Patent ID: 12246643

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, the present disclosure will be described based on an embodiment of the disclosure. However, the disclosure according to the claims is not limited to the following embodiment. Not all of the configurations described in the embodiment are essential as means for solving the problem.

Embodiment

A control system according to the embodiment performs system control for controlling a system including an autonomously movable mobile robot configured to transport an object (hereinafter this system will be referred to as “transport system”). This mobile robot can also be referred to as “transport robot” because it can transport an object. An example of the configuration of the mobile robot according to the present embodiment will be described below with reference toFIGS.1and2.FIG.1is a perspective view showing an example of the overall configuration of the mobile robot according to the present embodiment, andFIG.2is a perspective view showing an example of the overall configuration of a wagon that is transported by the mobile robot inFIG.1.

The transport system need only include a mobile robot such as a mobile robot100shown inFIG.1. The transport system may further include other devices such as a host management device. For simplicity of description, an example will first be given in which the transport system is composed of the mobile robot100alone. Main features of the transport system will be described. In this example, the term “control system” can refer to either the mobile robot100itself or components of a control system included in the mobile robot100.

The following description will be given using an XYZ orthogonal coordinate system as appropriate. An X direction is a front-rear direction of the mobile robot100inFIG.1, a Y direction is a right-left direction of the mobile robot100inFIG.1, and a Z direction is a vertical up-down direction. More specifically, a +X direction is defined as a forward direction of the mobile robot100, and a −X direction is defined as a rearward direction of the mobile robot100. A +Y direction is a leftward direction of the mobile robot100, and a −Y direction is a rightward direction of the mobile robot100. A +Z direction is a vertically upward direction, and a −Z direction is a vertically downward direction.

The mobile robot100is movable in both the forward and rearward directions. That is, the mobile robot100moves in the forward direction when its wheels are rotated forward, and moves in the rearward direction when the wheels are rotated in reverse. Changing the rotational speed between the right and left wheels allows the mobile robot100to turn right or left.

As shown inFIG.1, the mobile robot100can include a platform110on which a transport object is to be loaded, a stand120, and an operation unit130. The platform110is equipped with wheels111, axles, a battery, a control computer101, a drive motor, etc. It is herein assumed that the control computer101is mounted at the illustrated position in the platform110. However, the control computer101need not necessarily be mounted at this position. The control computer101may be mounted at any other position in the platform110, or part of the control computer101or the entire control computer101may be mounted in either or both of the stand120and the operation unit130.

The platform110rotatably holds the wheels111. In the example inFIG.1, the platform110is provided with four wheels111. The four wheels111are right and left front wheels and right and left rear wheels. The mobile robot100moves along a desired route by independently controlling the rotational directions and rotational speeds of the wheels111. Part of the four wheels111may be drive wheels, and the rest of the wheels111may be driven wheels. As shown inFIG.1, an additional driven wheel(s) may be provided between the front and rear wheels111.

In order to prevent contact with an obstacle, check the route, etc., various sensors such as a camera and a distance sensor may be provided in at least one of the following components: the platform110, the operation unit130, and the stand120.

FIG.1shows an example in which a camera104and a sensor105are provided as such sensors. The camera104is mounted facing the +X side on the stand120, and the sensor105is mounted on the front side of the platform110. A bumper can be installed on the front side of the platform110, and the sensor105can be mounted on the bumper. The sensor105detects when an object comes into contact with the bumper. The mobile robot100can be controlled to stop when the sensor105detects contact of an object, that is, contact of an obstacle. Therefore, the sensor105can be referred to as “stop sensor.” The sensor105need not necessarily be mounted on the front side. The sensor105may be a sensor that detects contact of an object with a bumper installed on part or all of the outer periphery of the mobile robot100.

The mobile robot100is an autonomous mobile robot. However, the mobile robot100may have a function to move according to user's operations. That is, the mobile robot100may be a mobile robot configured to switch between an autonomous movement mode and a user operation mode. By the autonomous movement control, the mobile robot100can be controlled to move autonomously based on a route determined according to a set transport destination or a set route. In the autonomous movement control, the mobile robot100can also be controlled to move autonomously by determining a route, performing contact avoidance, etc. using a learning model obtained through machine learning.

The user operation mode in which the mobile robot100moves based on user operations may be any mode as long as the degree of involvement of the user operations is relatively high compared to the autonomous movement mode in which the mobile robot100moves autonomously. In other words, the user operation mode need not be limited to a mode in which the user controls all movements of the mobile robot with no autonomous control by the mobile robot. Similarly, the autonomous movement mode need not be limited to a mode in which the mobile robot performs fully autonomous control and does not accept any user operations. For example, the user operation mode and the autonomous movement mode may include the following first to third examples.

In the first example, the autonomous movement mode is a mode in which the mobile robot travels autonomously and determines when to stop and when to start traveling and the user does not perform any operations, and the user operation mode is a mode in which the mobile robot travels autonomously and the user operates to stop the mobile robot and to control the mobile robot to start traveling. In the second example, the autonomous movement mode is a mode in which the mobile robot travels autonomously and the user operates to stop the mobile robot and to control the mobile robot to start traveling, and the user operation mode is a mode in which the mobile robot does not travel autonomously and the user not only operates to stop the mobile robot and to control the mobile robot to start traveling but also operates to control the mobile robot to travel. In the third example, the autonomous movement mode is a mode in which the mobile robot travels autonomously and determines when to stop and when to start traveling and the user does not perform any operations, and the user operation mode is a mode in which the mobile robot travels autonomously for speed adjustment, contact avoidance, etc. and the user operates to change the direction of travel and the route etc.

The user may be a worker etc. at a facility where the mobile robot100is utilized, and may be a hospital worker when the facility is a hospital.

The control computer101can be implemented by, for example, integrated circuitry, and can be implemented by, for example, a processor such as a micro processor unit (MPU) or a central processing unit (CPU), a working memory, and a nonvolatile storage device. Control programs to be executed by the processor are stored in the storage device, and the processor can perform the function to control the mobile robot100by loading the programs into the working memory and executing them. The control computer101can be referred to as “control unit.”

The control computer101controls the mobile robot100to move autonomously toward a preset transport destination or along a preset transport route, based on prestored map data and information acquired by the various sensors exemplified by the camera104. This autonomous movement control can include control for loading a wagon500shown inFIG.2and control for unloading the wagon500. The wagon500will be described later. It can be said that the control computer101can include a movement control unit that performs such autonomous movement control.

In order to load and unload a transport object such as the wagon500, the platform110can include a lifting mechanism140for loading and unloading a transport object. Part of the lifting mechanism140can be housed inside the platform110. The lifting mechanism140can be installed with its loading surface, namely its surface on which a transport object is to be loaded, being exposed on the upper side surface of the platform110. The lifting mechanism140is a lifting stage configured to be raised and lowered, and can be raised and lowered as controlled by the control computer101. The platform110is provided with a motor and a guide mechanism for the raising and lowering of the lifting mechanism140. An upper surface of the lifting mechanism140serves as the loading surface on which the wagon500as a transport object is to be loaded. The wagon500is not limited to the configuration shown inFIG.2, and may be any predetermined wagon of a size, shape, and weight that are loadable and transportable on the lifting mechanism140. The lifting mechanism140includes a lift mechanism for lifting the wagon500. Space above the lifting mechanism140serves as a loading space for loading a transport object. As far as the user loads the wagon500, the platform110may not include the lifting mechanism140.

The platform110can include a first light-emitting unit11at a position around the lifting mechanism140. The first light-emitting unit11may have any configuration as long as it can emit light. The first light-emitting unit11can be composed of, for example, one or more light-emitting diodes (LEDs) or organic electroluminescence, and its light emission can be controlled by the control computer101. The position, shape, and size of the first light-emitting unit11are not limited to those illustrated in the drawings. The mobile robot100can include the first light-emitting unit11even when the mobile robot100does not include the lifting mechanism140.

The stand120is attached to the platform110. The stand120is a rod-shaped member extending upward from the platform110. In this example, the stand120is in a cylindrical shape that is long in the Z direction. However, the stand120may be in any shape, and the mobile robot100may not include the stand120. The longitudinal direction of the stand120is parallel to the Z direction. The stand120is installed outside the lifting mechanism140. That is, the stand120is installed so as not to interfere with the rising and lowering movements of the lifting mechanism140. The stand120is installed on one end side of the platform110in the Y direction (right-left direction). The stand120is attached near the right front corner of the platform110. The stand120is installed at the end of the platform110that is located on the +X side and −Y side on an XY plane.

The stand120may be provided with, for example, a stick unit131of a joystick device or an emergency stop button for stopping the mobile robot100in case of emergency, on its upper surface portion. The joystick device is a device that is operated to move the mobile robot100in a direction intended by the user when in the user operation mode. The joystick device can receive a directional operation when the stick unit131is tilted in a direction in which the user wants the mobile robot100to move. The joystick device can also be controlled to perform a select operation by depressing the stick unit131. The stick unit131may be configured to serve as an emergency stop button when it is depressed for a predetermined period. In the case where the stick unit131is configured to also receive a select operation, this predetermined period need only be set to a different value from a period for the select operation.

The stand120can include a second light-emitting unit12at a position around the stick unit131. The second light-emitting unit12may have any configuration as long as it can emit light. For example, the second light-emitting unit12may be composed of, for example, one or more LEDs or organic electroluminescence, and its light emission can be controlled by the control computer101. The position, shape, and size of the second light-emitting unit12are not limited to those illustrated in the drawings. The mobile robot100can include the second light-emitting unit12even when the mobile robot100does not include the stand120or even when the mobile robot100includes the stand120but does not include the stick unit131.

The stand120supports the operation unit130. The operation unit130is attached near the upper end of the stand120. The operation unit130can thus be installed at a height that is easy for the user to operate. That is, the stand120extends to a height that is easy for the standing user to operate the operation unit130, and the stick unit131is also installed at a height that is easy for the user to operate. The operation unit130extends to the +Y side from the stand120. From the standpoint of ease of operation, the operation unit130can be mounted in the middle in the right-left direction of the platform110.

The operation unit130can include a touch panel monitor etc. that receives user operations. The operation unit130may include a microphone etc. for audio input. The monitor of the operation unit130faces the opposite side from the platform110. That is, a display surface (operation surface) of the operation unit130is a surface on the +X side of the operation unit130. The operation unit130may be detachable from the stand120. That is, a holder that holds the touch panel may be attached to the stand120. The user can enter a transport destination of a transport object, transport information about the transport object, etc. by operating the operation unit130. The operation unit130can display, to the user, information such as details of an object being transported or an object to be transported and a destination of the object. The mobile robot100may not include the operation unit130.

As illustrated in the drawings, the operation unit130and the stick unit131can be mounted at at least about the same height so that they can be operated intuitively. This allows the user to operate the operation unit130and the stick unit131in an intuitive flow even when an operation to depress the stick unit131is assigned to an operation to select an operation displayed on the operation unit130.

An integrated circuit (IC) card reader for the user to get authenticated using an IC card etc. may be installed on the stand120at about the same height position as the operation unit130or inside the operation unit130. Although the mobile robot100need not necessarily have a user authentication function, the mobile robot100with the user authentication function can block mischievous operations by a third party etc. The user authentication function is not limited to the type using an IC card, and may be of the type using user information and password that are entered via the operation unit130. However, the user authentication function of the type using various short-range wireless communication technologies that allow contactless authentication can save the user a hassle and can prevent infection.

The user can place a transport object in the wagon500loaded on the mobile robot100and request the mobile robot100to transport the object. The wagon500itself can also be referred to as “transport object.” Therefore, for convenience, a transport object that is placed in the wagon500will be hereinafter referred to as “article” in order to distinguish between them. The mobile robot100transports the wagon500by autonomously moving to a set destination. That is, the mobile robot100performs the task of transporting the wagon500. In the following description, a location where the wagon500is loaded will be referred to as “transport origin” or “loading location,” and a location to which the wagon500is delivered will be referred to as “transport destination” or “destination.”

For example, it is assumed that the mobile robot100moves around a general hospital with a plurality of clinical departments. The mobile robot100transports an article such as supplies, consumables, and medical equipment between the clinical departments. For example, the mobile robot100delivers an article from a nurses' station of one clinical department to a nurses' station of another clinical department. Alternatively, the mobile robot100delivers an article from a storage for supplies and medical equipment to a nurses' station of a clinical department. The mobile robot100also delivers medicine dispensed in a dispensing department to a clinical department or patient expected to use the medicine.

Examples of the article include medicines, consumables such as bandages, specimens, test equipment, medical equipment, hospital foods, and supplies such as stationery. Examples of the medical equipment include sphygmomanometers, blood transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed leaving sensors, low-pressure continuous suction devices, electrocardiogram monitors, infusion controllers, enteral feeding pumps, ventilators, cuff pressure gauges, touch sensors, inhalers, nebulizers, pulse oximeters, artificial resuscitators, aseptic isolators, and ultrasound diagnostic equipment. The mobile robot100may transport meals such as hospital foods and foods for a special diet a patient follows to prepare for a test may be transported. The mobile robot100may transport used equipment, used tableware, etc. When the transport destination is on a different floor, the mobile robot100may move using an elevator etc.

Next, details of the wagon500and an example of how the mobile robot100holds the wagon500will be described with reference toFIGS.2and3.FIG.3is a perspective view of the mobile robot100transporting the wagon500.

The wagon500includes a storage portion configured to store an article, and a support portion supporting the storage portion with a space under the storage portion to allow insertion of at least part of the platform110. As shown inFIG.2, the storage portion can include side plates504on both sides of the wagon500and a cover501that can be opened and closed. When the user opens the cover501, an article loaded into the wagon can be unloaded from the wagon500. As shown inFIG.2, the support portion can include a support frame505supporting the storage portion, and wheels502attached to the lower side of the support frame505. The wheels502may be provided with a cover, not shown.

The wagon500can be held by the lifting mechanism140of the mobile robot100as described above. The lifting mechanism140is a mechanism for loading and unloading the wagon500as a transport object onto and from the upper surface side of at least part of the platform110. Since the mobile robot100includes the lifting mechanism140, the mobile robot100can easily automatically transport the wagon500.

As shown inFIG.3, the mobile robot100can hold the wagon500by the lifting mechanism140. The space to allow insertion of at least part of the platform110is a space S under the wagon500shown inFIG.2. This space S is a space into which the platform110is to be inserted. That is, the platform110can enter the space S directly under the wagon500. When loading the wagon500onto the platform110, the mobile robot100moves in the −X direction and enters directly under the wagon500. The platform110enters directly under the wagon500from the side in the front-rear direction on which the stand120is not installed. The wagon500can thus be loaded without the stand120interfering with the wagon500. In other words, the stand120can be attached near the corner of the platform110so as not to interfere with the wagon500.

As shown inFIG.1, a contact portion of the lifting mechanism140can have recesses141. The contact portion is a portion that contacts the bottom surface of the wagon500by, for example, coupling or connection when the wagon500loaded on the lifting mechanism140is transported. This contact portion can be the upper surface of the lifting mechanism140. The wagon500can have protrusions, not shown, on the lower side of the storage portion. The wagon500can be fixed to the mobile robot100by fitting the protrusions into the recesses141.

Although the wagon500is illustrated as a cart with the wheels502, the form and configuration of the wagon500are not particularly limited. The predetermined wagon exemplified by the wagon500may be any wagon as long as it has a shape, size, and weight that are transportable by the mobile robot100.

The operations of loading the wagon500, transporting the wagon500to a transport destination, and unloading the wagon500by the mobile robot100will be described. First, regarding the loading of the wagon500, the mobile robot100can be a mobile robot that is set in advance to transport the wagon500and moves in search of the wagon500or moves to a known position. For example, the wagon500whose position is specified by the user can be assigned to the mobile robot100as an object to be transported or an object to be searched for, and the mobile robot100can autonomously move in order to transport the wagon500. Alternatively, the mobile robot100may automatically transport the wagon500to a transport destination when it finds the wagon500on the way back after finishing a task of transporting another wagon or an article. The present disclosure is not limited to these examples, and various methods can be applied to the utilization of the mobile robot100for transport of the wagon500.

The mobile robot100moves to the position of the wagon500, and the control computer101recognizes the wagon500based on information acquired by the camera104or other sensor, and controls the lifting mechanism140to load the wagon500. This control to load the wagon500can also be referred to as pickup control.

In the pickup control, the platform110is first inserted into the space S directly under the wagon500, and the lifting mechanism140is raised when the insertion is completed. The lifting stage that is the upper surface of the lifting mechanism140thus comes into contact with the wagon500, so that the lifting mechanism140can lift the wagon500. That is, as the lifting mechanism140rises, the wheels502are lifted off the floor surface, and the wagon500is loaded onto the platform110. The mobile robot100is thus docked with the wagon500and becomes ready to head to the transport destination. The control computer101then controls driving of the wheels111etc. so that the mobile robot100moves autonomously along a set route. The mobile robot100thus transports the wagon500to the transport destination.

The mobile robot100moves to the transport destination of the wagon500, and the control computer101controls the lifting mechanism140to unload the wagon500. In this control, the lifting mechanism140is lowered to unload the wagon500from the platform110. The wheels502come into contact with the floor surface, and the upper surface of the lifting mechanism140is separated from the wagon500. The wagon500is thus placed on the floor surface. The wagon500can be unloaded from the platform110in this manner.

The above various examples are given on the assumption that the mobile robot100transports a wagon such as the wagon500as a transport object. However, even in the case where the mobile robot100is configured to transport a wagon, the mobile robot100may be utilized to transport an individual article (load) as a transport object. In that case, a storage box or shelf that keeps the article from falling while the mobile robot100is moving is preferably attached to the mobile robot100.

There may be situations where the mobile robot100is utilized to transport a plurality of articles and it is necessary to transport the articles to a plurality of transport destinations. In this case, the user can unload the articles at the transport destinations regardless of whether the wagon500is used for transport. The mobile robot100can transport a wagon or an individual article(s) by autonomously moving to a set destination or by moving to a set destination according to user operations.

Next, an example of a main feature of the present embodiment will be described with reference toFIGS.4and5.FIG.4is a flowchart illustrating an example of a light emission process that is performed by the mobile robot100.FIG.5shows an example of light emission patterns that can be implemented by the mobile robot100.

As the main feature of the present embodiment, the mobile robot100includes light-emitting units exemplified by the first light-emitting unit11and the second light-emitting unit12. An example in which the mobile robot100includes light-emitting units at two positions will be described below. However, the mobile robot100may include a light-emitting unit at one position or may include light-emitting units at three or more positions, and the position, shape, and size of each light-emitting unit are not limited to the illustrated example. From the viewpoint of visibility from the surroundings, the light-emitting units are preferably mounted at a plurality of positions away from each other, as exemplified by the first light-emitting unit11and the second light-emitting unit12.

As at least part of the system control described above, the control computer101performs control to change the light emission pattern of the first light-emitting unit11and the second light-emitting unit12according to transport object information indicating whether the mobile robot100is transporting a transport object. The light emission pattern can also be referred to as “light emission mode.”

For such control, the control computer101acquires the transport object information (step S11).

The control computer101determines, or acquires information as to, whether the wagon500etc. is loaded, based on information on the control to load the wagon500or based on the detection result from a weight sensor mounted on the lifting mechanism140or at a different position on the platform110. In the case where the weight sensor is mounted, the control computer101can register the weight of each type of transport object in advance, and can calculate from the combination of the registered weights how many of which transport objects are loaded.

Alternatively, the control computer101may determine, or acquire information as to, whether the wagon500etc. is loaded, based on an image captured by a camera installed so as to include the lifting stage in its imaging range. Alternatively, the control computer101may determine, or acquire information as to, whether a transport object is being transported, based on information indicating a transport object set via the operation unit130, a set or determined transport route, and current position information obtained from a position sensor etc. installed on the mobile robot100. The method for acquiring the transport object information is not limited to these methods.

The mobile robot100can include in, for example, the control computer101a storage unit (not shown) configured to store the transport object information thus acquired. The control computer101can determine whether the mobile robot100is transporting a transport object, based on the stored transport object information.

After step S11, the control computer101determines whether the mobile robot100is transporting a transport object, based on the acquired transport object information (step S12).

When the mobile robot100is transporting a transport object, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in a first light emission pattern such as that exemplified in “transport object” inFIG.5(step S13), and the process ends. When the mobile robot100is not transporting a transport object, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in a second light emission pattern different from the first light emission pattern, such as that exemplified in “no transport object” inFIG.5(step S14), and the process ends. Such a process can be repeated, for example, when the transport object information is changed or at predetermined intervals.

As shown in the examples of “transport object” and “no transport object” inFIG.5, light emission in a plurality of light emission patterns such as the first light emission pattern and the second light emission pattern can be performed in the same light-emitting area. AlthoughFIG.5illustrates an example in which this same light-emitting area is both the first light-emitting unit11and the second light-emitting unit12, this same light-emitting area may be either the first light-emitting unit11or the second light-emitting unit12. This allows the user to easily notice an abnormality and to easily notice that an abnormality has been eliminated, because the portion that usually emits light in a normal mode emits light in a different mode.

The light emission patterns to be used, such as the first light emission pattern, the second light emission pattern, and other light emission patterns that will be described later, may be stored in the form of, for example, a table in the control computer101so that they can be referred to during light emission control. Examples of “priority transport object” and “transport object requiring attention” inFIG.5will be described later.

By performing such light emission control according to the transport object information, the mobile robot100can clearly notify the surroundings of the mobile robot100of whether the mobile robot100is transporting an object.

As described above, the first light-emitting unit11is a light-emitting unit mounted around the contact portion that may contact a transport object when the transport object is loaded and transported. That is, the light-emitting unit is mounted on the mobile robot100in consideration of the portion on which a transport object is to be loaded, as exemplified by the positional relationship between the first light-emitting unit11and the lifting stage. This contact portion can also be referred to as “loading surface.” The first light-emitting unit11is mounted around the contact portion on the body of the mobile robot100. This contact portion is a portion that contacts a transport object when the loaded transport object is transported. For example, a portion that contacts a transport object only during loading before transport of the transport object can be excluded from the contact portion. The contact portion can be, for example, a contact portion that contacts the bottom surface of a transport object. Therefore, a portion that contacts a side surface of a transport object can be excluded from the contact portion. Although possible transport objects include various transport objects with various sizes and shapes, the contact portion that may contact a transport object can refer to a portion that has a possibility of being in contact with a transport object during transport of the transport object, such as the upper surface of the lifting mechanism140. Therefore, when the loaded wagon500or other loaded transport object is being transported, light emitted from the first light-emitting unit11is visible, for example, at least from obliquely above the mobile robot100or from the side of the mobile robot100. The mobile robot100is easily visible from the surroundings even when the mobile robot100has a transport object loaded thereon, and is even more easily visible from the surroundings when the mobile robot100does not have any transport object loaded thereon. It is therefore possible to clearly notify the surroundings of the mobile robot100of whether the mobile robot100is transporting a transport object. In the case where light is emitted from the area around the contact portion as in this example and the wagon500is used for transport, the wagon500may have a mirror lower surface to make the light emission more visible to the surroundings of the mobile robot100.

As described above, the second light-emitting unit12is a light-emitting unit mounted on or around a joystick device for operating the mobile robot100. The light-emitting unit is mounted on the mobile robot100at a position high enough for the light-emitting unit to be easily visible from the operator or the surroundings, that is, at the operation position, as particularly exemplified by the second light-emitting unit12. The mobile robot100can thus clearly notify the surroundings of whether the mobile robot100is transporting a transport object, even in a direction from which the loading position is less visible depending on the transport object such as the wagon500.

Especially when the wagon500is used for transport, the inside of the wagon500is not visible from the operator. Therefore, the control computer101may perform control so as to indicate the presence or absence of a transport object in the wagon500by the difference in light emission pattern. The operator can thus be informed of useful information. In such control, the control computer101may not change the light emission pattern based on the presence or absence of the wagon500and may change the light emission pattern based only on the presence or absence of the contents of the wagon500. Alternatively, the control computer101may change the light emission pattern based on the presence or absence of the wagon500, and based on the presence or absence of the contents of the wagon500when the mobile robot100has the wagon500loaded thereon.

The control for changing the light emission pattern can include control for changing at least one of the brightness, hue, saturation, and lightness of light that is emitted from the light-emitting units such as the first light-emitting unit11and the second light-emitting unit12. In an example in which the light-emitting units are mounted at a plurality of positions away from each other as exemplified by the first light-emitting unit11and the second light-emitting unit12, the control for changing the light emission pattern can include control for controlling the first light-emitting unit11and the second light-emitting unit12to emit light with different light emission parameters from each other. As used herein, the light emission parameter can be at least one of the following: brightness, hue, saturation, and lightness.

In the example in which the light-emitting units are mounted at a plurality of positions away from each other as exemplified by the first light-emitting unit11and the second light-emitting unit12, the control for changing the light emission pattern can include changing the light emission position. In a certain light emission pattern, light emission can be controlled so that light is emitted at all the positions. In another light emission pattern, light emission can be controlled so that light is turned off at all the positions. For example, the control for changing the light emission pattern can include control for turning off one of the first light-emitting unit11and the second light-emitting unit12and controlling only the other light-emitting unit to emit light, that is, control for turning on and off the light emission.

By using such various light emission patterns as described above, the mobile robot100can even more clearly notify the surroundings of whether the mobile robot100is transporting a transport object. For example, when there is a transport object, the control computer101may reduce light emission to save power. Alternatively, when there is a transport object, the control computer101may make light emission stand out to avoid light becoming less visible due to the presence of the transport object.

In the processing example shown inFIG.4, it is assumed that whether the mobile robot100is transporting a transport object is determined based on whether the mobile robot100is transporting some kind of transport object regardless of what the transport object is, and the light emission pattern of the mobile robot100is changed according to the determination result, and that an object to be determined is a managed object. However, the object to be determined is not limited to this. Whether the mobile robot100is transporting some kind of transport object can also be determined when the mobile robot100is transporting an object different from an object to be transported, such as when (A) the mobile robot100is transporting supplies loaded on the mobile robot100by mistake, and (B) when the mobile robot100is transporting a child having accidentally stepped on the loading surface.

The control computer101can determine whether the mobile robot100is transporting some kind of transport object, based on, for example, the detection result from the weight sensor mounted on the lifting mechanism140or at a different position on the platform110. In the case where the weight sensor is mounted, the control computer101can register the weight of each type of transport object in advance, and can calculate from the combinations of the registered weights how many of which transport objects are loaded, as described above. Therefore, even when supplies etc. are loaded on the mobile robot100by mistake as in the case (A), the control computer101can determine from the calculation result that the supplies etc. are loaded on the mobile robot100. Moreover, even when an object other than managed objects is present on the mobile robot100such as in the case (B), the control computer101can detect that the object on the mobile robot100does not match any of the combinations and can thus determine that an object other than managed objects is present on the mobile robot100.

Alternatively, the control computer101can determine whether the mobile robot100is transporting some kind of transport object even in the cases (A) and (B), based on an image captured by the camera installed so as to include the lifting stage in its imaging range as described above.

Even when the mobile robot100is transporting some kind of transport object, the control computer101performs step S14in the following manner when the control computer101determines that this transport object is an object that is not supposed to be transported as in the cases (A) and (B).

As a first process example, the control computer101can determine that the mobile robot100is not transporting a transport object because the object being transported is not an object that is supposed to be transported. The control computer101can then control the first light-emitting unit11and the second light-emitting unit12to emit light in the second light emission pattern. In the first process example, the light emission pattern is only changed according to whether the mobile robot100is transporting a transport object identified as an object that is supposed to be transported. Alternatively, as a second process example, the control computer101can control the first light-emitting unit11and the second light-emitting unit12to emit light in the first light emission pattern, because the transport object being transported is not an object that is supposed to be transported but the mobile robot100is transporting a transport object anyway. Alternatively, as a third process example, the control computer101can control the first light-emitting unit11and the second light-emitting unit12to emit light in a different light emission pattern, because the transport object being transported is not an object that is supposed to be transported but the mobile robot100is transporting a transport object anyway. The different light emission pattern may be any light emission pattern different from the first light emission pattern and the second light emission pattern, and can be such a light emission pattern that can indicate an error or an abnormality.

In the various examples described above, the light emission pattern is changed to the one indicating that the mobile robot100is transporting a transport object at, for example, any one of the following timings (a), (b), and (c). These timings can also be applied to process examples that will be described later with reference toFIGS.6and7.

(a) When a transport object is loaded onto the mobile robot100. (b) When a transport object is loaded onto the mobile robot100and the mobile robot100starts moving. (c) When a specific condition is satisfied during traveling of the mobile robot100, such as the following conditions (c-1), (c-2), and (c-3).

The condition (c-1) is that the mobile robot100is traveling in an area where it is preferable to indicate that the mobile robot100is transporting a transport object. The “area” refers to an area where the mobile robot100may move, and the control computer101can determine in which area the mobile robot100is traveling by comparing the map data and the current position of the mobile robot100. Examples of the area where it is preferable to indicate that the mobile robot100is transporting a transport object include: areas where there is a person(s); areas where there is likely to be a person(s); areas where a non-staff member(s) stays or is likely to stay rather than staff-only areas among the areas where there is a person(s) or there is likely to be a person(s); and areas determined in advance to be transport areas. In this case, the control computer101controls light emission according to the type of the area where the mobile robot100moves. When the mobile robot100is traveling in the area where it is preferable to indicate that the mobile robot100is transporting a transport object, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in the first light emission pattern indicating that the mobile robot100is transporting a transport object.

The condition (c-2) is that the presence of a person(s) to be notified has been confirmed and it is better to indicate that the mobile robot100is transporting a transport object. For example, the condition (c-2) is when the presence of a person(s) has been detected based on the detection results from the sensors mounted on the mobile robot100and sensors installed in the area such as an environment camera and the person(s) has been detected as a person(s) related to the transport object being transported, such as a recipient of the transport object, by face recognition or an identification (ID) tag(s) carried by the person(s). When the condition (c-2) is satisfied, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in the first light emission pattern indicating that the mobile robot100is transporting a transport object.

The condition (c-3) is that an instruction to change the light emission pattern to the one indicating that the mobile robot100is transporting a transport object has been input to the mobile robot100via an interface such as user equipment. When the condition (c-3) is satisfied, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in the first light emission pattern indicating that the mobile robot100is transporting a transport object.

Next, another example of the light emission process that can be used in the present embodiment will be described with reference toFIGS.5and6.FIG.6is a flowchart illustrating another example of the light emission process that is performed by the mobile robot100.

When the mobile robot100is transporting a transport object, the transport object information that is used for control by the control computer101can include information indicating the transport object being transported by the mobile robot100. In this case, the control computer101performs, as the light emission control, control to change the light emission pattern of the first light-emitting unit11and the second light-emitting unit12according to the transport object indicated by the transport object information.

For such control, the control computer101acquires transport object information including information indicating the transport object being transported by the mobile robot100(step S21). The acquisition of the transport object information in this case can also be performed by a method that can also acquire the information indicating the transport object out of the methods described above.

That is, the control computer101can determine or acquire the information indicating the transport object based on the detection result from the weight sensor mounted on the lifting mechanism140or at a different position on the platform110. Alternatively, the control computer101can determine or acquire the information indicating the transport object based on an image captured by the camera installed so as to include the lifting stage in its imaging range. For the transport object placed in the wagon500, the control computer101can determine or acquire the information indicating the transport object based on an image captured by the camera while the user was placing the transport object into the wagon500. Alternatively, the control computer101may determine or acquire the transport object being transported, based on information indicating a transport object set via the operation unit130, a set or determined transport route, and current position information obtained from the position sensor etc. installed on the mobile robot100. The method for acquiring the information indicating the transport object is not limited to these methods.

As described above, the mobile robot100can include in, for example, the control computer101a storage unit (not shown) configured to store the transport object information thus acquired. The control computer101can determine the transport object being transported, based on the stored transport object information. The transport object information to be stored may be information indicating a transport object to be transported and a transport object being transported.

After step S21, the control computer101selects a light emission pattern according to not only whether the mobile robot100is transporting a transport object but also the transport object being transported, based on the acquired transport object information (step S22). The control computer101then controls the first light-emitting unit11and the second light-emitting unit12to emit light in the selected light emission pattern (step S23), and the process ends. Such a process can be repeated, for example, when the transport object information is changed or at predetermined intervals.

In steps S22, S23, the control computer101can select a light emission pattern and perform the light emission control in, for example, the following manner. When the mobile robot100is not transporting a transport object, the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in the second light emission pattern such as that exemplified by “no transport object” inFIG.5. When the mobile robot100is transporting a transport object and the transport object is neither a priority transport object nor a transport object requiring attention that will be described later, the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in the first light emission pattern such as that exemplified in “transport object” inFIG.5.

When the mobile robot100is transporting a transport object and the transport object is a priority transport object that needs to be transported on a priority basis, the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in a third light emitting pattern that stands out more than the first and second light emission patterns, such as that exemplified in “priority transport object” inFIG.5. When the mobile robot100is transporting a transport object and the transport object is either an object requiring attention such as medicine or a transport object containing an object requiring attention, the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in a fourth light emission pattern such as that exemplified in “transport object requiring attention” inFIG.5. The fourth light emission pattern can be a light emission pattern that stands out more than at least the first and second light emission patterns and even more than the third light emission pattern.

The types of transport objects and the light emission patterns may have a one-to-one relationship. However, too many light emission patterns may confuse surrounding people. Therefore, the types of transport objects and the light emission patterns need not necessarily have a one-to-one relationship such as that exemplified in “priority transport object” and “transport object requiring attention” inFIG.5.

As in the example described with reference toFIGS.5and6, the mobile robot100can change the light emission pattern according to the transport object. The mobile robot100can thus clearly notify the surroundings of the content of the transport object information, such as whether the mobile robot100is transporting a transport object, and when the mobile robot100is transporting a transport object, information on the article being transported.

In the example in which the light-emitting units are mounted at a plurality of positions away from each other as exemplified by the first light-emitting unit11and the second light-emitting unit12, the control for changing the light emission pattern can include changing of a plurality of positions where light is synchronously emitted. With such a configuration, the mobile robot100can more clearly notify the surroundings of the mobile robot100of the content of the transport object information.

Examples of such light emission patterns will be described. In a certain light emission pattern, only the first light-emitting unit11is controlled to emit light. In another light emission pattern, only the second light-emitting unit12is controlled to emit light. In still another light emission pattern, the first light-emitting unit11and the second light-emitting unit12are synchronized to emit light. Examples of synchronizing the first light-emitting unit11and the second light-emitting unit12to emit light include the example of “no transport object” and the example of “transport object” inFIG.5. In an example in which the mobile robot100includes light-emitting units at three or more positions, a light emission pattern can be selected from many light emission patterns obtained from various combinations of the three or more light-emission units.

Examples of controlling the first light-emitting unit11and the second light-emitting unit12to emit light without synchronizing them include the example of “priority transport object” and the example of “transport object requiring attention” inFIG.5. In the example of “priority transport object” inFIG.5, the first light-emitting unit11and the second light-emitting unit12are shown hatched in opposite directions, but such hatching is merely for convenience and indicates that these light-emitting units are different from each other only in phase. The same applies to the example of “transport object requiring attention” inFIG.5. In the case where the first light-emitting unit11and the second light-emitting unit12are controlled to emit light alternately, these examples can be regarded as examples in which the timing to turn on the first light-emitting unit11and the timing to turn off the second light-emitting unit12are synchronized. As described above, the control computer101can control, as a certain light emission pattern, light emission of the first light-emitting unit11and the second light-emitting unit12so that they emit light at alternate timings, namely so that they emit light alternately.

The control computer101need not necessarily control light emission so that the first light-emitting unit11and the second light-emitting unit12emit light at alternate timings. The control computer101may control, as a certain light emission pattern, the first light-emitting unit11and the second light-emitting unit12to emit light out of phase from each other. Light emission can thus be presented in various rhythms to the surroundings.

At a plurality of positions where light is synchronously emitted, light may be emitted in a light emission pattern having a mutually complementary relationship. The “light emission pattern having a mutually complementary relationship” can be a pattern in which the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in colors that are easily visible when seen as a combination, such as a pattern in which the first light-emitting unit11and the second light-emitting unit12are controlled to emit light in complementary colors.

As described above, the light emission control can be performed by regarding the wagon500itself as a transport object, or the light emission can be performed by regarding an article in the wagon500as a transport object. When the wagon500is not used, the light emission control can be performed by regarding an individual article as a transport object. For example, the control computer101may regard the wagon500itself as a transport object and perform the light emission control according to the presence or absence of the wagon500. Alternatively, the control computer101may perform the light emission control according to whether an article is in the wagon500. Alternatively, the control computer101may perform the light emission control according to the article or combination of articles in the wagon500, or may perform a combination of two or more light emission controls out of the various light emission controls described above.

When the mobile robot100performs the light emission control by regarding the wagon500itself as a transport object, the transport system can be configured to handle a plurality of types of transport boxes exemplified by the wagon500as objects to be transported. In this case, when the mobile robot100is transporting a transport object, the transport object information preferably includes information indicating the type of the transport box being transported by the mobile robot100. The control computer101can thus control the first light-emitting unit11and the second light-emitting unit12to emit light in different light emission patterns depending on the type of transport box. With such a configuration, the mobile robot100can clearly notify the surroundings of the mobile robot100of the type of the transport box being transported.

Next, other examples of the light emission process that can be used in the present embodiment will be described with reference toFIGS.7to9.FIG.7is a flowchart illustrating still another example of the light emission process that is performed by the mobile robot100.FIGS.8and9show other examples of the light emission patterns that can be implemented by the mobile robot100.

Information that is used by the control computer101for the light emission control can also include information other than the transport object information. An example in which the information that is used by the control computer101for the light emission control includes state information indicating the state of the mobile robot100will be described below. The state information can be, for example, information indicating whether the mobile robot100is in the autonomous movement mode, is in the user operation mode, or has some kind of abnormality. An example will be given below in which, when the mobile robot100has an abnormality, light emission is controlled so that light is emitted in the same light emission pattern regardless of whether the mobile robot100is in the autonomous movement mode or in the user operation mode. However, when the mobile robot100has an abnormality, light emission may be controlled so that light is emitted in different light emission patterns depending on whether the mobile robot100is in the autonomous movement mode or in the user operation mode.

The state information can include either or both of information indicating the traveling state associated with the traveling environment of the mobile robot100and information indicating the operating state of the mobile robot100. The “traveling state” can refer to, for example, whether a traveling abnormality associated with the traveling environment such as contact with a wall has occurred in the mobile robot100. For convenience, the “operating state” herein refers to a state other than the state of the mode indicating whether the mobile robot100is in the autonomous movement mode or the user operation mode. The “operating state” is herein described as indicating whether there is some kind of operational abnormality or indicating what the operational abnormality is. As used herein, the “operational abnormality” can refer to abnormalities other than abnormalities in the traveling state associated with the traveling environment of the mobile robot100, and can refer to various abnormalities of the mobile robot100, such as a dead battery, an abnormality in a drive unit, and an abnormality in any wheel.

For such control, the control computer101acquires transport object information in the same manner as in step S21ofFIG.6(step S31), and acquires state information (step S32). The order of steps S31, S32does not matter. In step S32, information indicating whether the mobile robot100is in the autonomous movement mode or the user operation mode out of the state information can be obtained by referring to the current movement mode of the control computer101.

Information on whether the mobile robot100has an abnormality out of the state information can be acquired in, for example, the following manner. The control computer101first determines the traveling state of the mobile robot100based on the detection results from sensors such as the sensor105, and determines the operating state indicating the presence or absence of an operational abnormality in the mobile robot100. The order in which the traveling state and the operating state are determined does not matter. The determination of the operating state is made as to, for example, whether there is any operational abnormality, and where is the location of the abnormality, such as the battery, the drive unit, or any wheel. For example, this determination can be made by the control computer101based on the detection results from various sensors mounted on the mobile robot100.

The determination of the traveling state can be made by the control computer101performing information processing, image processing, etc. based on the detection results from the sensors such as the sensor105. The following description is given on the assumption that the determination is made in this manner. The sensors may have a function to make such a detection that the result of the detection indicates the determination result itself of the traveling state, or to determine the traveling state by performing information processing, image processing, etc. based on the sensing result. In that case, the sensors send the determination result to the control computer101, and the control computer101can use the information received from the sensors as the determination result of the traveling state. The determination of the traveling state may be made by a determination unit provided separately from the control computer101that performs the light emission control.

Like the determination of the traveling state, the determination of the operating state can also be made by the control computer101performing information processing, image processing, etc. based on the detection results from the various sensors. The following description is given on the assumption that the determination is made in this manner. The sensors may have a function to make such a detection that the result of the detection indicates the determination result itself of the operating state, or to determine the operating state by performing information processing, image processing, etc. based on the sensing result. In that case, the sensors send the determination result of the operating state to the control computer101, and the control computer101can use the information received from the sensors as the determination result of the operating state. The determination of the operating state may be made by a determination unit provided separately from the control computer101that performs the light emission control.

The mobile robot100can include in, for example, the control computer101a storage unit (not shown) configured to store the state information thus acquired. In step S32, the control computer101can refer to the stored state information.

After steps S31, S32, the control computer101selects a light emission pattern based on the acquired transport object information and state information (step S33). The control computer101then controls the first light-emitting unit11and the second light-emitting unit12to emit light in the selected light emission pattern (step S34), and the process ends. Such a process can be repeated, for example, when the transport object information or the state information is changed or at predetermined intervals.

In steps S33, S34, the control computer101can select a light emission pattern and perform the light emission control in, for example, the following manner. An example will be given in which the process ofFIG.7is repeated at predetermined intervals. For example, the control computer101can switch the correspondence it refers to between the correspondence between the transport objects and the light emission patterns shown inFIG.8and the correspondence between the states and the light emission patterns shown inFIG.9, every time the process is repeated, that is, every predetermined period indicated by the predetermined interval. For example, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in a light emission pattern indicating the transport object in steps S33, S34, based on the correspondence between the transport objects and the light emission patterns shown inFIG.8. After the predetermined period, the control computer101controls the first light-emitting unit11and the second light-emitting unit12to emit light in a light emission pattern indicating the state in steps S33, S34, based on the correspondence between the states and the light emission patterns shown inFIG.9.

InFIG.8, the light emission patterns defined by the colors and turn-on patterns of light emission from the first light-emitting unit11and the second light-emitting unit12are exemplified for each of the cases of “no transport object,” “transport object,” “priority transport object,” and “transport object requiring attention” that are the same as in the example ofFIG.5. The turn-on pattern is selected from an always-on pattern in which light is constantly on, a flashing pattern in which light flashes at short intervals, a flashing pattern in which light flashes at normal intervals longer the short intervals, and a flashing pattern in which light flashes at intervals longer than the normal intervals. The intervals at which light flashes, that is, the flashing intervals, may be in two stages or in four or more stages.

InFIG.9, the light emission patterns defined by the colors and turn-on patterns of light emission from the first light-emitting unit11and the second light-emitting unit12are exemplified for each of the cases of “autonomous movement mode and normal,” “user operation mode and normal,” and “abnormal.” As can be seen from the example of the light emission patterns shown inFIG.9, the second light-emitting unit12near the operation unit130and the stick unit131mainly indicates the mode when the mobile robot100is normal and an abnormality in the mobile robot100, and the first light-emitting unit11indicates also the detailed operating state of the mobile robot100in the autonomous movement mode.

InFIG.9, the case of “autonomous movement mode and normal” is divided into the following four cases as the detailed operating state in the autonomous movement mode. That is,FIG.9show an example of the light emission patterns for the following four cases: “traveling autonomously” indicating that the mobile robot100is moving autonomously, “on standby” indicating that the mobile robot100is under autonomous movement control but is stopped on standby, “prompt an operation” indicating a situation where the user is prompted to perform some kind of operation, and “alert” indicating a situation where some kind of alert is given to the user or the surroundings. The case of “on standby” can refer to, for example, the case where the mobile robot100is being charged with a charger or is waiting for an elevator. The case of “prompt an operation” can refer to, for example, the case where the mobile robot100has arrived at a transport destination. The case of “alert” can refer to, for example, the case where the lifting mechanism140is being raised or lowered or the case where the mobile robot100is approaching an intersection. The case of “traveling autonomously” refers to the other cases where the vehicle is traveling autonomously.

FIG.9also shows an example of the turn-on patterns including a “breathing rhythm” in which the brightness of light emission is changed in a rhythm similar to the rhythm of human breathing, and “sequential lighting” in which the light-emitting portions are turned on in a sequence. Examples of the sequential lighting include controlling the first light-emitting unit11to sequentially turn on its light-emitting portions around the lifting mechanism140and controlling the second light-emitting unit12to sequentially turn on its light-emitting portions around the stick unit131.

As another example of the light emission control, light may be emitted in the light emission patterns shown inFIG.8in half of the area illustrated as the first light-emitting unit11and half of the area illustrated as the second light-emitting unit12. In that case, light can be emitted in the light emission patterns shown inFIG.9in the other half of the area illustrated as the first light-emitting unit11and the other half of the area illustrated as the second light-emitting unit12. In the above example, each of the light-emitting areas of the first light-emitting unit11and the second light-emitting unit12is divided in half. However, the ratio for dividing the light-emitting area is not limited to this, and the light-emitting area may be divided at different ratios between the first light-emitting unit11and the second light-emitting unit12.

As still another example of the light emission control, the first light-emitting unit11may be controlled to emit light in a light emission pattern according to the transport object as shown inFIG.8, and the second light-emitting unit12may be controlled to emit light in a light emission pattern according to the state as shown inFIG.9. Alternatively, the first light-emitting unit11may be controlled to emit light in a light emission pattern according to the state as shown inFIG.9, and the second light-emitting unit12may be controlled to emit light in a light emission pattern according to the transport object as shown inFIG.8.

Regarding the still another example of the light emission control, the control computer101may be configured to switch the light emission mode between or among a plurality of modes such as the mode in which light is emitted in the light emission patterns shown inFIG.8and the mode in which light is emitted in the light emission patterns shown inFIG.9. In the mode in which light is emitted in the light emission patterns shown inFIG.8, the light emission control is performed according to the transport object information. In the mode in which light is emitted in the light emission patterns shown inFIG.9, the light emission control is performed according to the state information. As yet another example of the light emission control, the light emission patterns shown inFIG.8may be used for the light emission control on the first light-emitting unit11and the second light-emitting unit12, and the light emission patterns shown inFIG.9may be used for the light emission control on other two light-emitting units provided at positions other than the first light-emitting unit11and the second light-emitting unit12.

The examples of the colors and turn-on patterns shown inFIGS.8and9are applicable to such process examples as described with reference toFIGS.4to6.

The configuration in which the mobile robot100includes a joystick device for operating the mobile robot100is described above. In this configuration, a control unit (exemplified by the control computer101) provided in the mobile robot100other than in the joystick device preferably basically send a control signal for the light emission control to the first light-emitting unit11and the second light-emitting unit12. However, a control unit (not shown) included in the joystick device may output a control signal for the light emission control to the first light-emitting unit11and the second light-emitting unit12. In that case, the control computer101may make a determination as to a predetermined condition etc. for the light emission control and send the result of the determination to the control unit included in the joystick device, or the control unit included in the joystick device may make a determination as to the predetermined condition etc. for the light emission control.

The above description illustrates an example in which the transport system is mainly composed of the mobile robot100. However, the control system according to the present embodiment may be any system as long as it performs system control for controlling the transport system in the manner described above. This transport system may also include a server that is connectable to the mobile robot100via wireless communication. This server is a server that provides information for autonomous movement to the mobile robot100. This server can also be referred to as “host management device,” and is not limited to a server configured as a single device, but may be constructed as a system in which functions are distributed between or among a plurality of devices.

An example in which this transport system includes the mobile robot100and the host management device will be described below with reference toFIG.10.FIG.10is a schematic diagram showing an example of the overall configuration of the transport system including the mobile robot100.

As shown inFIG.10, a transport system1includes the mobile robot100, a host management device2, a network3, a communication unit4, an environment camera5, and user equipment300. The transport system1is a system for transporting an object by the mobile robot100, and includes a control system according to this configuration example. In this example, the “control system” can refer to the mobile robot100and the host management device2, or to the components of control systems provided in the mobile robot100and the host management device2. Alternatively, the “control system” can refer to, for example, the mobile robot100, the host management device2, and the user equipment300, or to the components of control systems provided in the mobile robot100, the host management device2, and the user equipment300.

The mobile robot100and the user equipment300are connected to the host management device2via the communication unit4and the network3. The network3is a wired or wireless local area network (LAN) or wide area network (WAN). The host management device2and the environment camera5are connected to the network3by wire or wireless. As can be seen from this configuration, each of the mobile robot100, the host management device2, and the environment camera5includes a communication unit. The communication unit4is, for example, a wireless LAN unit installed in each environment. The communication unit4may be a general-purpose communication device such as a WiFi (registered trademark) router.

The host management device2is a device that is connectable to the mobile robot100by wireless communication and is a management system that manages a plurality of mobile robots100. The host management device2can include a control unit2afor controlling the mobile robots100. The control unit2acan be implemented by, for example, integrated circuitry, and can be implemented by, for example, a processor such as an MPU or a CPU, a working memory, and a nonvolatile storage device. The function of the control unit2acan be performed by the storage device storing a control program to be executed by the processor and the processor loading the program into the working memory and executing the program. The control unit2acan be referred to as “control computer.”

The transport system1can efficiently control the mobile robots100while autonomously moving the mobile robots100in the autonomous movement mode inside a predetermined facility. The “facility” can refer to various types of facilities including medical and welfare facilities such as hospitals, rehabilitation facilities, nursing homes, and residential care homes for the elderly, commercial facilities such as hotels, restaurants, office buildings, event venues, and shopping malls, and other complex facilities.

In order to perform such efficient control, a plurality of environment cameras5can be installed inside the facility. Each environment camera5acquires an image of the range in which a person or the mobile robot100moves, and outputs image data representing the image. This image data may be still image data or moving image data. In the case of the still image data, the still image data is obtained at each imaging interval. In the transport system1, the host management device2collects the images acquired by the environment cameras5and information based on these images. As for the images that are used to control the mobile robots100, the images etc. acquired by the environment cameras5may be directly sent to the mobile robots100, and in the user operation mode, may be sent to the user equipment300directly or via the host management device2. The environment cameras5can be installed as surveillance cameras in passages inside the facility or at entrances to the facility.

The host management device2can determine, for each transport request, the mobile robot100to perform the transport task, and can send to the determined mobile robot100an operation command to perform the transport task. The mobile robot100can autonomously move from a transport origin to a transport destination according to the operation command. In this case, a transport route etc. may be determined by any method.

For example, the host management device2assigns the transport task to the mobile robot100located at or near the transport origin. Alternatively, the host management device2assigns the transport task to the mobile robot100heading towards or near the transport origin. The mobile robot100to which the task has been assigned moves to the transport origin to pick up a transport object.

The user equipment300is a device that remotely operates the mobile robot100via the host management device2or directly when in the user operation mode. The user equipment300can have a communication function for this remote operation, and can include a display unit304. When the user equipment300is a device that remotely operates the mobile robot100via the host management device2, the user equipment300can also be said to be a remote operation device for the host management device2. Various types of terminals such as a tablet computer and a smartphone can be used as the user equipment300. The user equipment300can also receive a switching operation to switch between the user operation mode and the autonomous movement mode. When this switching operation is performed, the mode of the mobile robot100can be switched via the host management device2.

An example will be given below in which the user equipment300includes a joystick device. The user equipment300can include a stick unit302and a button303as part of the joystick device, in addition to a body301. The joystick device is a device that is operated to move the mobile robot100in a direction intended by the user when in the user operation mode. The joystick device can receive a directional operation when the stick unit302is tilted in a direction in which the user wants the mobile robot100to move. The button303can be provided on, for example, the upper surface of the stick unit302. The joystick device can also be controlled to perform a select operation when the button303is depressed. The button303can also be used to perform the switching operation described above. The button303may be configured to serve as an emergency stop button when it is depressed for a predetermined period. In the case where a plurality of operations is assigned to the button303, predetermined periods corresponding to the operations need only be set for the button303. In the case where the user equipment300includes a joystick device, the user can perform similar operations even when the mobile robot100does not include a joystick device. It is herein assumed that, in the configuration in which the transport system1manages a plurality of mobile robots100, the mobile robot100to be remotely operated can be selected by the user equipment300when in the user operation mode.

The display unit304can display an image indicated by image data received from the camera104of the mobile robot100and an image indicated by image data received from the environment camera5located around the mobile robot100. This allows the user to operate the mobile robot100using the stick unit302and the button303.

The user equipment300can function as a device for sending a transport request etc. to the host management device2. This transport request can include information indicating a transport object.

In the transport system1configured as described above, the host management device2preferably outputs a control signal for the light emission control regardless of whether a joystick device is provided in the mobile robot100, the user equipment300, or both. In the case where the host management device2outputs the control signal, the control unit2acan output the control signal. In that case, the control unit2aof the host management device2preferably makes a determination etc. for acquiring various types of information for the light emission control. However, the control computer101may make this determination etc. and send the result of the determination etc. to the host management device2, or the control unit included in the joystick device may make this determination etc. and send the result of the determination etc. to the host management device2.

Alternatively, the transport system1can be configured so that the control unit (not shown) included in the joystick device outputs a control signal for the light emission control. In the case where a joystick device is provided in either the mobile robot100or the user equipment300, the control unit of the joystick device can output the control signal. In the case where a joystick device is provided in both the mobile robot100and the user equipment300, the control unit of either joystick device may output the control signal, or the control unit of the joystick device provided in the mobile robot100may output the control signal to the light-emitting unit mounted on or around the joystick device.

Alternatively, in the transport system1configured as described above, the control unit (exemplified by the control computer101) provided in the mobile robot100may be configured to output a control signal for the light emission control. In that case, the control computer101preferably makes a determination etc. for acquiring various types of information for the light emission control. However, the control unit2aof the host management device2or the control unit included in the joystick device may make this determination etc. and send the result of the determination etc. to the mobile robot100. Instead of the transport system1, a transport system can be configured not to include the host management device2. In the case of this configuration, the control unit of the mobile robot100exemplified by the control computer101can make a determination etc. for acquiring various types of information and output a control signal for the light emission control. However, for example, the control unit included in the joystick device of the mobile robot100may make a determination as to a predetermined condition etc. and output a control signal for the light emission control.

The control system in the transport system1can perform the following control at least when the host management device2is unable to communicate with the mobile robot100. When the host management device2is unable to communicate with the mobile robot100, the control system can determine transport object information based on an image of the mobile robot100captured by the environment camera5, namely can determine transport object information from the light emission pattern shown by the image. This image can be an image captured by a camera of another mobile robot included in the transport system1, instead of or in addition to the image captured by the environment camera5.

In the control system of the transport system1having such a configuration, the host management device2can determine the content of transport object information even when the mobile robot100and the host management device2are unable to communicate with each other. As described above, the “content of the transport object information” can include whether the mobile robot100is transporting a transported object, and when the mobile robot100is transporting a transported object, the content of the transport object information can also include the article etc.

Accordingly, for example, when the mobile robot100that is unable to communicate has a transport object loaded thereon or has an urgent transport object loaded thereon, an instruction to, for example, collect the transport object and deliver it to a transport destination can be given to the user, and the user can perform such work according to the instruction.

A method by which the mobile robot100acquires transport object information will be described. In the transport system1as well, the mobile robot100can acquire transport object information by the method described with reference toFIG.1etc.

As another acquisition method, the mobile robot100can determine transport object information from an image captured by the environment camera5and sent to the mobile robot100directly or via the host management device2. An image captured by a camera of another mobile robot rather than the environment camera5may be used for the determination. In other words, the control computer101can determine transport object information based on an image captured by a camera installed in a facility where the mobile robot100is used, as exemplified by the environment camera5or the camera of another mobile robot. The control unit2aof the host management device2can also make such a determination. In this case, transport object information is preferably sent in advance to the mobile robot100in case of interruption of wireless communication with the host management device2.

As an acquisition method other than the above methods, the mobile robot100can acquire transport object information from the host management device2. In the case where the mobile robot100acquires transport object information from the host management device2, the host management device2need only update the transport object information according to the transport status. For example, the host management device2can update transport object information by receiving information indicating the current position of the mobile robot100or information indicating the transport status of the transported object from the mobile robot100or by determining transport object information from an image obtained by the environment camera5.

Even in the configuration in which the mobile robot100acquires transport object information from the host management device2, the mobile robot100can acquire the transport object information before communication with the host management device2is interrupted. Therefore, the mobile robot100can perform the light emission control according to the transport object information obtained before communication is interrupted.

An example of a process that is performed by the host management device2of the transport system1will be described with reference toFIG.11.FIG.11is a flowchart illustrating an example of the process that is performed by the host management device2of the transport system1inFIG.10.

First, the control unit2aof the host management device2monitors the communication unit, not shown, to check the communication status with the mobile robot100(step S41), and determines whether communication with the mobile robot100is possible (step S42). When the control unit2adetermines that communication with the mobile robot100is possible, the process returns to step S41and continues to monitor the communication unit. When the control unit2adetermines that communication with the mobile robot100is not possible, the control unit2aacquires an image from a camera (step S43). This camera can be the environment camera5, the camera installed in another mobile robot traveling near the position where communication with the mobile robot100is interrupted, or both of them.

The control unit2athen analyzes the light emission pattern of the mobile robot100based on the acquired image and determines transport object information such as the presence or absence of a transport object and the type of the transport object (step S44), and the process ends. The control unit2amay be configured to obtain transport object information from an image using a learning model obtained through machine learning, when analyzing the light emission pattern and determining transport object information.

As described above, even when communication between the mobile robot100and the host management device2is not possible, the host management device2of the control system of the transport system1can determine the content of the transport object information the mobile robot100presents by the light emission pattern.

In the configuration in which the mobile robot100can indicate its state information by the light emission pattern, the control unit2acan determine the state information of the mobile robot100from the light emission pattern shown by the image. The control unit2amay be configured to obtain state information from an image using a learning model obtained through machine learning, when analyzing the light emission pattern and determining state information. Accordingly, for example, when the mobile robot100that is unable to communicate is in an abnormal state, an instruction to, for example, collect or inspect the mobile robot100can be given to the user, and the user can perform such work according to the instruction.

Even in a configuration in which the transport system does not include the host management device2, the transport system can include the environment camera5can wirelessly communicate with the mobile robot100. Even in such a configuration example, transport object information and state information can be similarly determined from an image obtained from the environment camera5.

The above description is given based on an example in which the mobile robot100and the user equipment300are equipped with a joystick device as an operation interface for performing operations to move the mobile robot100. However, various other types of operation interfaces may be used as the operation interface. For example, an operation device that receives operations to move the mobile robot100from a user interface displayed using software as exemplified for the operation unit130may be used as the operation interface. The light-emitting unit can also be implemented by displaying a light emission pattern on the user interface. The operation interface can be, for example, a touch sensor or an operation device with a touch sensor. The operation interface can receive an operation to move the mobile robot100as the user slides a finger on the touch sensor.

Each of the various devices described above such as the control computer101of the mobile robot100, the host management device2, and the user equipment300according to the above embodiment can have, for example, the following hardware configuration. Alternatively, the operation device such as the joystick device provided in, for example, the mobile robot100or the user equipment300can include the following hardware configuration.FIG.12shows an example of the hardware configuration of each device.

A device1000shown inFIG.12can include a processor1001, a memory1002, and an interface1003. The interface1003can include, for example, a communication interface and an interface with a drive unit, a sensor, an input and output device, etc. as necessary for the individual device.

The processor1001may be, for example, an MPU, a CPU, or a graphics processing unit (GPU). The processor1001may include a plurality of processors. The memory1002is, for example, a combination of a volatile memory and a nonvolatile memory. The functions of each device are implemented by the processor1001reading a program stored in the memory1002and executing the program while sending and receiving necessary information via the interface1003.

The program includes a group of instructions (or software codes) for causing a computer to perform one or more of the functions described in the embodiment when loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. Examples of the computer-readable medium or the tangible storage medium include, but are not limited to, a random-access memory (RAM), a read-only memory (ROM), a flash memory, a solid-state drive (SSD), and other memory technologies, a compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a Blu-ray (registered trademark) disc, and other optical disc storages, and a magnetic cassette, a magnetic tape, a magnetic disk storage, and other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or a communication medium. Examples of the transitory computer-readable medium or the communication medium include, but are not limited to, propagating signals in electrical, optical, acoustic, or other forms.

The present disclosure is not limited to the embodiment described above, and may be modified as appropriate without departing from the spirit and scope of the disclosure.