intermediate floors. The server 3 then commands the first mobile robot 2A to set the destination floor of the first mobile robot 2A to the specific intermediate floor (step S35). The server 3 then commands the elevator control device 31 to change the destination floor for registering a call for the elevator car 33 so that the first mobile robot 2A gets off the elevator car 33 to that intermediate floor (step S36). This allows the first mobile robot 2A to perform a task at an intermediate floor, preventing a decrease in the efficiency of the changed planned movement path of the first mobile robot 2A.

[0059] If it is determined that there is no task at any of the intermediate floors, the server 3 inquires of the elevator control device 31 whether or not there is a call registration for the elevator car 33 at any of the intermediate floors (the third to fifth floors in FIG. 6 ) (step S37). If it is determined that there is a call registration for the elevator car 33 at any of the intermediate floors, the server 3 selects a specific intermediate floor from among the intermediate floors with call registrations as the floor at which the first mobile robot 2A should get off the elevator car 33 (step S38).

[0060] The server 3 instructs the elevator control device 31 to change the destination floor for registering the call for the elevator car 33 to the selected intermediate floor so that the first mobile robot 2A can get off the elevator car 33 (step S36). This causes the first mobile robot 2A to get off the elevator car 33 at the floor where it was scheduled to stop in response to the call, preventing the elevator car 33 from stopping unnecessarily.

[0061] If it is determined that there is no call registration for the elevator car 33 at any of the intermediate floors, the server 3 randomly selects a specific intermediate floor from the plurality of intermediate floors for the first mobile robot 2A to disembark from the elevator car 33 (step S39). The server 3 instructs the elevator control device 31 to change the destination floor for registering the call for the elevator car 33 so that the first mobile robot 2A can disembark from the elevator car 33 to the selected intermediate floor (step S36).

[0062] The path change process can be executed when the flag is "1" (steps S3 to S11), and therefore the planned movement path of the first mobile robot 2A can be changed when the first mobile robot 2A is in the elevator car 33. This allows the planned movement path of the first mobile robot 2A to be changed so that the priority mobile object 6 can efficiently use the elevator 8, even if the first mobile robot 2A is already using the elevator 8.

[0063] According to the above-described configuration, the planned movement path of the mobile robot 2 using the elevator 8 is changed based on information regarding the planned use of the elevator 8 by the priority moving object 6, and the mobile robot 2 dismounts from the elevator car 33 at an intermediate floor between the floor where the mobile robot 2 boards the elevator car 33 and the floor where the priority moving object 6 is located. Because the mobile robot 2 dismounts from the elevator car 33 at an intermediate floor before arriving at the floor where the priority moving object 6 is located, the priority moving object 6 can be prevented from bumping into the mobile robot 2 when attempting to board the elevator car 33. This prevents the priority moving object 6 from taking a long time to reach its destination. On the other hand, when a moving object other than the priority moving object 6 uses the elevator 8, the mobile robot 2 does not necessarily need to change its movement path using the elevator 8. This allows all moving objects, including the mobile robot 2, to move efficiently within the facility 7 equipped with the elevator 8.

[0064] The technology of the present disclosure is not limited to the above-described embodiment. For example, when the mobile robot 2 is traveling in the elevator car 33 to a floor in the opposite direction to the floor where the priority moving object 6 is located, the server 3 may instruct the mobile robot 2 and the elevator control device 31 to have the mobile robot 2 get off the elevator car 33 as quickly as possible and have the elevator car 33 head toward the floor where the priority moving object 6 is located.

[0065] As described above, the above-described embodiments have been described as examples of the technology disclosed in this application. However, the technology of the present disclosure is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. For example, some configurations in the embodiments can be separated and arbitrarily extracted from other configurations in the embodiment. Furthermore, the components described in the accompanying drawings and detailed description include not only components essential for solving the problem, but also components that are not essential for solving the problem, and are used to illustrate the technology.

[0066] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), graphics processing units (GPUs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0067] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0068] (Aspect 1) A system for moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, the robot movement system comprising a processing circuit configured to change the planned movement path of the mobile robot by changing the movement path of the mobile robot using the elevator based on information regarding the planned use of the elevator by a priority moving object.

[0069] According to this configuration, by changing the mobile robot's elevator travel route so that the priority mobile object can use the elevator efficiently, it is possible to prevent the priority mobile object from arriving at its destination late due to the mobile robot. On the other hand, when a mobile object other than the priority mobile object uses the elevator, the mobile robot does not necessarily need to change its elevator travel route. Therefore, all mobile objects, including the mobile robot, can move efficiently within a facility equipped with elevators.

[0070] (Aspect 2) The processing circuit is configured to determine whether the following conditions are met: the priority moving object is scheduled to use the elevator; and the direction of movement of the mobile robot when using the elevator is toward the floor where the priority moving object is located; and changing the planned movement path includes, when it is determined that the conditions are met, changing the planned movement path so that the mobile robot gets off the elevator car at a specific intermediate floor between the floor where the priority moving object gets on and the floor where the priority moving object is located. The robot movement system described in Aspect 1.

[0071] With this configuration, the mobile robot gets off the elevator car at an intermediate floor before arriving at the floor where the priority moving object is located, which prevents the priority moving object from bumping into the mobile robot when trying to get into the elevator car, thereby preventing the priority moving object from taking a long time to reach its destination.

[0072] (Aspect 3) The robot movement system described in Aspect 2, wherein the processing circuit is configured to acquire a plurality of tasks within the facility, and when it is determined that the condition is met, changing the planned movement path includes redetermining a task to be assigned to the mobile robot from the plurality of tasks, the task including movement from an elevator hall at the specific intermediate floor as a starting point to a destination.

[0073] According to this configuration, after the mobile robot gets off the elevator car at an intermediate floor, the mobile robot can be moved efficiently to perform a task.

[0074] (Aspect 4) The processing circuit is further configured to determine whether there are multiple intermediate floor candidates between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body is located, and to obtain tasks within the facility that are not assigned to the mobile robot, and changing the planned movement path includes selecting a floor where the task is located from the multiple intermediate floor candidates as the specific intermediate floor. A robot movement system as described in Aspect 2 or 3.

[0075] According to this configuration, when there are multiple intermediate floor candidates, the mobile robot can be made to perform a task on an intermediate floor, thereby preventing a decrease in the efficiency of the planned movement route of the mobile robot after the change.

[0076] (Aspect 5) A robot movement system described in any of Aspects 2 to 4, wherein the processing circuit is configured to: determine whether there are multiple intermediate floor candidates between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body is located; and determine whether any of the intermediate floor candidates includes a floor where a call for the elevator car has occurred; and changing the planned movement path includes selecting the floor where the call has occurred from the multiple intermediate floor candidates as the specific intermediate floor.

[0077] According to this configuration, the mobile robot gets off the elevator car at the floor where it was scheduled to stop in response to a call, thereby preventing the elevator car from stopping unnecessarily.

[0078] (Aspect 6) A robot movement system according to any one of Aspects 1 to 5, wherein the processing circuit is configured to acquire a planned usage time, which is the time when the mobile robot is scheduled to use the elevator, and a planned usage time, which is the time when the priority moving body is scheduled to use the elevator, and changing the planned movement path includes changing the planned movement path when it is determined that the time difference between the planned usage time of the mobile robot and the planned usage time of the priority moving body is less than a predetermined threshold.

[0079] According to this configuration, the planned movement route of the mobile robot can be effectively changed taking into consideration the scheduled time when the priority moving object will use the elevator.

[0080] (Aspect 7) The robot movement system according to any one of Aspects 1 to 6, wherein changing the planned movement path includes changing the planned movement path when the mobile robot is riding on the elevator car.

[0081] According to this configuration, even if the mobile robot is already using the elevator, the planned movement route of the mobile robot can be changed so that the priority moving object can efficiently use the elevator.

[0082] (Mode 8) A system for moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, the robot movement system comprising a processing circuit configured to output a command to cause the mobile robot to exit the lifting car at a floor other than the scheduled destination floor when it is determined that the relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0083] According to this configuration, by changing the mobile robot's elevator travel route so that the priority mobile object can use the elevator efficiently, it is possible to prevent the priority mobile object from arriving at its destination late due to the mobile robot. On the other hand, when a mobile object other than the priority mobile object uses the elevator, the mobile robot does not necessarily need to change its elevator travel route. Therefore, all mobile objects, including the mobile robot, can move efficiently within a facility equipped with elevators.

[0084] (Aspect 9) A system for moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, the robot movement system comprising a processing circuit configured to determine a floor to which the mobile robot should descend from the lifting car based on a plurality of tasks within the facility when it is determined that the relative positional relationship between a priority moving body and the elevator satisfies a predetermined condition.

[0085] According to this configuration, by changing the elevator-using movement route of the mobile robot so that the priority moving object can efficiently use the elevator, it is possible to prevent the priority moving object from being delayed in arriving at its destination due to the mobile robot. Also, after the mobile robot gets off the elevator car at an intermediate floor, it can be moved efficiently to perform a task.

[0086] (Mode 10) A method for autonomously moving a mobile robot within a multi-story facility equipped with an elevator having a lifting car, the method comprising: changing the planned movement path of the mobile robot by changing the movement path of the mobile robot using the elevator based on information regarding the planned use of the elevator by a priority moving body.

[0087] (Aspect 11) A robot movement program that causes at least one processor to execute the method according to aspect 10.

[0088] REFERENCE SIGNS LIST 1 Robot movement system 2 Mobile robot 2A First mobile robot 2B Second mobile robot 3 Server 6 Priority mobile object 7 Facility 8 Elevator 20 Processing circuit 21 Processor 33 Lift car P2 Program

Claims

1. A robot movement system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, the system comprising a processing circuit configured to change a planned movement path of the mobile robot by changing a movement path of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

2. The processing circuit is configured to determine whether or not a condition is satisfied that the priority moving body is planned to use the elevator and the moving direction of the mobile robot when the elevator is used is a direction toward the floor where the priority moving body is present. When it is determined that the condition is satisfied, changing the planned movement path includes changing the planned movement path so that the mobile robot gets off the elevator at a specific intermediate floor between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body is present. The robot movement system according to claim 1.

3. The processing circuit is configured to acquire a plurality of tasks within the facility. When it is determined that the condition is satisfied, changing the planned movement path includes re-determining a task to be assigned to the mobile robot from among the plurality of tasks, the task including movement from the elevator hall on the specific intermediate floor to a destination. The robot movement system according to claim 2.

4. The processing circuit is further configured to determine whether there are a plurality of intermediate floor candidates between the floor where the mobile robot gets into the elevator car and the floor where the priority moving body is present, and to acquire tasks within the facility that are not assigned to the mobile robot. Changing the planned movement path includes selecting, as the specific intermediate floor, the floor where the task is present from among the plurality of intermediate floor candidates. The robot movement system according to claim 2 or 3.

5. The processing circuit is configured to determine whether there are a plurality of intermediate floor candidates between the floor on which the mobile robot is to board the elevator car and the floor where the priority moving body exists, and to determine whether there is a floor among the intermediate floor candidates where a call for the elevator car has occurred. Changing the planned movement path includes selecting, as the specific intermediate floor, the floor where the call has occurred from among the plurality of intermediate floor candidates. The robot movement system according to any one of claims 2 to 4.

6. The processing circuit is configured to acquire a planned use time, which is the time when the mobile robot is planned to use the elevator, and a planned use time, which is the time when the priority moving body is planned to use the elevator. Changing the planned movement path includes changing the planned movement path when it is determined that the time difference between the planned use time of the mobile robot and the planned use time of the priority moving body is less than a predetermined threshold. The robot movement system according to any one of claims 1 to 5.

7. Changing the planned movement path includes changing the planned movement path when the mobile robot is on the elevator car. The robot movement system according to any one of claims 1 to 6.

8. A system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, comprising a processing circuit configured to output a command to cause the mobile robot to get off the elevator car at a floor different from the planned destination floor when it is determined that the relative positional relationship between the priority moving body and the elevator satisfies a predetermined condition. Robot movement system.

9. A system for moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, comprising a processing circuit configured to determine the floor for the mobile robot to get off the elevator car based on a plurality of tasks within the facility when it is determined that the relative positional relationship between the priority moving body and the elevator satisfies a predetermined condition. Robot movement system.

10. A method for autonomously moving a mobile robot within a multi-story facility equipped with an elevator having an elevator car, the method comprising changing a planned movement route of the mobile robot by changing a movement route of the mobile robot using the elevator based on information regarding a planned use of the elevator by a priority moving body.

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

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