The Novo Nordisk MIR Autonomous Transport Robot Project considers transportation needs and uses five MIR500 autonomous mobile transport robots. The Fleet vehicle scheduling system automatically allocates the operation of the five vehicles, with a payload of 500KG and a maximum movement speed of 2m/s. The robots can automatically open and close doors and elevators through signals, and pick up and release goods from the shelves to the shelves. Each of the five vehicles is equipped with its corresponding automatic charging station, which can be fully charged in one hour to complete uninterrupted transportation for about ten hours. During idle transportation intervals, intermittent charging can be returned to the charging station to meet continuous transportation needs