Patent Publication Number: US-2022236742-A1

Title: Autonomous mobile system, autonomous mobile method, and storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to Japanese Patent Application No. 2021-011827 filed on Jan. 28, 2021, incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an autonomous mobile system, an autonomous mobile method, and a storage medium. 
     2. Description of Related Art 
     Development of autonomous mobile devices that autonomously move within a predetermined building or facility is in progress. Such an autonomous mobile device having a loading platform can serve as an automatic delivery device that automatically delivers a package. The automatic delivery device can, for example, deliver the package loaded at the departure point to the destination by autonomously moving from the departure point to the destination. 
     For example, Japanese Patent No. 5332561 (JP 5332561 B) describes that when a plurality of robots is about to merge at a confluence such as an intersection, the robot having a lower priority is made to stand by and the robot having a higher priority is made to travel first. 
     SUMMARY 
     For example, in the robots of JP 5332561 B, when the succeeding robot has a higher priority than the preceding robot, it may be difficult to create an efficient delivery schedule. For example, in FIG. 8( a ) of JP 5332561 B, when the delivery order is higher in the order of F, A, and B, there is no place where A can be temporarily evacuated, making it difficult to create an efficient delivery schedule. 
     The present disclosure has been made to solve the issue described above, and provides an autonomous mobile system, an autonomous mobile method, and a storage medium capable of improving movement efficiency. 
     An autonomous mobile system according to the present embodiment is an autonomous mobile system that autonomously moves in a facility. Among priorities assigned to a plurality of the autonomous mobile systems for delivery at a destination or passage through a waypoint in the facility, when the autonomous mobile system has a lower priority, the autonomous mobile system stands by in a predetermined standby area until another autonomous mobile system having a higher priority completes the delivery or the passage. With such a configuration, even when the succeeding autonomous mobile system has a higher priority, the preceding autonomous mobile system can be temporarily put on standby in the standby area, so that an efficient delivery schedule can be created. Therefore, the movement efficiency can be improved. 
     In the above autonomous mobile system, the standby area may have a plurality of standby positions prioritized according to a distance from the destination or the waypoint, and may be used for standby from the standby position having a higher priority. With such a configuration, the autonomous mobile system on standby can shorten the time for moving from the standby area to the destination or the waypoint when the turn comes, and an efficient delivery schedule can be created. 
     In the above autonomous mobile system, when the autonomous mobile system has a higher priority than another autonomous mobile system standing by in the standby area, the autonomous mobile system may reserve, when moving toward the standby area, the standby position having a higher priority than the standby position at which the other autonomous mobile system stands by. With such a configuration, it is possible to stand by at the standby position immediately after arriving at the standby area, so that the standby time can be shortened. 
     In the above autonomous mobile system, when the autonomous mobile system has a higher priority than another autonomous mobile system standing by in the standby area, the autonomous mobile system may cut into, when arriving at the standby area, the standby position having a higher priority than the standby position at which the other autonomous mobile system stands by. With such a configuration, it is possible to stand by at the standby position according to the priority, so that the movement efficiency can be improved. 
     In the above autonomous mobile system, when standing by at the standby position having the highest priority, the autonomous mobile system may notify an administrator of the autonomous mobile system of standby information including the standby information of the autonomous mobile system standing by at the standby position other than the standby position having the highest priority. With such a configuration, the administrator can grasp the standby status. 
     In the above autonomous mobile system, the autonomous mobile systems may include the autonomous mobile system associated with a cleanliness flag or an uncleanliness flag, a plurality of the standby areas may be provided in the facility, the plurality of the standby areas may include the standby area associated with the cleanliness flag or the uncleanliness flag, and when associated with the cleanliness flag, the autonomous mobile system may stand by at the standby position in the standby area associated with the cleanliness flag, and when associated with the uncleanliness flag, the autonomous mobile system may stand by at the standby position in the standby area associated with the uncleanliness flag. With such a configuration, the cleanliness of the autonomous mobile system and the standby area can be improved. 
     In the above autonomous mobile system, the standby area associated with a flag different from the cleanliness flag and the uncleanliness flag may be provided between the standby area associated with the cleanliness flag and the standby area associated with the uncleanliness flag. With such a configuration, the cleanliness of the standby area can be further improved. 
     An autonomous mobile system according to an embodiment includes: a plurality of autonomous mobile devices that moves autonomously in a facility; and a server device that transmits and receives traveling information to and from the autonomous mobile devices. The server device prioritizes each autonomous mobile device for delivery at a destination or passage through a waypoint in the facility. The autonomous mobile device having a lower priority stands by in a predetermined standby area until another autonomous mobile device having a higher priority completes the delivery or the passage. With such a configuration, even when the succeeding autonomous mobile system has a higher priority, the preceding autonomous mobile system can be temporarily put on standby in the standby area, so that an efficient delivery schedule can be created. Therefore, the movement efficiency can be improved. 
     In the above autonomous mobile system, the standby area may have a plurality of standby positions prioritized according to a distance from the destination or the waypoint, and may be used for standby from the standby position having a higher priority. With such a configuration, the autonomous mobile system on standby can shorten the time for moving from the standby area to the destination or the waypoint when the turn comes, and an efficient delivery schedule can be created. 
     In the above autonomous mobile system, when the autonomous mobile device having a higher priority than another autonomous mobile device standing by in the standby area moves toward the standby area, the server device may reserve the standby position having a higher priority than the standby position at which the other autonomous mobile device stands by. With such a configuration, it is possible to stand by at the standby position immediately after arriving at the standby area, so that the standby time can be shortened. 
     In the above autonomous mobile system, the autonomous mobile device having a higher priority than another autonomous mobile device standing by in the standby area may cut into, when arriving at the standby area, the standby position having a higher priority than the standby position at which the other autonomous mobile system stands by. With such a configuration, it is possible to stand by at the standby position according to the priority, so that the movement efficiency can be improved. 
     In the above autonomous mobile system, the server device may collectively notify an administrator of the autonomous mobile system of the standby information of the autonomous mobile devices standing by in the standby area. With such a configuration, the administrator can grasp the standby status. 
     In the above autonomous mobile system, the server device may associate the autonomous mobile device with a cleanliness flag or an uncleanliness flag, and may associate the standby area with the cleanliness flag or the uncleanliness flag. The autonomous mobile device associated with the cleanliness flag may stand by at the standby position in the standby area associated with the cleanliness flag. The autonomous mobile device associated with the uncleanliness flag may stand by at the standby position in the standby area associated with the uncleanliness flag. With such a configuration, the cleanliness of the autonomous mobile system and the standby area can be improved. 
     In the above autonomous mobile system, the standby area associated with a flag different from the cleanliness flag and the uncleanliness flag may be provided between the standby area associated with the cleanliness flag and the standby area associated with the uncleanliness flag. With such a configuration, the cleanliness of the standby area can be further improved. 
     An autonomous mobile method according to the present embodiment is an autonomous mobile method for an autonomous mobile device that autonomously moves in a facility. The autonomous mobile method includes: a step of assigning one of priorities to the autonomous mobile device among the priorities assigned to a plurality of the autonomous mobile devices for delivery at a destination or passage through a waypoint in the facility; and a step of causing, when the autonomous mobile device has a lower priority, the autonomous mobile device to stand by in a predetermined standby area until another autonomous mobile device having a higher priority completes the delivery or the passage. With such a configuration, even when the succeeding autonomous mobile device has a higher priority, the preceding autonomous mobile device can be temporarily put on standby in the standby area, so that an efficient delivery schedule can be created. Therefore, the movement efficiency can be improved. 
     A storage medium according to the present embodiment stores an autonomous mobile program for an autonomous mobile device that autonomously moves in a facility. The autonomous mobile program causes a computer to execute: assignment of one of priorities to the autonomous mobile device among the priorities assigned to a plurality of the autonomous mobile devices for delivery at a destination or passage through a waypoint in the facility; and standby of the autonomous mobile device, when the autonomous mobile device has a lower priority, in a predetermined standby area until another autonomous mobile system having a higher priority completes the delivery or the passage. With such a configuration, even when the succeeding autonomous mobile system has a higher priority, the preceding autonomous mobile system can be temporarily put on standby in the standby area, so that an efficient delivery schedule can be created. Therefore, the movement efficiency can be improved. 
     The present embodiment can provide an autonomous mobile system, an autonomous mobile method, and a storage medium capable of improving movement efficiency. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: 
         FIG. 1  is a schematic view illustrating a mobile robot according to a first embodiment; 
         FIG. 2  is a perspective view illustrating the mobile robot according to the first embodiment; 
         FIG. 3  is a block diagram illustrating the mobile robot according to the first embodiment; 
         FIG. 4  is a plan view illustrating a movement method of the mobile robot in a facility according to the first embodiment; 
         FIG. 5  is a plan view illustrating a movement method of the mobile robot in the facility according to the first embodiment, and shows an example in which the mobile robot having a higher priority cuts into a standby position having a higher priority than a standby position of the mobile robot having a lower priority; 
         FIG. 6  is a plan view illustrating a movement method of the mobile robot in the facility according to the first embodiment, and shows an example in which the mobile robot reserves a standby position when moving toward a standby area; 
         FIG. 7  is a plan view illustrating a movement method of the mobile robot in the facility according to the first embodiment, and shows an example in which the mobile robots and the standby areas have flag information; 
         FIG. 8  is a flowchart illustrating an autonomous mobile method for the mobile robot in the facility according to the first embodiment; 
         FIG. 9  is a block diagram illustrating a server device according to a second embodiment; and 
         FIG. 10  is a sequence diagram illustrating the operation of an autonomous mobile system according to the second embodiment. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Hereinafter, the present disclosure will be described through embodiments of the disclosure, but the disclosure is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem. For the sake of clarity, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are designated by the same reference signs, and duplicate descriptions are omitted as necessary. 
     First Embodiment 
     An autonomous mobile system according to a first embodiment will be described. In the present embodiment, the autonomous mobile system may be replaced with an autonomous mobile device, or the autonomous mobile device may be replaced with the autonomous mobile system. Further, the autonomous mobile system according to the present embodiment may include the autonomous mobile device. The autonomous mobile device autonomously moves in a predetermined facility. The autonomous mobile device may be, for example, a mobile robot that autonomously moves, or a transportation robot that autonomously moves to transport a transported object. Hereinafter, the mobile robot will be described as an example of the autonomous mobile device. The mobile robot will be described separately in “Structure of Mobile Robot” and “Operation of Mobile Robot”. 
     Structure of Mobile Robot 
       FIG. 1  is a schematic view illustrating the mobile robot according to the first embodiment. As shown in  FIG. 1 , a mobile robot  100  is an example of the autonomous mobile device that autonomously moves in a predetermined facility  900 . The predetermined facility  900  is, for example, a hospital. The predetermined facility  900  is not limited to a hospital, and may be a hotel, a shopping mall, or the like as long as the mobile robot  100  can move autonomously in the predetermined facility  900 . 
     The mobile robot  100  autonomously moves on a floor surface  910  in the facility  900 . A facility camera  400  is fixed in the facility  900 . For example, the facility camera  400  is fixed to a ceiling  920  of the facility  900 , and captures images of surrounding areas of the facility camera  400  to generate image data. A plurality of the facility cameras  400  may be provided in the facility  900 . 
     The mobile robot  100  and the facility camera  400  are connected to each other so as to be able to communicate with each other via information transmission means such as wireless communication. The mobile robot  100  and the facility camera  400  may be connected to each other so as to be able to directly communicate with each other, or may be connected to each other so as to be able to communicate with each other via an access point  500  and a server device  300 . Therefore, the mobile robot  100  may acquire the image data directly from the facility camera  400 , or may acquire the image data via the access point  500  and the server device  300 . 
     The access point  500  is, for example, a wireless local area network (LAN) access point. The access point  500  is fixed in the facility  900  and acquires position information and traveling information from the mobile robot  100  located in the periphery of the access point  500 . A plurality of the access points  500  may be provided in the facility  900 . 
     A plurality of the mobile robots  100  may autonomously move in the facility  900 . When the mobile robots  100  autonomously move, the mobile robots  100  may be connected to each other so as to be able to communicate with each other via information transmission means such as wireless communication. The mobile robots  100  may be connected to each other so as to be able to directly communicate with each other, or may be connected to each other so as to be able to communicate with each other via the access point  500  and the server device  300 . 
     The mobile robot  100  transports the transported object to the destination in the facility  900 . Alternatively, the mobile robot  100  moves, for example, by passing through a waypoint in order to move to the destination. The plurality of mobile robots  100  may be prioritized for work such as delivery of a transported object at a destination or passage through a waypoint in the facility  900 . When the mobile robot  100  has a lower priority, the mobile robot  100  stands by in a predetermined standby area until another mobile robot  100  having a higher priority completes the work at the destination or the passage through the waypoint. 
     The mobile robot  100  may be associated with a cleanliness flag, an uncleanliness flag, and a general-purpose flag according to the cleanliness of the transported object to be transported. The predetermined standby area may also be associated with a cleanliness flag, an uncleanliness flag, and a general-purpose flag according to the cleanliness. 
     The information transmitted and received between the mobile robot  100  and the server device  300  and the other mobile robots  100  may include priority information assigned to the work at the destination or passage through the waypoint, and flag information associated with the mobile robot  100  and the standby area. 
       FIG. 2  is a perspective view illustrating the mobile robot  100  according to the first embodiment.  FIG. 3  is a block diagram illustrating the mobile robot  100  according to the first embodiment. As shown in  FIGS. 2 and 3 , the mobile robot  100  includes a drive unit  110 , a housing unit  120 , a communication unit  130 , an operation reception unit  140 , a display unit  150 , a sensor group  160 , an identification (ID) sensor  170 , a control unit  180 , and a storage unit  190 . 
     As shown in  FIG. 2 , the mobile robot  100  is a mobile body that moves on the floor surface  910  that is a moving surface. Here, for convenience of explanation of the mobile robot  100 , the XYZ orthogonal coordinate axis system is used. The floor surface  910  is the XY-plane, and the upper side is the +Z axis direction. 
     The drive unit  110  functions as means for moving the mobile robot  100 . The drive unit  110  may include two drive wheels  111  that are in contact with the floor surface  910  and are rotatable independently from each other about one rotation axis that extends in a direction (right-left direction or Y-axis direction in the drawing) perpendicular to a straight direction (front-rear direction or X-axis direction in the drawing), and casters  112  in contact with the floor surface  910 . The mobile robot  100  moves forward or rearward in a manner such that the drive wheels  111  disposed on the right and left sides are driven at the same rotation speed, and makes a turn by generating a difference in the rotation speed or rotation direction between the right and left drive wheels  111 . The drive unit  110  drives the drive wheels  111  in accordance with commands from the control unit  180 . 
     The housing unit  120  is disposed above the drive unit  110  of the mobile robot  100 . The housing unit  120  may have a storage chamber door  121 . When the storage chamber door  121  is opened, a storage chamber for storing a predetermined transported object is provided inside the housing unit  120 . That is, the mobile robot  100  can also serve as a transportation robot that transports a predetermined transported object. The housing unit  120  may open and close the storage chamber door  121  in accordance with a command from the control unit  180 . 
     As shown in  FIG. 3 , the communication unit  130  is an interface that is communicably connected to the outside. The communication unit  130  includes, for example, an antenna and a circuit that modulates or demodulates a signal transmitted through the antenna. The communication unit  130  receives the image data directly from the facility camera  400  or via the access point  500  and the server device  300 . 
     Further, the communication unit  130  may receive information on the destination, information on whether movement is allowed, the priority information, and the flag information from the server device  300 . Further, the communication unit  130  may transmit information related to the state of the mobile robot  100 , the position information, the traveling information, the priority information, the flag information and the like to the server device  300 . Further, the communication unit  130  may transmit and receive the position information, the image data, the priority information, and the flag information to and from the other mobile robot  100  directly or via the access point  500  and the server device  300 . 
     The communication unit  130  may periodically transmit a heartbeat signal to the server device  300 . The heartbeat signal may include log data indicating the state of the mobile robot  100  in the chronological order. Further, the heartbeat signal may include the ID of the mobile robot  100  and the ID of a user. 
     The communication unit  130  connects to the control unit  180 , outputs, to the control unit  180 , a signal transmitted from the facility camera  400  and the server device  300 , and transmits, to the server device  300 , the signal output from the control unit  180 . 
     The operation reception unit  140  receives an input operation from the user and transmits an operation signal to the control unit  180 . As means for receiving an input operation from the user, the operation reception unit  140  may include, for example, an operation button, a touch panel superimposed on the display unit  150 , or the like. The user operates the input operation means described above to turn on and off the power supply, open and close the storage chamber door  121 , and the like. In addition, the user may operate the operation reception unit  140  to input the flag information associated with the mobile robot  100  in accordance with the cleanliness of the transported objects stored in the storage chamber. For example, the user inputs the cleanliness flag, the uncleanliness flag, the general-purpose flag, and the like from the operation reception unit  140 . 
     The display unit  150  is provided, for example, so as to project from the upper surface of the housing unit  120 . The display unit  150  is, for example, a display unit including a rectangular liquid crystal panel. The display unit  150  appropriately displays information in accordance with the command from the control unit  180 . A touch panel that receives operations from the user may be superimposed on the display unit  150 . The display unit  150  may display the flag information associated with the mobile robot  100 . 
     The sensor group  160  includes sensors that acquire data necessary for the mobile robot  100  to move autonomously. The sensor group  160  includes, for example, a robot camera  161  and a distance sensor  162 . The sensor group  160  may include sensors other than the robot camera  161  and the distance sensor  162 . 
     The robot camera  161  is disposed in an upper portion of the housing unit  120  and below the display unit  150 , for example. In the robot camera  161 , two camera units having the same angle of view may be disposed horizontally separated from each other. With this configuration, the images captured by each camera unit are output to the control unit  180  as the image data. 
     The distance sensor  162  is disposed, for example, in the lower portion of the housing unit  120 . The distance sensor  162  may be disposed in the lower portion of each of a surface on the +X-axis direction side, a surface on the −X-axis direction side, a surface on the +Y-axis direction side, and a surface on the −Y-axis direction side of the housing unit  120 . The distance sensor  162  measures the distance between an object around the mobile robot  100  and the mobile robot  100 . The control unit  180  recognizes the obstacle around the mobile robot  100  by analyzing the image data output by the robot camera  161  and the detection signals output by the distance sensor  162 , and measures the distance between the mobile robot  100  and the obstacle. 
     The ID sensor  170  is provided, for example, near the display unit  150 . The ID sensor  170  identifies the ID of the user who operates the mobile robot  100 , and detects a unique identifier included in the ID card owned by each user. The ID sensor  170  includes, for example, an antenna for reading information on a wireless tag. The user brings the ID card close to the ID sensor  170  such that the mobile robot  100  is caused to recognize the ID of the user who is the operator. 
     The control unit  180  is an information processing device including an arithmetic device such as a central processing unit (CPU). The control unit  180  includes hardware (an example of a storage medium) provided in the control unit  180  and a program stored in the hardware. That is, processes executed by the control unit  180  are realized by either hardware or software. 
     The control unit  180  acquires various types of information from each configuration and issues a command to each configuration in accordance with the acquired information. For example, the control unit  180  detects the distance between the mobile robot  100  and the surrounding object from the image data acquired from the robot camera  161  and the information on the object around the mobile robot  100  acquired from the distance sensor  162 . Then, the control unit  180  commands the drive unit  110  to move along the calculated route. When executing such a process, the control unit  180  refers to information related to a floor map stored in the storage unit  190 . 
     The storage unit  190  includes a non-volatile memory such as a flash memory and a solid state drive (SSD). The storage unit  190  stores the floor map of the facility used by the mobile robot  100  for autonomous movement. Further, the storage unit  190  stores the priority information of the mobile robot  100 . The storage unit  190  also stores the flag information associated with the mobile robot  100  and the standby area. The storage unit  190  is connected to the control unit  180 , and outputs stored information to the control unit  180  in response to a request from the control unit  180 . 
     As shown in  FIG. 2 , the mobile robot  100  has the +X-axis direction side on which the robot camera  161  is installed as the front. That is, during normal movement, the traveling direction is the +X-axis direction as shown by the arrow. 
     Various ideas can be adopted for how to define the front of the mobile robot  100 . For example, the front can be defined based on how the sensor group  160  for recognizing the surrounding environment is disposed. Specifically, the +X-axis direction side of the housing unit  120  on which the sensor having high recognition ability is disposed or many sensors are disposed can be set as the front. By defining the front as described above, the mobile robot  100  can move while recognizing the surrounding environment more accurately. The mobile robot  100  according to the present embodiment also has the +X-axis direction side on which the robot camera  161  is disposed as the front. 
     Alternatively, the front can be defined based on how the display unit  150  is disposed. When the display unit  150  displays the face of the character or the like, the surrounding people naturally recognize that the display unit  150  is the front of the mobile robot  100 . Therefore, when the display surface side of the display unit  150  is set as the front, there is little discomfort to the surrounding people. The mobile robot  100  according to the present embodiment also has the display surface side of the display unit  150  as the front. 
     Further, the front may be defined based on a shape of the housing of the mobile robot  100 . For example, when the projected shape of the housing unit  120  on the traveling surface is rectangular, it is better to have the short side as the front than the longitudinal side as the front, whereby people who pass by the mobile robot  100  are not obstructed during moving. That is, depending on the shape of the housing, there is a housing surface that is preferably set as the front when the mobile robot  100  moves normally. The mobile robot  100  according to the present embodiment also has the short side of the rectangular shape as the front. As described above, for the mobile robot  100 , the front is defined so as to match some ideas. However, the idea used to define the front may be determined in consideration of the shape and role of the mobile robot. 
     Operation of Mobile Robot 
     Next, the operation of the mobile robot according to the present embodiment will be described. For example, the user turns on the power supply of the mobile robot  100 . Then, the user inputs a desired task to the operation reception unit  140 . When necessary, the ID sensor  170  identifies the ID of the user when the power supply is turned on or when the user operates the operation reception unit  140 . 
     In order to transport the transported object as a desired task, the user operates the operation reception unit  140  to open the storage chamber door  121  and store the transported object in the storage chamber. Then, the user operates the operation reception unit  140  to close the storage chamber door  121 . When the transported object stored in the storage chamber is a clean transported object, the user associates the mobile robot  100  with the cleanliness flag. Alternatively, the user stores a clean transported object in the mobile robot  100  associated with the cleanliness flag. For example, the user operates the operation reception unit  140  to associate the mobile robot  100  with the cleanliness flag. 
     Here, clean transported objects are, for example, a drug taken by the human body, blood for blood transfusion, food, etc., an unused syringe, an unused injection needle, clothing, etc. that come into contact with the human body. On the other hand, unclean transported objects are garbage and the like that are disposed of Further, general-purpose transported objects are stationery, copy papers, and the like. 
     When the transported object stored in the storage chamber is the unclean transported object, the user associates the mobile robot  100  with the uncleanliness flag. Alternatively, the user stores the unclean transported object in the mobile robot  100  associated with the uncleanliness flag. For example, the user operates the operation reception unit  140  to associate the mobile robot  100  with the uncleanliness flag. 
     Further, when the transported object stored in the storage chamber is the general-purpose transported object, the user associates the mobile robot  100  with the general-purpose flag. Alternatively, the user stores the general-purpose transported object in the mobile robot  100  associated with the general-purpose flag. For example, the user operates the operation reception unit  140  to associate the mobile robot  100  with the general-purpose flag. 
     The association of the cleanliness flag, the uncleanliness flag, and the general-purpose flag is not limited to the operation of the operation reception unit  140  by the user. The mobile robot  100  may determine whether the transported object is clean, unclean, or for general purposes using the sensor group  160  and associate the transported object with the corresponding flag. Further, the mobile robot  100  may be associated with the flag based on the flag information transmitted from the server device  300 . 
     Further, the mobile robot  100  is not always associated with any of the cleanliness flag, the uncleanliness flag, and the general-purpose flag. There may be a mobile robot  100  that is not associated with the flag. 
     Next, the user inputs the destination to which the transported object is delivered using the operation reception unit  140 . The control unit  180  of the mobile robot  100  may search for a route to the destination using the floor map stored in the storage unit  190 . The mobile robot  100  autonomously moves along the searched route. 
       FIG. 4  is a plan view illustrating a movement method of the mobile robot  100  in the facility  900  according to the first embodiment. As shown in  FIG. 4 , the facility  900  is provided with an aisle  902  extending in the X-axis direction. A destination  908  is provided at a predetermined position in the aisle  902 . The mobile robot  100  performs the work at the destination  908 . The work at the destination  908  is, for example, the delivery of the transported object. A waypoint  909  may be provided at the predetermined position of the aisle  902  instead of the destination  908 . The mobile robot  100  moves by passing through the waypoint  909 . The destination  908  and the waypoint  909  are not limited to being provided in the aisle  902 , but may be provided in a room, a hall, or the like as long as the facility  900  is used. Further, in the following description, the delivery of the transported object will be described as the work at the destination  908 , using the destination  908  as an example. 
     A standby area  930  is provided in the vicinity of the destination  908 . The standby area  930  is preferably provided in the aisle  902  so as not to interfere with the movement of people and other mobile robots  100 . The standby area  930  has a plurality of standby positions  931  to  933 . In the figure, three standby positions  931  to  933  are shown, but the number of the plurality of standby positions  931  to  933  is not limited to three, and may be two or four or more. The standby positions  931  to  933  are places where the mobile robot  100  stops and stands by. 
     A plurality of mobile robots  100 A to  100 C delivers the transported objects to the destination  908 . In the figure, three mobile robots  100 A to  100 C are shown, but the number of the plurality of mobile robots  100 A to  100 C is not limited to three, and may be two or four or more. 
     The plurality of mobile robots  100 A to  100 C are prioritized for the delivery at the destination  908  in the facility  900 . For example, the mobile robot  100 A has the first priority, the mobile robot  100 B has the second priority, and the mobile robot  100 C has the third priority. Therefore, the mobile robot  100 A delivers the transported object at the destination  908  before the mobile robots  100 B and  100 C. The mobile robot  100 B delivers the transported object at the destination  908  after the mobile robot  100 A and before the mobile robot  100 C. 
     As described above, among the priorities assigned to the plurality of mobile robots  100 A to  100 C for the work at the destination  908  in the facility  900 , the mobile robots  100 B and  100 C with lower priorities stand by in the predetermined standby area  930  until the robot  100 A with a higher priority completes the work. For example, when the mobile robot  100 A having the first priority is delivering the transported object, the mobile robots  100 B and  100 C having lower priorities stand by in the standby area  930  until the mobile robot  100 A completes the delivery. 
     Further, when the mobile robots  100 B and  100 C having lower priorities arrive at the destination  908  before the mobile robot  100 A having a higher priority, the mobile robots  100 B and  100 C may stand by in the standby area  930  until the mobile robot  100 A having a higher priority arrives at the destination  908  and completes the delivery of the transported object. 
     The standby area  930  may have a plurality of standby positions  931  to  933  prioritized according to the distance from the destination  908 . For example, the standby position  931  is closer to the destination  908  than the standby positions  932  and  932  are. The standby position  932  is closer to the destination  908  than the standby position  933  is. Therefore, the standby position  931  has the first priority, the standby position  932  has the second priority, and the standby position  933  has the third priority. 
     Among the plurality of mobile robots  100 B and  100 C standing by in the standby area  930 , the mobile robot  100 B having a higher priority stands by at the standby position  931  having a higher priority. The mobile robot  100 C having a lower priority than the mobile robot  100 B stands by at the standby position  932  having a lower priority than the standby position  931  at which the mobile robot  100 B stands by. Therefore, the standby positions  931  to  933  are used from the standby position  931  having a higher priority. 
       FIG. 5  is a plan view illustrating a movement method of moving the mobile robot  100  in the facility  900  according to the first embodiment, and shows an example in which a mobile robot  100 D having a higher priority cuts into a standby position having a higher priority than the standby position of the mobile robot  100 C having a lower priority. As shown in  FIG. 5 , the mobile robot  100 D arrives at the standby area  930 . The priority of the mobile robot  100 D is lower than that of the mobile robot  100 B and higher than that of the mobile robot  100 C. In this case, the mobile robot  100 C leaves the standby position  932  and moves to the standby position  933 . The mobile robot  100 D stands by at the vacant standby position  932 . 
     In this way, the mobile robot  100 D having a higher priority than the mobile robot  100 C standing by at the standby position  932  causes the mobile robot  100 C to move to the standby position  933  having a lower priority when the mobile robot  100 D arrives at the standby area  930 . Then, the mobile robot  100 D cuts into the standby position  932  having a higher priority than the standby position  933  at which the mobile robot  100 C stands by. This makes it possible for the mobile robot  100 D to stand by at the standby position  932  having a higher priority than the standby position  933  at which the mobile robot  100 C stands by. Therefore, the mobile robot  100 D can stand by at the standby position  932  according to the priority, and can smoothly proceed with the delivery and the like at the destination  908 . 
       FIG. 6  is a plan view illustrating a movement method of the mobile robot  100  in the facility  900  according to the first embodiment, and shows an example in which the mobile robot  100  reserves the standby position  932  when moving toward the standby area  930 . The mobile robots  100 B and  100 C stand by in the standby area  930 . The mobile robot  100 D moves toward the standby area  930  by, for example, an elevator or the like. The priority of the mobile robot  100 D is lower than that of the mobile robot  100 B and higher than that of the mobile robot  100 C. The mobile robot  100 D notifies the mobile robots  100 B and  100 C standing by in the standby area  930  that the mobile robot  100 D will stand by in the standby area  930 . In this case, as shown in  FIG. 6 , the mobile robot  100 C having a lower priority leaves the standby position  932  and moves to the standby position  933 . Thus, the mobile robot  100 D reserves the standby position  932 . 
     As described above, the mobile robot  100 D having a higher priority than the mobile robot  100 C standing by in the standby area  930  reserves, when moving toward the standby area  930 , the standby position  932  having a higher priority than the standby position  933  at which the mobile robot  100 C stands by. After that, the mobile robot  100 D that has arrived at the standby area  930  stands by at the reserved standby position  932 . As a result, the mobile robot  100 D moving toward the standby area  930  can reserve the standby position  932  according to the priority, and can smoothly proceed with the delivery and the like at the destination  908 . 
     The mobile robots  100 B to  100 D standing by in the standby area  930  perform delivery at the destination  908  after the mobile robot  100 A having a higher priority completes the delivery at the destination  908 . In that case, some work may occur by the administrator of the mobile robots  100 , such as receiving the transported objects (or opening/closing the gate of the waypoint  909 ). Therefore, it is preferable to notify the administrator in advance of standby information including information such as the number of the mobile robots  100  standing by in the standby area  930 , the standby time, and the work that occurs. 
     However, if all the mobile robots  100  standing by in the standby area  930  notify the administrator individually, the administration may become complicated. Therefore, the mobile robot  100 B standing by at the standby position  931  having the highest priority notifies the administrator of the standby information including the standby information of the mobile robots  100 C and  100 D standing by at positions other than the standby position  931  having the highest priority. As a result, the administrator can receive the standby information in advance, prepare for the work at the destination  908 , reduce the amount of notifications received, and reduce the burden. 
       FIG. 7  is a plan view illustrating a movement method of the mobile robot  100  in the facility  900  according to the first embodiment, and shows an example in which the mobile robot  100  and the standby area  930  have the flag information. As shown in  FIG. 7 , the facility  900  may be provided with a plurality of standby areas  940 ,  950 ,  960 , and  970 . The standby area  940  includes standby positions  941  and  942 . The standby area  950  includes standby positions  951  and  952 . The standby area  960  includes standby positions  961  and  962 . The standby area  970  includes a standby position  971 . The standby areas  940 ,  950 ,  960 , and  970  are collectively referred to as the standby area  930 . 
     For example, the standby area  940  is set as the clean area associated with a cleanliness flag F 1 . The standby area  950  is set as the unclean area associated with an uncleanliness flag F 2 . The standby area  960  is set as the general-purpose area associated with a general-purpose flag F 3 . As described above, the facility  900  may be provided with the standby area  940  set as the clean area, the standby area  950  set as the unclean area, and the standby area  960  set as the general-purpose area. Further, the facility  900  may include the standby area  970  that is not associated with the flag. 
     The mobile robots  100 B and  100 C associated with the cleanliness flag F 1  are allowed to enter the standby area  940  associated with the cleanliness flag F 1 , but are prohibited from entering the standby area  950  associated with the uncleanliness flag F 2 . The mobile robots  100 B and  100 C may be allowed to enter the standby area  960  or may be allowed to enter the standby area  970 . 
     The mobile robots  100 F and  100 G associated with the uncleanliness flag F 2  are allowed to enter the standby area  950  associated with the uncleanliness flag F 2 , but are prohibited from entering the standby area  940  associated with the cleanliness flag F  1 . The mobile robots  100 F and  100 G may be allowed to enter the standby area  960  or may be allowed to enter the standby area  970 . 
     The mobile robots  100 D and  100 E associated with the general-purpose flag F 3  are allowed to enter the standby area  960  associated with the general-purpose flag F 3 . The mobile robots  100 D and  100 E may be allowed to enter the standby areas  940  and  950 . Further, the mobile robots  100 D and  100 E may be allowed to enter the standby area  970 . 
     When the mobile robot  100  is associated with the cleanliness flag F 1 , the mobile robot  100  is prohibited from standing by in the same standby area  930  as the other mobile robots  100  associated with the uncleanliness flag F 2 . For example, when the mobile robot  100 B associated with the cleanliness flag F  1  is standing by in the standby areas  960  and  970 , the mobile robot  100 F associated with the uncleanliness flag F 2  is prohibited from standing by in the same standby areas  960  and  970 . When the mobile robot  100 F associated with the uncleanliness flag F 2  is standing by in the standby areas  960  and  970 , the mobile robot  100 B associated with the cleanliness flag F 1  is prohibited from standing by in the same standby areas  960  and  970 . 
     The standby areas  960  and  970  where the mobile robot  100 B associated with the cleanliness flag F 1  has stood by are designated as the clean areas for a predetermined period. Therefore, the mobile robot  100 F associated with the uncleanliness flag F 2  cannot stand by in the standby areas  960  and  970  for the predetermined period. The standby areas  960  and  970  where the mobile robot  100 F associated with the uncleanliness flag F 2  has stood by are designated as the unclean areas for a predetermined period. Therefore, the mobile robot  100 B associated with the cleanliness flag F 1  cannot stand by in the standby areas  960  and  970  for the predetermined period. 
     Further, the standby areas  960  and  970  may be set as the clean areas for a predetermined time, and may be set as the unclean areas for a predetermined time thereafter. 
     When the mobile robot  100 B is associated with the cleanliness flag F 1 , the mobile robot  100 B moves away from the mobile robot  100 F associated with the uncleanliness flag F 2  by a predetermined distance or more. Similarly, when the mobile robot  100 F is associated with the uncleanliness flag F 2 , the mobile robot  100 F moves away from the mobile robot  100 B associated with the cleanliness flag F 1  by a predetermined distance or more. With this configuration, cleanliness can be maintained. 
     As described above, the plurality of the mobile robots  100  includes the mobile robots  100  associated with the cleanliness flag F 1  or the uncleanliness flag F 2 . The plurality of the standby areas  930  includes the standby areas  930  associated with the cleanliness flag F 1  or the uncleanliness flag F 2 . The mobile robot  100 B associated with the cleanliness flag F 1  stands by at the standby positions  941  and  942  of the standby area  940  associated with the cleanliness flag F 1 . The mobile robot  100 F associated with the uncleanliness flag F 2  stands by at the standby positions  951  and  952  of the standby area  950  associated with the uncleanliness flag F 2 . Between the standby area  940  associated with the cleanliness flag F 1  and the standby area  950  associated with the uncleanliness flag F 2 , the standby area  960  associated with a flag different from the cleanliness flag F 1  and the uncleanliness flag F 2 , for example, the general-purpose flag F 3  may be provided. As a result, the cleanliness of the standby area  930  associated with the cleanliness flag F 1  can be maintained. 
     The operation of the mobile robot  100  described above will be described with reference to a flowchart.  FIG. 8  is a flowchart illustrating an autonomous mobile method for the mobile robot in the facility  900  according to the first embodiment. 
     As shown in step S 11  of  FIG. 8 , the mobile robots  100  are prioritized. Specifically, the mobile robots  100  are prioritized by any one of the priorities assigned to the plurality of the mobile robots  100  for the work at the destination  908  in the facility  900  or the passage through the waypoint  909 . The mobile robots  100  may be prioritized when moving toward the destination  908 , or may be prioritized in advance. 
     Next, as shown in step S 12 , the mobile robot  100  moves to the destination  908  and arrives at the destination  908 . For example, the mobile robot  100  moves to the destination  908  based on the searched route. 
     Next, as shown in step S 13 , the mobile robot  100  that has arrived at the destination  908  determines whether there is a mobile robot  100  working at the destination  908 . The work at the destination  908  is, for example, the delivery of the transported object. In step S 13 , for example, when there is a mobile robot  100 A that is working, the mobile robots  100 B and  100 C stand by in the standby area  930  as shown in step S 14 . That is, when the mobile robots  100 B and  100 C have lower priorities, the mobile robots  100 B and  100 C stand by in the standby area  930  until the other mobile robot  100 A having a higher priority completes the work. 
     At the time of standby, in the standby area  930 , the mobile robot  100 B having a higher priority uses the standby position for standby from the standby position  931  having a higher priority. Then, the process returns to step S 13 . That is, it is determined whether there is a mobile robot  100 A that is working. When there is a mobile robot  100 A that is working, the mobile robot  100 B stands by in the standby area  930 . 
     On the other hand, in step S 13 , when there is no mobile robot  100 A that is working, as shown in step S 15 , it is determined whether there is a mobile robot  100  having a higher priority in the standby area  930 . For example, the mobile robot  100 C determines whether a mobile robot  100 B having a higher priority is present in the standby area  930 . In step S 15 , when there is a mobile robot  100 B having a higher priority in the standby area  930 , the mobile robot  100 C stands by in the standby area  930  as shown in step S 14 . 
     At the time of standby, in the standby area  930 , the mobile robot  100  having a higher priority uses the standby position from the standby position  931  having a higher priority. For example, when the mobile robot  100 B having a higher priority and standing by at the standby position  931  having a higher priority shifts to the work at the destination  908  and the standby position  931  having a higher priority becomes vacant, the mobile robot  100 C whose priority has become higher moves to the vacant standby position  931  and stands by. After that, the process returns to step S 13 , and repeats step S 14  or step S 15 . 
     In step S 15 , when there is no mobile robot  100  having a higher priority in the standby area  930 , the mobile robot  100 C performs the work at the destination  908  as shown in step S 16 . That is, the mobile robot  100 C leaves the standby area  930  and starts the work at the destination  908 . In this way, the mobile robot  100  can perform the work at the destination  908  according to the priority. 
     At the time of standby, the mobile robot  100 D having a higher priority than the mobile robot  100 C standing by in the standby area  930  may reserve, when moving toward the standby area  930 , the standby position  932  having a higher priority than the standby position  933  at which the mobile robot  100 C stands by. Further, the mobile robot  100 D having a higher priority than the mobile robot  100 C standing by in the standby area  930  may cut into, when arriving at the standby area  930 , the standby position  932  having a higher priority than the standby position  933  at which the mobile robot  100 C stands by. 
     In addition, the mobile robots  100 B and  100 C associated with the cleanliness flag F 1  may stand by at the standby positions  941  and  942  of the standby area  940  associated with the cleanliness flag F 1 . The mobile robots  100 F and  100 G associated with the uncleanliness flag F 2  may stand by at the standby positions  951  and  952  of the standby area  950  associated with the uncleanliness flag F 2 . 
     Next, the effect of the present embodiment will be described. When the priority for the delivery or the like to the destination  908  is lower, the mobile robot  100  of the present embodiment stands by in the standby area  930  or the like even when the mobile robot  100  arrives at the destination  908  prior to other mobile robots  100 . As a result, it is possible to perform the delivery from the succeeding mobile robot  100  having a higher priority. Therefore, an efficient delivery schedule can be created and the movement efficiency can be improved. 
     The standby positions  931  to  933  and the like are prioritized according to the distance from the destination  908  and the like. Therefore, the mobile robot  100  on standby can shorten the time for moving from the standby area  930  to the destination  908  or the like when the turn comes, and an efficient delivery schedule can be created. Further, the mobile robot  100  can reserve the standby positions  931  to  933  and the like when moving toward the standby area  930 . Therefore, it is possible to stand by at the standby positions  931  to  933  and the like immediately after arriving at the standby area  930 , so that the standby time can be shortened. 
     The mobile robot  100 , the standby area  930 , and the like may be associated with the cleanliness flag F 1  and the like. Thereby, the cleanliness of the mobile robot  100  and the standby area  930  can be improved. 
     Second Embodiment 
     Next, an autonomous mobile system according to a second embodiment will be described. The autonomous mobile system according to the present embodiment is a system that controls an autonomous mobile device that autonomously moves in the predetermined facility  900 . The autonomous mobile system will be described separately in “Configuration of Autonomous Mobile System” and “Operation of Autonomous Mobile System”. 
     Configuration of Autonomous Mobile System 
     The autonomous mobile system includes the mobile robot  100 . The autonomous mobile system may include a plurality of the mobile robots  100 . Further, the autonomous mobile system may include the server device  300  and the facility camera  400  in addition to the mobile robot  100 . 
     Mobile Robot 
     The configuration of the mobile robot  100  according to the present embodiment is the same as that of the above-described first embodiment. The mobile robot  100  according to the present embodiment may cause the server device  300  to execute some of the functions of the mobile robot  100  according to the first embodiment. 
     For example, the server device  300  may be caused to prioritize a plurality of the mobile robots  100  for the delivery at the destination  908  or the passage through the waypoint  909  in the facility  900 . For example, the server device  300  may be caused to execute association of the mobile robots  100  with the cleanliness flag, the uncleanliness flag, and the general-purpose flag. Further, the server device  300  may be caused to execute association of the standby area  930  in the facility  900  with the cleanliness flag F 1 , the uncleanliness flag F 2 , and the general-purpose flag F 3 . 
     Server Device 
     The server device  300  is, for example, a computer having a communication function. The server device  300  may be installed at any place as long as the server device  300  can communicate with each configuration of the autonomous mobile system. The server device  300  transmits and receives traveling information to and from the plurality of the mobile robots  100 . 
       FIG. 9  is a block diagram illustrating the server device  300  according to the second embodiment. As shown in  FIG. 9 , the server device  300  includes a communication unit  330 , a control unit  380 , and a storage unit  390 . 
     The communication unit  330  communicates with the mobile robot  100  individually. The communication unit  330  outputs a signal received from each configuration to the control unit  380 . Further, the communication unit  330  appropriately transmits a signal output from the control unit  380  to each configuration. The communication unit  330  may include a router device for performing communication between the server device  300  and a plurality of configurations. The communication unit  330  may have a plurality of communication means different for each component to communicate with each other in order to communicate with the server device  300  and the configurations. The communication unit  330  may be communicably connected to each configuration via an intranet line or the Internet line. The communication unit  330  may transmit and receive the priority information and the flag information to and from the mobile robot  100 . Further, the communication unit  330  may receive the image data of the destination  908  and the standby area  930  from the facility camera  400 . 
     The control unit  380  is configured by an arithmetic device such as a CPU and executes various types of information processing. The control unit  380  may prioritize each mobile robot  100  for the work at the destination  908  or the passage through the waypoint  909  in the facility  900 . The control unit  380  may associate the mobile robots  100  and the standby areas  930  with the cleanliness flag, the uncleanliness flag, and the general-purpose flag. Further, the control unit  380  extracts standby area information including information such as the number of the mobile robots  100  on standby, the standby time, and the vacancy of the standby positions from the image data of the destination  908  and the standby area  930 . 
     The storage unit  390  includes a non-volatile memory such as a flash memory and an SSD. The storage unit  390  stores the floor map of the facility used by the mobile robot  100  for autonomous movement. Further, the storage unit  390  stores the priority information of the mobile robot  100 . The storage unit  390  also stores the flag information of the mobile robot  100  and the standby area  930 . The storage unit  390  is connected to the control unit  380 , and outputs stored information to the control unit  380  in response to a request from the control unit  380 . 
     Operation of Autonomous Mobile System 
     Next, the operation of the autonomous mobile system will be described.  FIG. 10  is a sequence diagram illustrating the operation of the autonomous mobile system according to the second embodiment. 
     As shown in step S 201  of  FIG. 10 , the server device  300  prioritizes the plurality of the mobile robots  100  for the work at the destination  908  or the passage through the waypoint  909  in the facility  900 . Further, as shown in step S 202 , the server device  300  associates the plurality of the mobile robots  100  and the plurality of the standby areas  930  with the flags F 1  to F 3 . 
     As shown in step S 203 , the facility camera  400  may capture images of the destination  908  and the standby area  930  and transmit the image data to the server device  300  as shown in step S 204 . The server device  300  receives the image data, and as shown in step S 205 , extracts the standby area information including information such as the number of the mobile robots  100  on standby in the standby area  930 , the standby time, and the vacancy of the standby positions. 
     Next, as shown in step S 206 , the server device  300  transmits the priority information, the flag information, and the standby area information to the mobile robot  100 . Upon receiving these types of information, the mobile robot  100  moves to the destination  908  or the like and arrives at the destination  908  or the like as shown in step S 207 . 
     Next, as shown in step S 208 , the mobile robot  100  determines whether there is a mobile robot  100  working at the destination  908 . Further, as shown in step S 209 , it is determined whether there is a mobile robot  100  having a higher priority in the standby area  930 . When there is a mobile robot  100  that is working or when there is a mobile robot  100  having a higher priority in the standby area  930 , the mobile robot  100  stands by in the standby area  930  as shown in step S 210 . At that time, the plurality of the standby positions  931  to  933  prioritized according to the distance from the destination  908  is used for standby from the standby positions  931  to  933  having the higher priority. 
     In step S 208 , when there is no mobile robot  100  that is working, and in step S 209 , when there is no mobile robot  100  having a higher priority in the standby area  930 , the mobile robot  100  performs the work at the destination  908 . In this way, the mobile robot  100  in the autonomous mobile system can perform the work at the destination  908 , for example, deliver the transported object at the destination  908 . 
     According to the present embodiment, the server device  300  can prioritize the plurality of the mobile robots  100 . Further, the server device  300  can associate the mobile robot  100  and the standby area  930  with the flags F 1  to F 3 . Therefore, the load on the mobile robot  100  can be reduced, and the processing speed of the mobile robot  100  can also be improved. 
     Since the server device  300  can centrally control the operation of the plurality of the mobile robots  100 , the operation of each mobile robot  100  can be adjusted, and the movement efficiency of the entire system can be improved. Other configurations, operations, and effects are included in the description of the first embodiment. 
     The present disclosure is not limited to the above embodiments, and can be appropriately modified without departing from the spirit. For example, a combination of the configurations of the first and second embodiments is also included in the scope of the technical idea of the present embodiment. In addition, the autonomous mobile method, the autonomous mobile program, and a storage medium storing the autonomous mobile program described below are also included in the scope of the technical idea of the present embodiment. 
     Appendix 1 
     An autonomous mobile method for an autonomous mobile device that autonomously moves in a facility, the autonomous mobile method comprising: 
     a step of assigning one of priorities to the autonomous mobile device among the priorities assigned to a plurality of the autonomous mobile devices for work at a destination or passage through a waypoint in the facility; and 
     a step of causing, when the autonomous mobile device has a lower priority, the autonomous mobile device to stand by in a predetermined standby area until another autonomous mobile device having a higher priority completes the work or the passage. 
     Appendix 2 
     The autonomous mobile method according to Appendix 1, wherein: 
     the standby area has a plurality of standby positions prioritized according to a distance from the destination or the waypoint; and 
     in the step of causing the autonomous mobile device to stand by in the predetermined standby area, the standby area is used for standby from the standby position having a higher priority. 
     Appendix 3 
     The autonomous mobile method according to Appendix 2, wherein in the step of causing the autonomous mobile device to stand by in the predetermined standby area, when the autonomous mobile device has a higher priority than another autonomous mobile device standing by in the standby area, the autonomous mobile device reserves, when moving toward the standby area, the standby position having a higher priority than the standby position at which the other autonomous mobile device stands by. 
     Appendix 4 
     The autonomous mobile method according to Appendix 2, wherein in the step of causing the autonomous mobile device to stand by in the predetermined standby area, when the autonomous mobile device has a higher priority than another autonomous mobile device standing by in the standby area, the autonomous mobile device cuts into, when arriving at the standby area, the standby position having a higher priority than the standby position at which the other autonomous mobile device stands by. 
     Appendix 5 
     The autonomous mobile method according to Appendix 3 or 4, wherein when standing by at the standby position having the highest priority, the autonomous mobile device notifies an administrator of the autonomous mobile device of standby information including the standby information of the autonomous mobile device standing by at the standby position other than the standby position having the highest priority. 
     Appendix 6 
     The autonomous mobile method according to any one of Appendices 2 to 5, wherein: 
     the autonomous mobile devices include the autonomous mobile device associated with a cleanliness flag or an uncleanliness flag; 
     a plurality of the standby areas is provided in the facility; 
     the standby areas include the standby area associated with the cleanliness flag or the uncleanliness flag; and 
     in the step of causing the autonomous mobile device to stand by in the predetermined standby area, when associated with the cleanliness flag, the autonomous mobile device stands by at the standby position in the standby area associated with the cleanliness flag, and when associated with the uncleanliness flag, the autonomous mobile device stands by at the standby position in the standby area associated with the uncleanliness flag. 
     Appendix 7 
     The autonomous mobile method according to Appendix 6, wherein the standby area associated with a flag different from the cleanliness flag and the uncleanliness flag is provided between the standby area associated with the cleanliness flag and the standby area associated with the uncleanliness flag. 
     Appendix 8 
     An autonomous mobile program for an autonomous mobile device that autonomously moves in a facility, the autonomous mobile program causing a computer to execute: 
     assignment of one of priorities to the autonomous mobile device among the priorities assigned to a plurality of the autonomous mobile devices for work at a destination or passage through a waypoint in the facility; and 
     standby of the autonomous mobile device, when the autonomous mobile device has a lower priority, in a predetermined standby area until another autonomous mobile system having a higher priority completes the work or the passage. 
     Appendix 9 
     The autonomous mobile program according to Appendix 8, wherein: 
     the standby area has a plurality of standby positions prioritized according to a distance from the destination or the waypoint; and 
     when causing the autonomous mobile device to stand by in the predetermined standby area, the standby area is used for standby from the standby position having a higher priority. 
     Appendix 10 
     The autonomous mobile program according to Appendix 9, causing the computer to execute, in causing the autonomous mobile device to stand by in the predetermined standby area, reservation of the standby position having a higher priority than the standby position at which another autonomous mobile device stands by, when the autonomous mobile device has a higher priority than the other autonomous mobile device standing by in the standby area, and when the autonomous mobile device moves toward the standby area. 
     Appendix 11 
     The autonomous mobile program according to Appendix 9, causing the computer to execute, in causing the autonomous mobile device to stand by in the predetermined standby area, cut-in into the standby position having a higher priority than the standby position at which another autonomous mobile device stands by, when the autonomous mobile device has a higher priority than the other autonomous mobile device standing by in the standby area, and when the autonomous mobile device arrives at the standby area. 
     Appendix 12 
     The autonomous mobile program according to Appendix 10 or 11, causing the computer to execute notification of standby information including the standby information of the autonomous mobile device standing by at the standby position other than the standby position having the highest priority to an administrator of the autonomous mobile device, when the autonomous mobile device stands by at the standby position having the highest priority. 
     Appendix 13 
     The autonomous mobile program according to any one of Appendices 9 to 12, wherein: 
     the autonomous mobile devices include the autonomous mobile device associated with a cleanliness flag or an uncleanliness flag; 
     a plurality of the standby areas is provided in the facility; 
     the standby areas include the standby area associated with the cleanliness flag or the uncleanliness flag; and 
     in causing the autonomous mobile device to stand by in the predetermined standby area, the autonomous mobile program causes the computer to execute: standby of the autonomous mobile device at the standby position in the standby area associated with the cleanliness flag when the autonomous mobile device is associated with the cleanliness flag; and standby of the autonomous mobile device at the standby position in the standby area associated with the uncleanliness flag when the autonomous mobile device is associated with the uncleanliness flag. 
     Appendix 14 
     The autonomous mobile program according to Appendix 13, wherein the standby area associated with a flag different from the cleanliness flag and the uncleanliness flag is provided between the standby area associated with the cleanliness flag and the standby area associated with the uncleanliness flag.