JP2012196731A - System and method for controlling movement of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a boarding order of robots on an elevator based on a degree of priority.SOLUTION: A system 100 for controlling the movement of robots includes: a position estimation means 12; a path generation means 13; a boarding time calculation means 141 for calculating expendable time when the robot 1 travels by the elevator 4; a determination means 221 for calculating each of the time consumed when each of the robots actually travels by the elevator 4 based on a permutated boarding order to determine whether the time consumed when actually travelling by the elevator 4 is larger than the expendable time when travelling by the elevator 4; a delay information generating means 142 for generating delay information of a corresponding robot 1 based on the determination result; a movement directing means 143 for controlling the corresponding robot 1 to execute the control for travelling to an arrival point based on the determination result; and an informing means 32 to which the delay information is informed.

Description

  The present invention relates to a robot movement management system and movement management method, and more particularly to a movement management system and movement management method for a plurality of robots that move using an elevator.

  Robots that move in hospitals and offices have been put into practical use. Such robots ride on elevators and move to other floors. However, when there are a plurality of robots, the order in which the robots board the elevators is the order in which the elevator management system requested boarding.

  By the way, Patent Document 1 discloses a technique for setting a priority order for a request sent from a mobile robot and moving an elevator according to the priority order. Thereby, a visitor with a high priority can be boarded in an elevator among the visitors to whom the mobile robot responded. However, this is not a technique for setting a priority order when a mobile robot gets on an elevator.

  Patent Document 2 discloses a technique for outputting an alarm to a monitoring panel when a time delay occurs in a robot that is on an elevator. Thereby, the operator can recognize whether or not a time delay has occurred in the robot. However, this is not a technique for predicting that a delay will occur in advance and notifying the operator.

  In Patent Document 3, in a production facility where an automated guided vehicle moves using an elevator on the parts storage floor and the production line floor, the part consumption time at each station that requires parts supply and the space between the station and the parts warehouse are unmanned. A technique for setting at least one of a travel route and a travel speed of an automatic guided vehicle so that the reciprocation time for the transport vehicle to reciprocate becomes substantially equal is disclosed. Thereby, it can prevent that supply of components is delayed. However, this is not a technique for setting priorities when an automated guided vehicle gets on an elevator or notifying that when a delay is expected to occur.

JP 2006-198730 A JP 2007-137650 A JP-A-8-155761

  When the robots are boarded in the elevator in the order requested to board the elevator management system as in the above-mentioned technology, the low-priority robots first board the elevator, and the high-priority robots are within the specified time. May not arrive.

  The present invention has been made to solve such a problem, and provides a robot movement management system and a movement management method capable of setting the boarding order of the robot in the elevator based on the priority level. It is intended to do.

  A movement management system for a robot according to an aspect of the present invention is a movement management system for a plurality of robots that moves to a target arrival point by boarding an elevator, and is a position estimation unit that estimates a current position of the robot. And route generation means for generating route information including information on the elevator to be used based on the arrival point information and position information of the robot, and based on the position information and route information of the robot, the robot is A boarding time calculating means for calculating a time that can be consumed when moving, and a boarding rank for each robot based on a predetermined priority order, and the actual time in the elevator for each robot based on the boarding rank The time consumed when moving to the elevator is calculated, and the time consumed when actually moving with the elevator is calculated with the elevator. Determining means for determining whether or not it is time that can be consumed or not, and time that is consumed when actually moving by the elevator is more than time that can be consumed when moving by the elevator, The delay information generating means for generating the delay information of the corresponding robot, and the time consumed when actually moving by the elevator is less than the time that can be consumed when moving by the elevator, the corresponding robot A movement instructing unit for executing control to move to the arrival point, and a notification unit for notifying the delay information.

  In the robot movement management system, the delay information generation means is configured such that the time consumed when the determination result is actually moved by the elevator is equal to or longer than the time that can be consumed when moving by the elevator. It is determined whether there is another elevator that can be used. If there is another elevator that can be used, the route generation unit generates route information using the elevator of the corresponding robot, and so on. If there is no elevator available, it is preferable to generate delay information of the corresponding robot.

  In the robot movement management system, the delay information generation unit generates the expected arrival time information of the robot based on a time consumed when actually moving by the elevator and a current time, and the notification unit Is preferably output.

  In the robot movement management system, the determination unit calculates a weight based on a task type for each robot or a time that can be consumed when moving by the elevator, and based on the weight, for each robot. It is preferable to set priorities.

  In the robot movement management system, the robot includes the position estimation unit, the route generation unit, the boarding time calculation unit, the delay information generation unit, and the movement instruction unit. An elevator management system including the robot, the determination unit, a communication terminal including an input unit that allows a user to input an arrival point and a desired arrival time of the robot, and the notification unit. Is preferably configured to allow wireless communication.

  A movement management method for a robot according to an aspect of the present invention is a movement management method for a plurality of robots that travel to a target arrival point by boarding an elevator, and estimating a current position of the robot; Based on the arrival point information and position information of the robot, generating route information including information on the elevator to be used, and when the robot moves in the elevator based on the position information and route information of the robot A step of calculating a consumable time and a boarding rank for each robot are determined based on a predetermined priority order, and consumed when actually moving in the elevator for each robot based on the boarding rank. The time that is consumed when actually moving in the elevator after calculating the time, the time that can be consumed when moving in the elevator Determining whether or not it is above, and generating the delay information of the corresponding robot if the time consumed when actually moving by the elevator is more than the time that can be consumed when moving by the elevator And, when the time consumed when actually moving by the elevator is less than the time that can be consumed when moving by the elevator, the corresponding robot is controlled to move to the arrival point. And a step of notifying the delay information.

  In the robot movement management method described above, there is another elevator that can be used when the determination result shows that the time consumed when actually moving by the elevator is longer than the time that can be consumed when moving by the elevator. Determining whether or not there is another available elevator, generating route information using the elevator of the corresponding robot, and if there is no other available elevator, the corresponding Generating delay information of the robot.

  In the robot movement management method described above, the method includes the steps of generating estimated arrival time information of the robot and notifying the arrival time information based on a time consumed when actually moving by the elevator and a current time. It is preferable.

  In the robot movement management method, in the step of outputting the determination result, a weight is calculated based on a task type for each robot or a time that can be consumed when moving by the elevator, and based on the weight It is preferable to set a priority order for each robot.

  As described above, according to the present invention, it is possible to set the boarding order of the robot in the elevator based on the priority level.

1 is a block diagram schematically showing a movement management system for a robot according to an embodiment of the present invention. It is a figure which shows roughly the form by which the movement management system of the robot which concerns on embodiment of this invention is used. It is a block diagram of a route evaluation part. It is a flowchart figure of the movement management method of the robot which concerns on embodiment of this invention. It is a figure explaining the weighting based on the content of a task. It is a figure explaining the weighting based on the time which can be consumed when moving by an elevator. It is a figure explaining rearrangement of the boarding rank of a robot. It is a figure which shows roughly the state which notified the delay information and the estimated arrival time to the notification part.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

First, a configuration of a robot movement management system (hereinafter, also referred to as a movement management system) according to the present embodiment will be briefly described.
As shown in FIG. 1, the movement management system 100 includes a plurality of robots 1, an elevator management system 2, and a communication terminal 3. When the user operates the communication terminal 3 to set the arrival point, task (work content), desired arrival time, etc. of the robot 1, the elevator management system 2 causes the robot to actually execute the task from the plurality of robots 1. Select 1.

  The selected robot 1 generates route information to the arrival point, calculates the time that can be consumed when moving in the elevator scheduled to board, and manages the calculated time information and the boarding request information for the elevator. Output to system 2.

  The elevator management system 2 receives the time information calculated by the selected robot and the boarding request information. Based on the preset priority order for each robot, the elevator management system 2 sets the information for each robot in the elevator that requested the boarding. Determine the priority order, calculate the time consumed when actually moving by the elevator, and whether the time consumed when actually moving by the elevator is more than the time that can be consumed when moving by the elevator And the determination result is output for each robot.

  The robot 1 to which the determination result is input causes the communication terminal 3 to output delay information when the time consumed when actually moving by the elevator is longer than the time that can be consumed when moving by the elevator. On the other hand, if the time consumed when actually moving by the elevator is less than the time that can be consumed when moving by the elevator, the robot 1 moves following the generated route information.

  Thereby, the boarding rank of the robot 1 can be set based on the priority level. Moreover, since the delay information is output to the communication terminal 3 to the user who gives an instruction to the robot 1 that is delayed, it can be recognized that the arrival of the robot 1 is delayed.

Hereinafter, the configuration of the mobility management system 100 will be specifically described.
As shown in FIG. 2, the robot 1 is a self-moving robot that autonomously moves in a building using an elevator 4. In the present embodiment, a plurality of such robots 1 are provided. These robots 1 are managed and controlled by the robot management unit 21 of the elevator management system 2 such as the contents of the accepted tasks, the operating state, and the current position information.

  The robot 1 receives the arrival point information, task information, desired arrival time information, identification information of the communication terminal 3 that has input the task, and the time consumed when actually moving by the elevator 4 from the elevator management system 2. The determination result of whether or not it is the time that can be consumed when moving in, the boarding permission information, the disembarkation permission information, and the like are input. On the other hand, the robot 1 outputs time information, position information, boarding request information, boarding permission request information, and the like that can be consumed when moving by the elevator 4 to the elevator management system 2. In addition, the robot 1 delay information indicating that the time consumed when actually moving with the elevator 4 is greater than or equal to the time that can be consumed when moving with the elevator 4 with respect to the communication terminal 3 that has input the task. Output the estimated arrival time etc.

  As illustrated in FIG. 1, the robot 1 includes a drive unit 11, a position estimation unit 12, a route generation unit 13, a route evaluation unit 14, and a communication unit 15. Although not shown, the drive unit 11 includes drive sources such as wheels and a drive motor, and generates a predetermined torque to the drive motor so that the robot 1 can be moved according to the generated route information. .

  The position estimation unit 12 estimates the current position of the robot 1. That is, the position estimation unit 12 includes an environmental information acquisition unit (not shown) such as a laser range sensor, and collates the environmental information acquired by the environmental information acquisition unit with a map of each floor acquired in advance. The current position on the map is estimated.

  When the robot on which the route generation unit 13 is mounted is selected as a robot that actually executes a task, the route generation unit 13 generates a route to the arrival point based on the input arrival point information and the like. . That is, the route generation unit 13 determines the elevator 4 closest to the current position of the robot 1 based on the input arrival point information, the position information of the robot 1 and the map of each floor acquired in advance. The shortest path from the current position of the robot 1 to the arrival point is generated by selection.

  As illustrated in FIG. 3, the route evaluation unit 14 includes a boarding time calculation unit 141, a delay information generation unit 142, and a movement instruction unit 143. When the robot 1 moves by the elevator 4 based on the input position information of the robot 1, the route information including the elevator information to be used, and the desired arrival time of the robot 1, the boarding time calculation unit 141 The time that can be consumed is calculated. The calculation method will be described later.

  The boarding time calculation unit 141 outputs the calculated boarding time information to the elevator management system 2. Further, the boarding time calculation unit 141 determines the elevator 4 that is going to board based on the elevator information included in the input route information, and outputs the boarding request information of the elevator 4 to the elevator management system 2.

  The delay information generation unit 142 generates delay information indicating that the time is consumed when actually moving by the elevator 4 is longer than the time that can be consumed when moving by the elevator 4, and the elevator management system The delay information is directly output to the communication terminal 3 via 2 or based on the input identification information of the communication terminal 3. Further, the delay information generation unit 142 generates an estimated arrival time at which the robot 1 arrives at the arrival position based on the time consumed when the elevator 4 actually moves and the current time, and the elevator management system 2 is output to the communication terminal 3 via 2 or directly.

  Based on the control of the elevator management system 2 and the like, as will be described later, the movement instruction unit 143 determines that the time consumed when actually moving by the elevator 4 is less than the time that can be consumed when moving by the elevator 4. Then, the drive unit 11 is caused to execute control for moving the robot 1 to the arrival point. Further, the movement instructing unit 143 generates an estimated arrival time at which the robot 1 arrives at the arrival position based on the time actually consumed when the elevator 4 is input and the current time, and sends it to the communication terminal 3. The estimated arrival time is output. Furthermore, the movement instruction unit 143 determines the elevator 4 that is about to board based on the elevator information included in the input route information, and outputs the boarding permission request information of the elevator 4 to the elevator management system 2.

  The communication unit 15 realizes wireless communication between the communication unit 23 of the elevator management system 2 and the communication unit 33 of the communication terminal 3. Incidentally, a general communication method can be used as the communication method.

  The elevator management system 2 receives time information, position information, boarding request information, boarding permission request information, and the like that can be consumed when the elevator 4 moves from a plurality of robots 1. Also, arrival point information, task information, desired arrival time, identification information of the communication terminal 3 and the like are input from a plurality or a single communication terminal 3. On the other hand, the elevator management system 2 moves to the selected robot 1 by arrival point information, task information, desired arrival time, identification information of the communication terminal 3 that inputs the task to be executed by the robot 1, and the elevator 4. A determination result or the like of whether or not the time consumed when the vehicle travels is longer than the time that can be consumed when traveling by the elevator 4 is output. Further, the elevator management system 2 outputs boarding permission information, dismounting permission information, and the like to the robot 1.

  As shown in FIG. 1, the elevator management system 2 includes a robot management unit 21, an elevator management unit 22, and a communication unit 23. Based on the position information input from the robot 1, the task information input from the communication terminal 3, the identification information of the communication terminal 3, and the like, the robot management unit 21 determines the task contents and tasks received for each robot. The instructed communication terminal, operating state, current position information, etc. are managed. That is, the robot management unit 21 manages the state of each robot 1 managed by the movement management system 100.

  Based on the position information input from the robot 1, the arrival point information input from the communication terminal 3, the task information, and the like, the robot management unit 21 determines whether, for example, a task is currently received from the plurality of robots 1. The robot 1 that actually executes the instruction is selected according to conditions such as whether or not it is closest to the arrival point. Furthermore, the robot management unit 21 outputs arrival point information, task information, desired arrival time, and identification information of the communication terminal 3 to which the task to be executed by the robot 1 is input to the selected robot 1. A known technique can be used for such a robot management technique.

  The elevator management unit 22 manages the operation of the elevator 4. That is, the elevator management unit 22 outputs boarding permission information and dismounting permission information to the robot 1 based on the boarding permission request information from the robot 1, raises and lowers the elevator 4, and opens and closes the door of the elevator 4. I will let you.

  Specifically, the elevator management unit 22 causes the robot 1 to board the elevator 4 and to get off the elevator 4 as follows. First, when the robot 1 arrives in front of the door of the elevator 4 on which the vehicle 1 is boarded, the movement instruction unit 143 of the robot 1 outputs the boarding permission request information to the elevator management unit 22. Based on the boarding permission request information input, the elevator management unit 22 stops the elevator 4 on the floor on which the robot 1 is waiting, opens the door, and outputs the boarding permission information to the movement instruction unit 143 of the robot 1. To do. The movement instruction unit 143 of the robot 1 controls the driving unit 11 to board the robot 1 on the elevator 4 based on the input boarding permission information. When the elevator management unit 22 receives a boarding completion notification from the robot 1, the elevator management unit 22 raises and lowers the elevator 4 to a predetermined floor based on arrival position information and the like input from the robot management unit 21. Open door # 4. Then, the elevator management unit 22 outputs the exit permission information to the movement instruction unit 143 of the robot 1. The movement instructing unit 143 of the robot 1 controls the driving unit 11 to lower the robot 1 from the elevator 4 based on the input dismissal permission information.

  The elevator management unit 22 includes a determination unit 221. The determination unit 221 receives the boarding request information for the elevator 4 from the boarding time calculation unit 141 of the robot 1, and the boarding order for each robot in the elevator 4 that has made the boarding request based on a predetermined priority order. To decide. The setting of the priority order will be described later.

  The determination unit 221 calculates the time consumed when actually moving by the elevator 4 for each robot based on the boarding rank, and the time consumed when actually moving by the elevator 4 is the elevator input from the robot 1. 4, it is determined whether or not it is the time that can be consumed when moving, and the determination result is output to the robot 1.

The communication unit 23 realizes wireless communication between the communication unit 15 of the robot 1 and the communication unit 33 of the communication terminal 3.
The communication terminal 3 is input with delay information indicating that the time consumed when actually moving from the robot 1 by the elevator 4 is longer than the time that can be consumed when moving by the elevator 4, the estimated arrival time, and the like. . On the other hand, the communication terminal 3 outputs arrival point information, task information, desired arrival time information, identification information of the communication terminal 3 and the like to the elevator management system 2.

  The communication terminal 3 includes an input unit 31, a notification unit 32, and a communication unit 33. The input unit 31 reads a plurality of arrival point information stored in advance in the communication terminal 3, a plurality of task information to be executed by the robot 1, and displays the information on a notification unit 32 having a display device, for example. The input unit 31 prompts the user to select an arrival point option displayed, prompts the user to select a task option to be executed by the robot, or prompts the user to input a desired arrival time. The user selects an arrival point option from the input unit 31, selects a task option to be executed by the robot 1, or inputs a desired arrival time. As a result, the communication terminal 3 outputs the arrival point information, task information, desired arrival time information, and identification information of the communication terminal 3 to the elevator management system 2.

  The notification unit 32 includes a display device. The notification unit 32 displays input delay information, estimated arrival time, task options, arrival position options, estimated arrival time input form, and the like.

  The communication unit 33 realizes wireless communication between the communication unit 15 of the robot 1 and the communication unit 23 of the elevator management system 2.

  The mobility management system 100 having such a configuration operates as shown in FIG. Incidentally, in FIG. 4, the process executed on the robot side is shown on the left side, and the process executed on the elevator management system side is shown on the right side.

  First, when a user operates the input unit 31 of the communication terminal 3 and inputs an arrival point, a task, and a desired arrival time, the communication terminal 3 displays the arrival point information, task information, desired arrival time information, and the communication terminal. 3 is output to the elevator management system 2 via the communication unit 33 and the communication unit 23 of the elevator management system 2.

  The robot management unit 21 of the elevator management system 2 selects the robot 1 that actually executes the task among the plurality of robots 1 based on the input arrival point information and task information. Then, the robot management unit 21 outputs arrival position information, task information, desired arrival time information, and identification information of the communication terminal 3 to the robot 1 via the communication unit 23 and the communication unit 15 of the robot 1.

  The route generation unit 13 of the robot 1 generates a route to the arrival point based on the input arrival position information, the position information of the robot 1 estimated by the position estimation unit 12, and the like. (S1).

The route evaluation unit 14 of the robot 1 calculates time that can be consumed when the robot 1 moves by the elevator 4 based on the input position information of the robot 1, route information, and desired arrival time information. (S2). In other words, the boarding time calculation unit 141 of the route evaluation unit 14 determines the distance (da) from the current position of the robot 1 to the elevator 4 on the boarding floor and the elevator on the dismounting floor based on the position information and route information of the robot 1. The distance (db) from 4 to the arrival position is calculated. The boarding time calculation unit 141 is preset with a calculated distance (da) from the current position of the robot 1 to the elevator 4 on the boarding floor and a distance (db) from the elevator 4 to the arrival position on the dismounting floor. Based on the virtual speed (vt), desired arrival time (tl) of the robot 1, and the current time (tc) at the time of route planning, the time (rt) that can be consumed by the movement of the elevator 4 is calculated by the following <Expression 1>. To do. Incidentally, the current time information may be acquired from a clock function provided in the robot 1 or may be input from the outside.
<Formula 1> rt = (tl−tc) − (da + db) / vt

  The boarding time calculation unit 141 generates boarding request information, and sends the boarding request information and the calculated time information that can be consumed by the movement of the elevator 4 via the communication unit 15 and the communication unit 23 of the elevator management system 2. And output to the elevator management system 2 (S3).

  The determination unit 221 of the elevator management unit 22 in the elevator management system 2 receives boarding request information for the elevator 4 from the robot 1 (S4), and the elevator 4 that has made a boarding request based on a predetermined priority order. Determine the boarding order for each robot.

  At this time, the determination unit 221 calculates a weight based on the type of task for each robot, the time that can be consumed when moving by the elevator 4, and sets the priority for each robot based on this weight (S5). ).

  Here, the priority order for each robot is set as follows. As illustrated in FIG. 5, the task is weighted in advance. Further, as illustrated in FIG. 6, the time that can be consumed for the movement of the elevator 4 is weighted in advance. Incidentally, as shown in the example in the figure, parameters are assigned to each task and consumable time.

  The determination unit 221 integrates the weight of the task and the weight of the consumable time based on the input task information and the time information that can be consumed by the movement of the elevator 4. For example, when the task to be executed by the robot α1 is a patrol in a building and the consumable time is 3 minutes, the determination unit 221 determines that the weight of the robot α1 is 3 × with reference to FIGS. 5 and 6. 7 becomes 21. As described above, the determination unit 221 calculates the weight of each robot (for example, robots α1 to α5) as shown in FIG. And the determination part 221 rearranges the robot boarded in the elevator 4 in the order with the said weight high (S6). For example, in the example of FIG. 7, the robot α1 requests boarding fifth, but is ranked fourth after rearrangement. Incidentally, when the user has not input the desired arrival time, the weight of the robot is calculated with the weight of the time that can be consumed being 2 (that is, the state that can consume the most time).

  The determination part 221 calculates the time consumed when actually moving with the elevator 4 for every robot based on boarding rank (S7).

Here, the time consumed when actually moving by the elevator 4 for each robot is calculated as follows. The time (a1) when the robot 1 that has previously boarded the elevator 4 finishes using the elevator 4, and arrives in front of the door of the elevator 4 on which the robot 1 is boarded, and then requests the boarding permission from the elevator management system 2 Time until information is output (a2), time from when the robot 1 outputs the boarding permission request information to time when the elevator 4 arrives on the floor where the robot 1 waits under the control of the elevator management system 2 (a3), The time (a4) from when the elevator 4 arrives at the predetermined floor to when the elevator 4 on which the robot 1 is boarded arrives at the predetermined floor under the control of the elevator management system 2, and after the elevator 4 arrives at the predetermined floor Based on the time (a5) until the robot 1 is lowered by the control of the elevator management system 2 and the door is closed. If the time to be consumed for actually moving the elevator 4 (et) can be calculated by the following <Formula 2>. However, other consumption time is added as needed.
<Formula 2> et = a1 + a2 + a3 + a4 + a5...

  The determination unit 221 determines whether or not the calculated time consumed when actually moving by the elevator 4 is equal to or longer than the time that can be consumed when moving by the input elevator 4 (S8). Is output to the robot 1 (S9). Here, it is preferable that the determination unit 221 outputs, to the robot 1, time information consumed when the elevator 4 is actually moved in accordance with the determination result.

  Incidentally, a waiting time that can be allowed by the user is set in the determination unit 221 in advance. As a result of the determination by the determination unit 221, the time consumed when actually moving in the elevator 4 is calculated as the elevator 4 moves. If the allowable time is exceeded, the route change notification may be output to the robot 1.

  The robot 1 is input with a determination result, a time consumed when the elevator 4 actually moves, and the like. Then, the route evaluation unit 14 of the robot 1 refers to the determination result (S10). If the time consumed when actually moving by the elevator 4 is less than the time that can be consumed when the elevator 4 moves, the movement instructing unit 143 of the route evaluating unit 14 sends the driving unit 11 to the route generating unit 13. The robot 1 is controlled to move according to the generated route information (S14). The drive unit 11 controls the drive motor so as to move to the arrival point while referring to the position information of the robot itself, based on the generated route information, based on the input execution instruction information.

  At this time, the movement instructing unit 143 generates the arrival time information of the robot 1 based on the time information and the current time information consumed when the elevator 4 is actually moved, and the arrival instruction time information is transmitted to the communication terminal 3. It is preferable to output time information.

  On the other hand, if the time consumed when the elevator 4 actually moves is equal to or longer than the time that can be consumed when the elevator 4 moves, the delay information generation unit 142 of the route evaluation unit 14 may use another elevator that can be used. 4 is determined (S11). If there is another elevator 4 that can be used, the process returns to S1.

  On the other hand, when there is no other elevator that can be used, the delay information generation unit 142 moves to the communication terminal 3 that has input a task to be executed or the like via the elevator management system 2 or directly by the elevator 4. In addition to outputting delay information indicating that the time consumed by the elevator 4 is longer than the time that can be consumed when the elevator 4 moves, the estimated arrival time is output (S12). As a result, the user can recognize that the arrival of the robot 1 is delayed because the delay information is output to the communication terminal 3 as shown in FIG.

  At this time, it is preferable that the communication terminal 3 prompts the robot 1 to input whether to stop the task execution (S13). When the user inputs a task execution stop via the input unit 31 of the communication terminal 3, the robot 1 stops the task execution (in the case of YES in S13). On the other hand, when the user inputs task execution to the robot 1 via the input unit 31 of the communication terminal 3, the route evaluation unit 14 of the robot 1 follows the route information generated by the route generation unit 13 in the drive unit 11. 1 is controlled to move (in the case of NO in S13). The drive unit 11 controls the drive motor so as to move to the arrival point while referring to the position information of the robot itself, based on the generated route information, based on the input execution instruction information.

  In such a robot movement management system and movement management method, the boarding rank of the robot 1 can be set based on the level of priority set in advance based on the time that can be consumed for tasks and robot movement. At this time, since the priority level is set by weighting the time that can be consumed for the movement of the task or the robot, the priority level can be set easily.

  Moreover, since the delay information is output to the communication terminal 3 to the user who gives an instruction to the robot 1 that is delayed, it can be recognized that the arrival of the robot 1 is delayed.

  The embodiment of the robot movement management system and movement management method according to the present invention has been described above. However, the present invention is not limited to the above-described configuration, and modifications can be made without departing from the technical idea of the present invention.

  In the above embodiment, the robot 1 includes the position estimation unit 12, the route generation unit 13, and the route evaluation unit 14, but some or all of them are stored in an external server or the like, and sequentially with the robot 1. A form in which information communication is performed may be used.

  In the above-described embodiment, the elevator management system 2 includes the robot management unit 21. However, the elevator management system 2 may be stored in an external server or the like, and information communication may be sequentially performed with the elevator management system 2 or the robot 1.

DESCRIPTION OF SYMBOLS 1 Robot, 11 Drive part, 12 Position estimation part, 13 Route generation part, 14 Path evaluation part, 141 Boarding time calculation part, 142 Delay information generation part, 143 Movement instruction part, 15 Communication part 2 Elevator management system, 21 Robot management Part, 22 elevator management part, 221 determination part, 23 communication part 3 communication terminal, 31 input part, 32 communication part 4 elevator 100 movement management system

Claims (9)

A movement management system for a plurality of robots that travels to a target arrival point by boarding an elevator,
Position estimating means for estimating a current position of the robot;
Route generating means for generating route information including elevator information to be used based on the arrival point information and position information of the robot;
Boarding time calculating means for calculating time that can be consumed when the robot moves by the elevator based on the position information and route information of the robot;
Based on a predetermined priority order, the boarding order for each robot is determined, and the time consumed when actually moving in the elevator for each robot based on the boarding order is calculated. Determining means for determining whether or not the time consumed when moving is equal to or longer than the time that can be consumed when moving by the elevator;
A delay information generating unit that generates delay information of the corresponding robot, when the time consumed when actually moving by the elevator is equal to or longer than the time that can be consumed when moving by the elevator;
If the time consumed when actually moving by the elevator is less than the time that can be consumed when moving by the elevator, the movement instruction means for executing control to move the robot to the arrival point. When,
A notification means for notifying the delay information;
A robot movement management system comprising:   Whether the delay information generating means has another elevator that can be used if the time consumed when the determination result is actually moved by the elevator is greater than or equal to the time that can be consumed when moving by the elevator If there is another elevator that can be used, the route generation means generates route information using the elevator of the corresponding robot, and if there is no other available elevator, The robot movement management system according to claim 1, wherein delay information of the corresponding robot is generated.   The delay information generation means generates expected arrival time information of the robot based on a time consumed when actually moving by the elevator and a current time, and outputs the information to the notification means. The robot movement management system described.   The determination unit calculates a weight based on a task type for each robot or a time that can be consumed when moving by the elevator, and sets a priority for each robot based on the weight. 4. The movement management system for a robot according to any one of 3 above. The robot is a self-sustaining movement type robot including the position estimation unit, the route generation unit, the boarding time calculation unit, the delay information generation unit, and the movement instruction unit,
Wireless communication is possible between the robot, an elevator management system including the determination unit, and a communication terminal including an input unit that allows a user to input an arrival point and a desired arrival time of the robot, and the notification unit. The robot movement management system according to any one of claims 1 to 4, wherein the robot movement management system is configured as described above. A movement management method for a plurality of robots that travel to an elevator and travel to a target arrival point.
Estimating a current position of the robot;
Generating route information including elevator information to be used based on the robot arrival point information and position information;
Calculating the time that can be consumed when the robot moves in the elevator based on the position information and route information of the robot;
Based on a predetermined priority order, the boarding order for each robot is determined, and the time consumed when actually moving in the elevator for each robot based on the boarding order is calculated. Determining whether the time consumed when traveling is equal to or greater than the time that can be consumed when traveling by the elevator; and
Generating delay information of the corresponding robot when the time consumed when actually moving by the elevator is equal to or longer than the time that can be consumed when moving by the elevator;
When the time consumed when actually moving by the elevator is less than the time that can be consumed when moving by the elevator, the step of causing the corresponding robot to move to the arrival point is executed, and
Notifying the delay information;
A robot movement management method comprising: Determining whether or not there is another elevator that can be used when the determination result is a time that is consumed when actually moving in the elevator is longer than a time that can be consumed when moving in the elevator;
If there is another available elevator, generating route information using the elevator of the robot in question,
If there is no other elevator available, generating delay information for the robot in question;
A robot movement management method according to claim 6.   The robot according to claim 6, further comprising a step of generating estimated arrival time information of the robot based on a time consumed when actually moving by the elevator and a current time, and notifying the arrival time information. Mobility management method.   In the step of outputting the determination result, a weight is calculated based on a task type for each robot or a time that can be consumed when moving by the elevator, and a priority order for each robot is set based on the weight. The robot movement management method according to any one of claims 6 to 8.

Images