JP2017220123A - Mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile robot capable of ensuring user's convenience while increasing operational efficiency of an elevator.SOLUTION: The mobile robot is a mobile robot which is driven by a travel part to move among plural floors using an elevator. The mobile robot includes: a storage part that stores a piece of information on a stop area in the elevator basket; a circumstance information acquisition section that acquires circumstance information around the mobile robot; and a travel control unit that determines an available position for the mobile robot in the stop area based on the circumstance information and controls the travel part so that the mobile robot stops at the available position.SELECTED DRAWING: Figure 6A

Description

  The present invention relates to a mobile robot.

  2. Description of the Related Art Conventionally, there is a mobile robot that uses an elevator to move through a floor in a building to perform a service.

  For example, in Patent Documents 1 to 3, when there is a mobile robot that uses an elevator, the elevator is switched to a mode dedicated to the mobile robot, and when the mode dedicated to the mobile robot ends, a mode in which the general user uses the elevator A system to switch to is proposed.

  Further, Patent Document 4 discloses a system capable of increasing the operation efficiency of an elevator by simultaneously using the elevator by a user (passenger) and a mobile robot (automated guided vehicle).

  In Patent Document 4, when the number of passengers in the cage is detected to detect the number of users in the cage, and the call from the mobile robot is generated, the above system is information on the number of users from the passenger number detector in the cage. When the number of users in the cage is less than a predetermined value and there is a riding space for the mobile robot, it responds to the call. Further, the system receives a signal from the elevator when the mobile robot and the user ride in the cage, and reduces the speed at which the mobile robot gets into the elevator or descends from the elevator. Yes.

JP-A-4-42371 JP 2001-171918 A JP 2009-51617 A JP-A-6-9182

  However, in the system disclosed in Patent Document 4 above, the position of an obstacle such as a user or an object in the elevator is indefinite, and there is an obstacle at the place set as the stop position of the mobile robot. , There is a risk that the mobile robot will avoid obstacles, the mobile robot may stop in front of the elevator control panel or in a place where it gets in the way of getting on and off the user, or the mobile robot and the user may come into contact with each other Therefore, the user feels uneasy and the convenience of the user is impaired.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a mobile robot that can ensure the convenience of the user while improving the operation efficiency of the elevator.

The mobile robot in the present invention that solves the above problems is as follows.
A mobile robot that is driven by a traveling unit and moves between floors on an elevator car,
A storage unit for storing information of a stop area in the elevator car;
An environmental information acquisition unit for acquiring environmental information around the mobile robot;
Based on the environmental information, a travel control unit that determines a reachable position that the mobile robot can reach within the stop area, and controls the travel unit so that the mobile robot stops at the reachable position;
Is provided.

  According to the mobile robot of the present invention, the convenience of the user can be ensured while increasing the operation efficiency of the elevator.

The figure showing the structure of the system in 1st Embodiment of this invention. Illustration showing part of the layout of a building floor The figure showing the structure of the mobile robot in 1st Embodiment The figure for demonstrating the riding operation of the mobile robot which concerns on a comparative example The figure which shows the inside of a cage when a plurality of stop position candidates are set and there is no obstacle The figure which shows the inside of a cage when a plurality of stop position candidates are set and an obstacle exists Control flow chart showing the procedure of the riding operation of the mobile robot in the first embodiment Control flow diagram showing the procedure of the riding operation of the mobile robot The figure which shows the inside of the cage in 2nd Embodiment The figure which shows the inside of a cage when an obstacle exists Control flow chart showing the procedure of the riding operation of the mobile robot in the second embodiment Control flow diagram showing the procedure of the riding operation of the mobile robot

(First embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of the entire system according to the first embodiment. FIG. 1 schematically shows a multi-storey building.

  As shown in FIG. 1, a mobile robot 101, a mobile robot operation system 202, a network 203, an elevator cage 211, and an elevator control system 212 are provided in the building.

  The mobile robot 101 has a wireless communication unit (described later), and the network 203 has an antenna. The antennas are provided inside the fence 211 and in the elevator hall 301 on each floor. Thereby, the mobile robot 101 can perform information communication with the elevator control system 212 at least in the elevator hall 301 and the cage 211.

FIG. 2 is a diagram showing a part of the layout of the floor of the building.
As shown in FIG. 2, a standby position 305 is provided in the elevator hall 301.

  The mobile robot 101 moves to the elevator control system 212 directly or via the mobile robot system 202 as a boarding request for the floor on which the mobile robot 101 is located (n floor in the example of FIG. 1). The floor (n-1 floor, n + 1 floor, n + 2 floor in the example of FIG. 1) is transmitted.

  The mobile robot 101 waits at the standby position 305 in the elevator hall 301 until it obtains a riding start signal from the elevator control system 212.

FIG. 3 is a diagram illustrating an example of a configuration of the mobile robot 101 according to the first embodiment.
The robot body 110 of the mobile robot 101 is provided with a traveling unit 120, a traveling control unit 130, an environment information acquisition unit 140, a storage unit 150, a position information acquisition unit 160, a wireless communication unit 170, and an operation interface 180. .

  The traveling unit 120 includes a power motor (not shown) that is rotated by a battery, and a drive system (not shown) that moves the robot body 110 in response to the rotational force.

The travel control unit 130 includes an obstacle detection unit 132 and a route generation unit 134.
The obstacle detection unit 132 detects the presence or absence of an obstacle in the action range of the mobile robot 101 based on the environment information around the robot body 110 acquired by the environment information acquisition unit 140.

  The route generation unit 134 automatically generates a route to a predetermined position in the building such as the elevator hall 301 and the fence 211.

  The travel control unit 130 controls the travel unit 120 to perform an avoidance action when the robot body 110 moves along the route and there is an obstacle on the route.

  The environment information acquisition unit 140 includes, for example, a laser range finder and an image acquisition device for acquiring environment information around the robot body 110.

  The storage unit 150 stores destination information, travel location, and map information of the environment of the travel location as environment information.

  The position information acquisition unit 160 has an odometry system. The position information of the robot body 110 acquired by the odometry system, the environment information acquired by the environment information acquisition unit 140, and the storage unit 150 The position coordinates of the robot main body 110 are acquired by a self-position recognition technique such as collating environment information. The self-position recognition technique described above is not only used when the mobile robot 101 is moved autonomously, but can also be effectively applied when a person moves the mobile robot 101.

  The traveling control unit 130 controls the traveling unit 120 based on the above environment information so that the robot main body 110 can get on the eaves 211 from the elevator hall 301 and can get off the eaves hall 301 from the eaves 211.

  The wireless communication unit 170 receives information indirectly via the network 203, directly with the elevator control system 212, or indirectly through another system such as the mobile robot operation system 202 for operating the mobile robot 101. Interact.

  The operation interface 180 includes a display unit and a display control unit. The display control unit displays a predetermined image on the display unit, and when an operation of the predetermined image by a user (user) is received, information on the use of the elevator It outputs to the traveling control part 130.

Next, information communicated in a system provided in a building will be described.
From the mobile robot 101 to the elevator control system 212, the call information including the boarding floor of the mobile robot 101 and the destination floor of the mobile robot 101, the boarding completion signal, the landing completion signal, and the like are transmitted.
Further, the elevator control system 212 transmits a riding start signal, a descending start signal, an elevator door 213 open state signal, and the like to the mobile robot 101.

  Next, use of the elevator by the mobile robot 101 performed based on the above information will be described.

  When the mobile robot 101 uses the elevator, the boarding floor (the nth floor shown in FIG. 1) where the mobile robot 101 is located and the destination floor (for example, the n + 1 floor or the floor where the mobile robot 101 moves using the elevator) n + 2 floor) information is transmitted to the elevator control system 212.

  When the elevator control system 212 receives information on the boarding floor (n floor), the elevator control system 212 determines whether or not the movement direction of the basket 211 and the movement direction of the mobile robot 101 match. The eaves 211 is stopped at the boarding floor (the nth floor), the elevator door 213 is opened, and a riding start signal and an elevator door 213 open state signal are transmitted to the mobile robot 101.

  When the mobile robot 101 gets into the cage 211, stops in the cage, and receives a boarding completion signal from the mobile robot 101 to the elevator control system 212, the elevator control system 212 closes the elevator door 213 and moves toward the destination floor. The movement of the basket 211 is started.

  When the kite 211 arrives at the floor set as the destination floor and the mobile robot 101 receives the descending start signal from the elevator control system 212, the mobile robot 101 starts moving and goes out of the kite. Thereafter, the elevator control system 212 controls the elevator in a normal operation.

  Next, a comparative example of the riding operation in which the mobile robot 101 gets into the cage 211 and stops in the cage will be described with reference to FIG.

FIG. 4 is a diagram for explaining the riding operation of the mobile robot 101 according to the comparative example.
In the comparative example, a stop position candidate 403 of the robot main body 110 is set at one place in the cage. As illustrated in FIG. 4, the travel control unit 130 controls the travel unit 120 so that the robot body 110 stops at the stop position candidate 403.

  However, there may be a user or an object (the obstacle 404 shown in FIG. 4) in the stop position candidate 403. In this case, it is conceivable that the robot main body 110 moves to avoid the obstacle 404 in an attempt to approach the stop position candidate 403 or stops at a position that is not the stop position candidate 403. However, in this case, the robot body 110 stops before the operation panel 405 or at a place where it gets in the way of getting on and off the user, there is a risk that the robot body 110 and the user come into contact, or the user feels uneasy. Or the user's convenience is impaired, such as getting in and out of the way.

  Next, the riding operation in which the mobile robot 101 in the embodiment gets into the cage 211 and stops in the cage will be described with reference to FIGS. 5A and 5B.

FIG. 5A is a diagram illustrating a cage where a plurality of stop position candidates 403 are set. FIG. 5A shows a cage where no obstacle 404 such as a user exists.
The plurality of stop position candidates 403 are used for the user to set the destination and open / close the elevator door 213 in order to ensure the convenience of the user. The position is set so as to avoid the front of the operation panel 405 and the bench 406. Note that a region including a plurality of stop position candidates 404 in the cage corresponds to the “stop region” of the present invention.

  The storage unit 150 stores a plurality of stop position candidates 403 in association with priorities. The priority order is set in consideration of user convenience and ease of operation of the robot main body 110. For example, when the robot main body 110 descends before the user who has boarded after the boarding of the robot main body 110 due to the ease of movement of the robot main body 110 due to the convenience of the user, avoiding the position just before the elevator door 213 as much as possible. Priorities are set like numbers 1 to 4 assigned to a plurality of stop position candidates 403 shown in FIG. 5A so that the robot body 110 can be easily operated. At this time, the priority order setting number N used in the description to be described later is 4.

  The travel control unit 130 controls the travel unit 120 so that the robot main body 110 stops at the stop position candidate 403 having the highest priority among the reachable stop position candidates 403. For example, when the robot main body 110 rides in a cage without an obstacle 404 such as a user, the traveling control unit 130 assigns the robot to the stop position candidate 403 represented by “1” in FIG. 5A having the highest priority. The traveling unit 120 is controlled so that the main body 110 stops.

  FIG. 5B is a diagram illustrating a cage in which a plurality of stop position candidates 403 are set. FIG. 5B shows a cage where an obstacle 404 such as a user or an object exists.

  The obstacle detection unit 132 detects the obstacle 404 in the cage based on the surrounding environment acquired by the environment information acquisition unit 140. The travel control unit 130 controls the travel unit 120 to stop at the stop position candidate 403 that the robot body 110 can reach based on the detected obstacle 404. Here, the “reachable stop position candidate” refers to a stop position candidate in which a safe distance 408 with respect to the obstacle 404 is secured. For example, a position away from the obstacle 404 by a predetermined safe distance 408 or more. Alternatively, it refers to a position where the robot main body 110 reaches after the obstacle 404 avoiding the obstacle 404 while maintaining a predetermined safety distance 408 from the obstacle 404.

  In FIG. 5B, the outer peripheral lines in the range of the safe distance 408 from the obstacle 404 and the safe distance 408 from the obstacle 404 are indicated by broken lines. Further, FIG. 5B shows a stop position candidate 403 represented by “3” that does not reach the outer peripheral line in the range of the safety distance 408 as an example of the first stop position.

  When the obstacle 404 such as a user is present in the cage as shown in FIG. 5B, the traveling control unit 130 determines the safe distance from the obstacle 404 based on the obstacle 404 detected by the obstacle detection unit 132. The traveling unit 120 is controlled so that the robot main body 110 stops at the stop position candidate 403 indicated by “3” in FIG.

  That is, the traveling control unit 130 controls the traveling unit 120 so that the robot main body 110 moves and stops at a position away from the obstacle 404 by a safe distance 408 or more. Here, the safe distance is, for example, the distance from the obstacle 404 to the robot main body 110 that is the distance from the center to the outer periphery of the robot main body 110 farthest from the center of the robot main body 110 in the horizontal plane. The added distance.

  In addition, as an example of the second stop position, when the obstacle 404 exists on the entrance / exit side in the cage, the stop position candidate that can be reached behind the obstacle 404 in the cage is referred to. The traveling control unit 130 controls the traveling unit 120 so that the robot main body 110 reaches the second stop position and stops after avoiding the obstacle 404 while keeping a predetermined safety distance 408 from the obstacle 404. To do.

  Next, the procedure of the riding operation of the mobile robot 101 in the first embodiment will be described with reference to FIG. 6A and 6B are control flowcharts showing an example of the procedure of the riding operation of the mobile robot 101. FIG. 6 and 6B, the elevator is represented as EL.

  The process of this control flow is started after transmitting a call signal from the mobile robot 101 to the elevator control system 212 (step S601).

  The traveling control unit 130 determines whether a riding start signal has been received from the elevator control system 212 via the wireless communication unit 170 (step S602). When the riding start signal is received (step S602: YES), the process proceeds to step S603. If no riding start signal is received (step S602: NO), the process returns to step S602.

  In step S603, the traveling control unit 130 controls the traveling unit 120 to move to a position where the robot body 110 can acquire information in the cage (for example, the position of the entrance / exit of the cage 211 shown in FIG. 5A).

  Next, in step S604, the environment information acquisition unit 140 acquires information in the basket. In addition, the traveling control unit 130 sets the priority order number i to 1 and sets the priority order setting number to N.

  Next, in step S605, the traveling control unit 130 determines whether or not the priority order number i is greater than the priority order setting number N (i> N).

  If the priority number i is equal to or less than the priority order setting number N (step S605: NO), the process proceeds to step S606.

  In step S606, the travel control unit 130 determines whether or not the stop position candidate 403 indicated by the priority number i is a reachable stop position candidate 403 (step S606).

  When the stop position candidate 403 indicated by the priority number i is a reachable stop position candidate 403 (step S606: YES), the process proceeds to step S608.

  When the stop position candidate 403 indicated by the priority number i is not the reachable stop position candidate 403 (step S606: NO), the process proceeds to step S607.

  In step S607, the traveling control unit 130 adds 1 to the priority number i. Thereafter, the process returns to step S605.

  In step S608, the traveling control unit 130 controls the traveling unit 120 so that the robot main body 110 starts moving to the stop position candidate 403 indicated by the priority order number i.

  In step S605 to step S607, if none of the plurality of stop position candidates 403 indicated by the priority number i is reachable stop position candidates 403, the robot main body 110 returns to the standby position 305. On the other hand, when any one of the plurality of stop position candidates 403 indicated by the priority number i is a reachable stop position candidate 403, the robot main body 110 moves to the reachable stop position candidate 403.

  For example, in the case of FIG. 5B, the obstacle detection unit 132 detects the obstacle 404 based on the environment information acquired by the environment information acquisition unit 140. The traveling control unit 130 considers a safe distance 408 from the obstacle 404 that indicates a limit that allows the obstacle 404 to be approached in consideration of safety, and considers a stop position candidate 403 that is outside the range of the safe distance 408 (FIG. 5B In this example, “3”) is selected.

  Next, in step S609, based on the position information acquired by the position information acquisition unit 160, the travel control unit 130 determines whether or not the robot body 110 has reached the stop position candidate 403 indicated by “3” in FIG. 5B. Judging. If the robot body 110 has reached the stop position candidate 403 (step S609: YES), the process proceeds to step S610. If the robot body 110 does not reach the stop position candidate 403 (step S609: NO), the process returns to step S609.

  In step S610, the traveling control unit 130 transmits a riding completion signal to the elevator control system 212 via the wireless communication unit 170. Then, the mobile robot 101 completes the riding operation. After receiving the riding completion signal, the elevator control system 212 closes the elevator door 213 to start the movement of the saddle 211, and transmits a descending start signal to the mobile robot 101 when it reaches the destination floor of the mobile robot 101.

  Next, in step S611, the traveling control unit 130 determines whether a descending start signal is received from the elevator control system 212 via the wireless communication unit 170. When the descending start signal is received from the elevator control system 212 (step S611: YES), the process proceeds to step S612. When the descending start signal is not received from the elevator control system 212 (step S611: NO), the process returns to step S611.

  In step S612, the traveling control unit 130 sets the destination as the destination of the arrival floor, and controls the traveling unit 120 so as to start the movement of the robot main body 110.

  In step S613, the traveling control unit 130 determines whether or not the robot body 110 is at a position where the climbing is completed (falling completion position) from the information of the position information acquisition unit 160. When the robot main body 110 is in the descending completion position (step S613: YES), the traveling control unit 130 transmits a descending completion signal to the elevator control system 212 (step S614), and the mobile robot 101 uses the elevator. finish. When the robot main body 110 is not at the descending completion position (step S613: NO), the process returns to step S613 after a predetermined time has elapsed.

  If the priority order number i is greater than the priority order setting number N (step S605: YES), the process proceeds to step S620.

  In step S620, the traveling control unit 130 controls the traveling unit 120 so that the robot body 110 moves to the standby position 305 (see FIG. 2) in the elevator hall 301.

  Next, when the robot main body 110 is in the descending completion position (step S613: YES), the traveling control unit 130 transmits a descending completion signal to the elevator control system 212 (step S614), and the mobile robot 101 is in the elevator. End use of.

  The mobile robot 101 once sees off the saddle 211 and then obtains information from the wireless communication unit 170 that the riding start signal is not output from the elevator control system 212, and determines that the traveling control unit 130 determines from the beginning. The procedure shown in FIG. 6A and FIG. 6B is performed.

  As described above, in the mobile robot 101 according to the first embodiment, when there is an obstacle 404 in the cage, the travel control unit 130 sets the reachable stop position candidate 403 that secures the safe distance 408 from the obstacle 404. The traveling unit 120 was controlled so that the robot body 110 moved and stopped. As a result, when the bag user, the bag carried by the user, the trolley, or the drip stick in the hospital is at a predetermined stop position, the robot body 110 tries to move to that location (the position of the obstacle 404). Since the robot body 110 moves to the next best stop position candidate 403 and stops without continuing to move or stopping at a place where the robot main body 110 gets in the way of the user, the convenience of the user is ensured. Can do.

  Further, the robot main body 110 can be moved to an appropriate place and stopped according to the situation inside the cage.

  In addition, the travel control unit 130 selects a stop position candidate 403 from a plurality of stop position candidates 403 based on the priority order, and controls the travel unit 120 so that the robot body 110 moves to the selected stop position candidate 403. Therefore, even if the robot main body 110 cannot be stopped by moving to the best position, the robot main body 110 can be moved to the next best position set with priority and stopped. As a result, it is possible to ensure convenience for the user and increase the efficiency of movement of the robot body 110.

(Second Embodiment)
Next, the mobile robot 101 according to the second embodiment will be described with reference to FIGS. 7A, 7B, 8A, and 8B. FIG. 7A is a diagram showing the interior of the cage. FIG. 7A shows the range of reachable stop position candidates 403 by hatching. FIG. 7B is a diagram showing the inside of the cage where the obstacle 404 exists. FIG. 7B shows a cage entry angle 407 that is an angle when the robot body 110 moves toward the reachable stop position candidate 403.

  In the first embodiment, at the time of riding, the traveling control unit 130 selects the stop position candidates 403 from among the reachable stop position candidates 403 based on the priority order associated with the plurality of stop position candidates 403. The travel unit 120 is controlled so that the robot main body 110 moves to and stops at the selected stop position candidate 403 (for example, the stop position candidate 403 indicated by “3” in FIG. 5B).

  On the other hand, in 2nd Embodiment, the area | region where all the positions in the range are the stop position candidates 403 is set in the cage (see FIG. 7A). As in the first embodiment, the stop position candidate 403 is set at a position avoiding the front of equipment in the cage, such as the operation panel 405 or the bench 406, in order to ensure the convenience of the user. Is done. Further, a region where all the positions within the range set in the cage are stop position candidates 403 corresponds to the “stop region” of the present invention.

  At the time of boarding, the traveling control unit 130 selects the farthest position 409 of the saddle 211 from the reachable stop position candidates 403, and the robot body 110 moves to the farthest position 409 and stops. Thus, the traveling unit 120 is controlled. Here, “the farthest position” means a position farthest from the head of the robot body 110 (where the environment information acquisition unit 140 is provided) in the cage. The travel control unit 130 determines the farthest position 409 from the reachable stop position candidates 403 (the range indicated by hatching in FIG. 7A) based on the position information of the position information acquisition unit 160, and the robot body 110 The traveling unit 120 is controlled to move to the determined position 409 and stop.

  Next, the procedure of the riding operation of the mobile robot 101 in the second embodiment will be described with reference to FIG. FIG. 8 is a control flowchart showing the procedure of the riding operation of the mobile robot 101.

  The process of this control flow is started after transmitting a call signal from the mobile robot 101 to the elevator control system 212 (step S801).

  The traveling control unit 130 determines whether a riding start signal is received from the elevator control system 212 via the wireless communication unit 170 (step S802). When the riding start signal is received (step S802: YES), the process proceeds to step S803. If no soot start signal is received (step S802: NO), the process returns to step S802.

  In step S803, the traveling control unit 130 controls the traveling unit 120 to move to a position where the robot main body 110 can acquire information in the cage (for example, the position of the entrance / exit of the cage 211 shown in FIG. 7A).

  Next, in step S804, the environment information acquisition unit 140 acquires information in the basket.

  Next, in step S805, a stop position candidate 403 (with hatching shown in FIG. 7A) that can be reached by the laser range finder as the environment information acquisition unit 140 that measures the distance of the traveling direction horizontal plane attached to the robot body 110 at certain angles. Scan the area shown) to obtain environmental information. The traveling control unit 130 measures the distance to the obstacle 404 based on the environmental information. The traveling control unit 130 determines the stop position candidate 403 located at the innermost side of the ridge 211 from among the reachable stop position candidates 403 in consideration of the safe distance 408 from the obstacle 404.

  Next, in step S806, the traveling control unit 130 determines whether the stop position candidate 403 has been determined. When the stop position candidate 403 is determined (step S806: YES), the process proceeds to step S807.

  In step S807, the traveling control unit 130 controls the traveling unit 120 so that the robot main body 110 starts moving to the determined stop position candidate 403.

  Next, in step S808, the traveling control unit 130 determines whether the robot main body 110 has reached the determined stop position candidate 403 based on the position information acquired by the position information acquisition unit 160. When the robot main body 110 has reached the stop position candidate 403 (step S808: YES), the process proceeds to step S809. If the robot body 110 does not reach the stop position candidate 403 (step S808: NO), the process returns to step S808.

  Steps S809 to S813 correspond to Steps S610 to S614 in the first embodiment, and Step S820 corresponds to Step S620 in the first embodiment, and thus description of these steps is omitted.

  As described above, in the mobile robot 101 according to the second embodiment, the robot 1 main body 10 is stopped after moving to the next best position that does not interfere with the user's getting on and off the cage 211 without prioritizing. It becomes possible to do.

  In the above-described embodiment, the stop position candidate 403 is a single coordinate on the map coordinates. However, the coordinate value may have a certain range.

  INDUSTRIAL APPLICABILITY The present invention can be applied to mobile robots that are required to ensure the convenience of users while improving the operation efficiency of elevators, such as in buildings such as hospitals and apartments, factories, and construction sites.

DESCRIPTION OF SYMBOLS 101 Mobile robot 110 Robot main body 120 Traveling unit 130 Traveling control unit 140 Environmental information acquisition unit 150 Storage unit 160 Position information acquisition unit 170 Wireless communication unit 180 Operation interface 202 Mobile robot operation system 203 Network 211 籠 212 Elevator control system 213 Elevator door 301 Elevator hall 305 Standby position 403 Stop position candidate 405 Operation panel 406 Bench 407 Entrance angle 408 Safety distance 409 Stop position

Claims (5)

A mobile robot that is driven by a traveling unit and moves between floors on an elevator car,
A storage unit for storing information of a stop area in the elevator car;
An environmental information acquisition unit for acquiring environmental information around the mobile robot;
Based on the environmental information, a travel control unit that determines a reachable position that the mobile robot can reach within the stop area, and controls the travel unit so that the mobile robot stops at the reachable position;
A mobile robot comprising:   The stop area includes a plurality of stop position candidates, the storage unit further stores priorities of the plurality of stop position candidates, and the travel control unit includes a reachable position that the mobile robot can reach. The mobile robot according to claim 1, wherein the traveling unit is controlled so that the mobile robot stops at a position where the priority is higher.   The travel control unit controls the travel unit so that the mobile robot stops at a position farthest from the doorway of the bag among reachable positions that the mobile robot can reach within the stop region. The described mobile robot.   The said travel control part determines the presence or absence of an obstruction based on the said environmental information, The said reachable position is a position away from the said obstruction more than predetermined distance, The any one of Claim 1 to 3 The mobile robot described in 1.   The travel control unit determines the presence or absence of an obstacle based on the environmental information, and the reachable position is a position that can be reached while maintaining a state separated from the obstacle by a predetermined distance or more. The mobile robot according to any one of 1 to 4.

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