Management system, management method, and computer-readable recording medium

Abstract

The present disclosure relates to a management system, a management method, and a computer-readable recording medium. The management system includes a mobile robot capable of autonomous movement, the mobile robot being managed by the management system and configured to transport items. The mobile robot includes a storage cabinet capable of accommodating items and being electrically locked or unlocked. The management system is configured to determine whether to unlock the storage cabinet based on a security level set for unlocking the storage cabinet. The management system is configured to lower the security level upon receiving notification of an emergency event.

Description

Technical Field

[0001] The present disclosure relates to a management system, a management method, and a computer-readable recording medium. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2019-119537 (JP 2019-119537A) describes a transport method that enables an environment in which packages can be easily transferred between individuals while ensuring safety. The transport method described in JP 2019-119537A is a method for transporting items using an autonomous mobile unit that includes an electrically lockable parcel storage cabinet. The transport method causes one or more computers to perform the following series of steps. In the series of steps, a customer who requests the autonomous mobile unit to transport a parcel is allowed to specify the recipient and pickup location of the parcel, and the autonomous mobile unit is moved to the pickup location specified by the customer. In the series of steps, when it is determined that the parcel has been stored in the parcel storage cabinet, the parcel storage cabinet of the autonomous mobile unit that has been moved to the pickup location is locked. In the series of steps, the autonomous mobile unit with the parcel storage cabinet locked is moved to a drop-off location specified by the customer or recipient, and when the recipient enters an instruction to unlock the parcel storage cabinet, the parcel storage cabinet of the autonomous mobile unit that has been moved to the pickup location is unlocked. Summary of the Invention

[0003] However, in the system of JP 2019-119537A, only a designated recipient can unlock the parcel storage cabinet. Therefore, in the system described in JP 2019-119537A, even in an emergency, only the recipient can unlock the parcel storage cabinet of the autonomous mobile unit. Therefore, when the recipient is performing other work for emergency response or is absent, the parcel storage cabinet cannot be unlocked even in an emergency, and no one can take out the transported items. In other words, as in the case of the system described in JP 2019-119537A, in a system in which people other than designated personnel are not allowed to unlock the storage cabinet in the mobile robot that transports transported items, the designated personnel are often mainly responsible for performing other work in an emergency, so no one can handle the transported items in an emergency.

[0004] The present disclosure provides a management system, a management method and a computer-readable recording medium, which enable a mobile robot including a storage cabinet that can accommodate transport items and can be locked or unlocked to set and manage target personnel authorized to unlock the storage cabinet, thereby allowing transport items to be taken out even when an emergency occurs and the authorized target personnel are unable to unlock the storage cabinet.

[0005] A first embodiment of the present disclosure relates to a management system. The management system includes a mobile robot capable of autonomous movement that is configured to be managed by the management system. The mobile robot includes a storage cabinet capable of accommodating transport items and capable of being electrically locked or unlocked. The management system is configured to determine whether to unlock the storage cabinet based on the security level set for unlocking the storage cabinet. The management system is configured to lower the security level when the management system receives a notification of an emergency. In the management system, using this configuration, when the mobile robot including the storage cabinet capable of accommodating transport items and capable of being locked or unlocked is managed while setting a target person authorized to unlock the storage cabinet, the transport items can be taken out even when an emergency occurs and the target person authorized to unlock the storage cabinet fails to unlock the storage cabinet.

[0006] In the management system, the management system may be configured to reduce the security level by expanding the range of target persons authorized to unlock the storage cabinet when the management system receives the notification. Thus, the number of target persons who can unlock the storage cabinet in an emergency can be increased.

[0007] In the management system, the management system may be configured to lower the security level when the management system receives a notification and a predetermined security level lowering condition is met. Therefore, it is possible to provide a situation where the security level is not lowered even when a notification is received. The predetermined security level lowering condition may be set for each transport item contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each transport item in an emergency. The management system may be configured to manage a mobile robot so that the mobile robot moves in the hospital, and a predetermined security level lowering condition may be set for each patient using the transport items contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each patient in an emergency. The predetermined security level lowering condition may be set for each type of notification. Therefore, it is possible to determine whether to lower the security level for each type of notification in an emergency.

[0008] The management system may be configured to, when the management system receives the notification and lowers the security level and a person other than the target person who was authorized to unlock the locker before the security level was lowered unlocks the locker, provide a notification to the target person who was authorized to unlock the locker before the security level was lowered. Thus, the target person is aware that the locker has been unlocked.

[0009] The management system may be configured to, when the management system receives the notification, lower the safety level only for mobile robots within the predetermined movement range. Therefore, the safety level will not be lowered for mobile robots outside the predetermined movement range, thereby preventing major safety issues.

[0010] A second scheme of the present disclosure relates to a management method for managing a mobile robot capable of autonomous movement. The mobile robot includes a storage cabinet that can accommodate transported items and can be electrically locked or unlocked. The management method includes: determining whether to unlock the storage cabinet based on the security level set for unlocking the storage cabinet, and lowering the security level when a notification of an emergency is received. In the management method, using this configuration, when managing a mobile robot that includes a storage cabinet that can accommodate transported items and can be locked or unlocked while setting a target person who is authorized to unlock the storage cabinet, the transported items can be taken out even when an emergency occurs and the target person who is authorized to unlock the storage cabinet fails to unlock the storage cabinet.

[0011] In the management method, when a notification is received, the security level can be lowered by expanding the range of target personnel who are authorized to unlock the storage cabinet. Therefore, the target personnel who can unlock the storage cabinet in an emergency can be increased.

[0012] In the management method, when a notification is received, the security level can be lowered when a predetermined security level lowering condition is met. Therefore, a situation can be provided in which the security level is not lowered even when a notification is received. A predetermined security level lowering condition can be set for each transport item contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each transport item in an emergency. The management method may further include managing a mobile robot so that the mobile robot moves within the hospital. A predetermined security level lowering condition can be set for each patient using the transport item contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each patient in an emergency. A predetermined security level lowering condition can be set for each type of notification. Therefore, it is possible to determine whether to lower the security level for each type of notification in an emergency.

[0013] The management method may further include, when receiving the notification, lowering the security level, and when a person other than the target person who was authorized to unlock the locker before the security level was lowered unlocks the locker, providing a notification to the target person who was authorized to unlock the locker before the security level was lowered. Thus, the target person can know that the locker has been unlocked.

[0014] In the management method, when a notification is received, the safety level can be lowered only for mobile robots existing within the predetermined movement range. Therefore, the safety level will not be lowered for mobile robots outside the predetermined movement range, thereby preventing serious safety problems.

[0015] A third scheme of the present disclosure relates to a computer-readable recording medium storing a program that causes a computer to execute a management process for managing a mobile robot capable of autonomous movement. The mobile robot includes a storage cabinet that can accommodate transported items and can be electrically locked or unlocked. The management process includes: determining whether to unlock the storage cabinet based on a security level set for unlocking the storage cabinet, and lowering the security level when a notification of an emergency is received. In the program, using this process, when managing a mobile robot that includes a storage cabinet that can accommodate transported items and can be locked or unlocked while setting a target person who is authorized to unlock the storage cabinet, the transported items can be taken out even when an emergency occurs and the target person who is authorized to unlock the storage cabinet fails to unlock the storage cabinet.

[0016] In the management process, when the notification is received, the security level can be lowered by expanding the scope of target personnel who are authorized to unlock the storage cabinet. Therefore, the target personnel who can unlock the storage cabinet in an emergency can be increased.

[0017] In the management process, when a notification is received, the security level can be lowered when a predetermined security level lowering condition is met. Therefore, a situation can be provided in which the security level is not lowered even when a notification is received. A predetermined security level lowering condition can be set for each transport item contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each transport item in an emergency. The management process may also include managing a mobile robot so that the mobile robot moves within the hospital. A predetermined security level lowering condition can be set for each patient using the transport items contained in the storage cabinet. Therefore, it is possible to determine whether to lower the security level for each patient in an emergency. A predetermined security level lowering condition can be set for each type of notification. Therefore, it is possible to determine whether to lower the security level for each type of notification in an emergency.

[0018] The management process may further include, when the notification is received, the security level is lowered, and when a person other than the target person who was authorized to unlock the locker before the security level was lowered unlocks the locker, providing a notification to the target person who was authorized to unlock the locker before the security level was lowered. Thus, the target person is aware that the locker has been unlocked.

[0019] In the management process, when a notification is received, the safety level can be lowered only for mobile robots existing within the predetermined movement range. Therefore, the safety level is not lowered for mobile robots outside the predetermined movement range, thereby preventing a serious safety problem.

[0020] According to the solution of the present disclosure, a management system, a management method and a computer-readable recording medium can be provided, which enable a mobile robot including a storage cabinet that can accommodate transport items and can be locked or unlocked to set and manage target personnel authorized to unlock the storage cabinet, allowing transport items to be taken out even when an emergency occurs and the target person authorized to unlock the storage cabinet is unable to unlock the storage cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0022] Figure 1 is a conceptual diagram for illustrating an example of the overall configuration of a management system that manages a mobile robot according to an embodiment;

[0023] Figure 2 is a control block diagram illustrating an example of a management system according to an embodiment;

[0024] Figure 3 is a schematic diagram illustrating an example of a mobile robot;

[0025] Figure 4 is a table showing examples of security levels set for respective target persons;

[0026] Figure 5 is a table showing examples of security levels set for respective transport items;

[0027] Figure 6 is a table showing examples of the extent to which the security level is lowered for each type of notification; and

[0028] Figure 7 is a flowchart illustrating an example of a management method according to an embodiment. DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of the present invention will be described; however, the present invention is not intended to be limited to this embodiment. All components of this embodiment are not always essential.

[0030] Schematic configuration

[0031] Figure 1 This is a conceptual diagram illustrating an example of the overall configuration of a management system 1 for managing a mobile robot 20 according to this embodiment. The management system 1 according to this embodiment manages a mobile robot capable of autonomous movement and is a system for transporting items using the mobile robot. Therefore, the management system 1 can also be referred to as a transportation system. Figure 1The management system 1 may include one or more mobile robots 20 , as shown in FIG.

[0032] In addition to one or more mobile robots 20, the management system 1 also includes a notification system 50, a main management device 10, a network 600, a communication unit 610, and a user terminal 400. The notification system 50 is a system for providing notification of emergency events. The emergency event can be an emergency such as an earthquake or fire; however, the emergency event is not limited thereto.

[0033] Mobile robot 20 is a transport robot whose mission is to transport items and includes a storage cabinet 29. Mobile robot 20 autonomously travels to transport items within medical and welfare facilities (such as hospitals, rehabilitation centers, nursing facilities, and elderly living facilities). However, mobile robot 20 can also be configured to be able to travel outside the facility. The management system 1 according to this embodiment can also be used in commercial facilities (such as shopping malls) in a mode that does not involve hospital-specific treatment of patients, etc.

[0034] The mobile robot 20 used in this embodiment includes a storage cabinet 29 that can accommodate transport items and can be electrically locked or unlocked. For example, the storage cabinet 29 can be unlocked by an operation from the user terminal 400, a user operation of the operation receiving unit 28 of the mobile robot 20 (described later), or other operations. Whether the user can remove the transport items, that is, whether the user is allowed to unlock the storage cabinet 29, is determined based on the security level set in advance for the transport items, the target person, etc.

[0035] The management system 1 determines whether to unlock the storage cabinet 29 according to the security level set for unlocking the storage cabinet 29. As a main feature, when the management system 1 receives a notification of an emergency (emergency notification), the management system 1 lowers the security level (lowers security). This feature will be described later.

[0036] User U1 (e.g., a user or manager of a transported item) requests mobile robot 20 to transport the item. User U1 places the item into storage cabinet 29 of mobile robot 20 at the requested location or the pickup location (transportation source) included in the transport request information. Alternatively, the item can be loaded by a loading robot or the like.

[0037] The mobile robot 20 can be made to transport various items as transport items. Examples of transport items include medical devices, medicines, consumables (such as bandages), samples, hospital diets and supplies (such as stationery). Examples of medical devices schematically include inspection tools and medical tools. Medical devices include bedsore prevention devices, sphygmomanometers, blood transfusion pumps, intravenous drips (such as syringe pumps), foot pumps, nurse callers, bed exit sensors, continuous low-pressure inhalers, electrocardiogram monitors, infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, resuscitators, sterile devices, echo devices, etc. In addition to these medical devices, medical devices also include surgical tools (such as catheters, scalpels and scissors), various intravenous drips, various life monitors, etc.

[0038] The mobile robot 20 autonomously moves to a set destination and transports the transported items. That is, the mobile robot 20 performs a package transport mission (hereinafter also referred to as a mission). In the following description, the location where the transported items are loaded is referred to as the transport source, and the location where the transported items are delivered is referred to as the transport destination.

[0039] For example, assume that mobile robot 20 is moving around a general hospital with medical departments. Mobile robot 20 transports items between medical departments. For example, mobile robot 20 delivers items from the nurses' station in one medical department to the nurses' station in another. Alternatively, mobile robot 20 delivers medical equipment from a storage cabinet to the nurses' station in another medical department. If the transport destination is on a different floor, mobile robot 20 can move using an elevator or other means.

[0040] In this embodiment, if Figure 1 As shown, the notification system 50, the mobile robot 20, and the user terminal 400 are connected to the main management device 10 via a network 600. The notification system 50 can be connected to the main management device 10 and the mobile robot 20 via the network 600. The notification system 50 can be a system partially or entirely implemented in the main management device 10.

[0041] The mobile robot 20 and the user terminal 400 are connected to the network 600 via the communication unit 610. The network 600 is a wired or wireless local area network (LAN) or wide area network (WAN). The main management device 10 is connected to the network 600 in a wired or wireless manner. Each communication unit 610 is, for example, a wireless LAN unit installed in various environments. Each communication unit 610 can be, for example, a general-purpose communication device such as a Wi-Fi router.

[0042] Each user terminal 400 is, for example, a tablet computer, a smart phone, or a stationary computer. Each user terminal 400 only needs to be an information processing device that can communicate wirelessly or wired.

[0043] The user U1 or the user U2 can submit a transport request by using the user terminal 400. For example, the user U1 can consult a schedule for transport requests by accessing the notification system 50 (which can be involved in the main management device 10) from the user terminal 400, and can request the main management device 10 to transport the transport item based on the consulted result. When the main management device 10 receives the transport request, it can submit a transport request for the mobile robot 20.

[0044] In this way, various signals transmitted from the user terminal 400 of the user U1 or the user U2 can be transmitted from the main management device 10 to the intended mobile robot 20 once they are sent to the main management device 10 via the network 600. Similarly, various signals to be transmitted from the mobile robot 20 can be transmitted from the main management device 10 to the intended user terminal 400 once they are sent to the main management device 10 via the network 600.

[0045] The main management device 10 is a server that connects to devices and collects data from them. The main management device 10 is not limited to a single physical device and may include multiple devices that perform distributed processing. The main management device 10 can be implemented so as to be distributed to edge devices such as the mobile robot 20. For example, the management system 1 may be partially or fully installed in the mobile robot 20.

[0046] The user terminal 400 and the mobile robot 20 can transmit and receive signals without the intervention of the main management device 10. For example, the user terminal 400 and the mobile robot 20 can directly transmit and receive signals through wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 can transmit and receive signals via the communication unit 610.

[0047] User U1 or user U2 requests transport of an item using user terminal 400. The following description assumes that user U1 is a transport client at the transport source and user U2 is the intended recipient at the transport destination (destination). Of course, user U2 at the transport destination can also submit a transport request. Users at locations other than the transport source or destination can also submit a transport request.

[0048] When user U1 makes a transport request, user U1 uses the user terminal 400 to input detailed information about the transported item, the pickup location of the transported item (hereinafter also referred to as the transport source), the delivery destination of the transported item (hereinafter also referred to as the transport destination), the scheduled arrival time of the transport source (the pickup time of the transported item), the scheduled arrival time of the transport destination (the transport time limit), etc. In the following, this information is also referred to as transport request information. The transport source can be set to the storage location of the transported item. The transport source can be the location where user U1 is located. The transport destination is the location where user U2 or the patient who plans to use the transported item is located. User U1 can input the transport request information by operating the touch panel of the user terminal 400.

[0049] User terminal 400 can transmit the transport request information input by user U1 to the main management device 10. The main management device 10 manages multiple mobile robots 20 and transmits operational instructions to each mobile robot 20 to perform a transport task. In response to each transport request, the main management device 10 selects a mobile robot 20 to perform the transport task. The main management device 10 then transmits a control signal containing the operational instruction to the mobile robot 20. Mobile robot 20 moves from the transport source to the transport destination according to the operational instruction.

[0050] For example, the main management device 10 assigns a transport task to a mobile robot 20 at or near a transport source. Alternatively, the main management device 10 assigns a transport task to a mobile robot 20 that is traveling to or near a transport source. The assigned mobile robot 20 travels to the transport source to pick up the transported item. The transport source is, for example, a storage location or the location of the user U1 who requested the task.

[0051] When mobile robot 20 arrives at the transport source, user U1 or another staff member loads the transport item onto mobile robot 20. Mobile robot 20, loaded with the transport item, moves autonomously, with the transport destination set for it. The master management device 10 transmits a signal to user terminal 400 of user U2 at the transport destination. This allows user U2 to learn that the transport item is being transported and its scheduled arrival time. When mobile robot 20 arrives at the set transport destination, user U2 receives the transport item from mobile robot 20. In this way, mobile robot 20 performs its transport mission.

[0052] In the above overall configuration, the components of the management system 1 can be distributed among the mobile robots 20, user terminals 400, notification system 50, and main management device 10 to form a complete system. Alternatively, the essential components for implementing the transportation of transported items can be integrated and constructed into a single device. The main management device 10 controls one or more mobile robots 20.

[0053] Control block diagram

[0054] Figure 2 1 is a control block diagram showing an example of a control system of the management system 1. Figure 2 As shown, the management system 1 may include a main management device 10 , a mobile robot 20 , a notification system 50 , and an environment camera 300 .

[0055] The management system 1 effectively controls the mobile robot 20 while enabling it to autonomously move within a predetermined facility. To this end, a plurality of environmental cameras 300 are installed within the facility. For example, the environmental cameras 300 are installed in passageways, halls, elevators, entrances, and the like within the facility.

[0056] The environmental cameras 300 capture images within the range of movement of each mobile robot 20. In the management system 1, the main management device 10 collects images captured by the environmental cameras 300 and information based on the images. Alternatively, images captured by the environmental cameras 300 and other information may be transmitted directly to the mobile robots 20. The environmental cameras 300 may be surveillance cameras installed at passageways and entrances of a facility. The environmental cameras 300 can be used to discover the distribution of congestion within the facility.

[0057] In the management system 1, the main management device 10 formulates a route plan based on the transport request information and generates route plan information. Based on the generated route plan information, the main management device 10 provides destination instructions to the mobile robots 20. The mobile robots 20 autonomously move toward the destination specified by the main management device 10. Each mobile robot 20 autonomously moves toward the destination by using its internal sensors, floor maps, location information, and other information.

[0058] For example, each mobile robot 20 travels so as not to contact devices, objects, walls or people (hereinafter collectively referred to as surrounding objects) around the mobile robot 20. Specifically, each mobile robot 20 detects the distance to the surrounding objects and travels a certain distance (distance threshold) or longer from the surrounding objects. When the distance to the surrounding objects becomes shorter than or equal to the distance threshold, the mobile robot 20 slows down or stops. With this configuration, each mobile robot 20 is able to travel without contacting the surrounding objects. Since each mobile robot 20 is able to avoid contact, the mobile robot 20 is able to transport items safely and efficiently.

[0059] The main management device 10 may include a computing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The computing unit 11 performs calculations for controlling and managing the mobile robot 20. The computing unit 11 can be implemented as a unit capable of executing programs, such as a central processing unit (CPU) of a computer. Various functions can be implemented through the programs. Figure 2 Only characteristic units in the calculation processing unit 11 , ie, the robot control unit 111 , the route planning unit 115 , and the detection unit 116 are shown, and the calculation processing unit 11 also includes other processing blocks.

[0060] The robot control unit 111 performs calculations for remotely controlling each mobile robot 20 and generates control signals. The robot control unit 111 generates control signals based on, for example, route plan information 125 (described later). The robot control unit 111 also generates control signals based on various information obtained from the environment camera 300 and the mobile robots 20. The control signals may include updated information for the floor map 121, robot information 123, robot control parameters 122 (described later), and the like. Specifically, when various pieces of information are updated, the robot control unit 111 generates control signals based on the updated information.

[0061] The route planning unit 115 plans the routes of each mobile robot 20. When a transport mission is input, the route planning unit 115 plans a route for transporting the transported item to the transport destination (destination) based on the transport request information. Specifically, the route planning unit 115 selects a mobile robot 20 to perform the new transport mission by referring to the route planning information 125 and robot information 123 stored in the storage unit 12. The starting point can be the current location of the mobile robot 20, the transport destination of the previous transport mission, the pickup location of the transported item, etc. The destination is the transport destination of the transported item, and can also be a waiting location, a charging location, etc.

[0062] Here, the route planning unit 115 sets the passing points for each mobile robot 20 from the starting point to the destination. The route planning unit 115 sets the passing order of the passing points for each mobile robot 20. For example, the passing points are set to branch points, intersections, the lobby in front of the elevator, or the surrounding areas of these locations. In a narrow passage, it may be difficult for the mobile robots 20 to pass each other. In this case, the position just before the narrow passage can be set as the passing point. Candidates for the passing points can be pre-registered in the floor map 121.

[0063] The route planning unit 115 selects a mobile robot 20 to perform each transport task from a plurality of mobile robots 20 so that the entire system can efficiently perform tasks. The route planning unit 115 preferentially assigns transport tasks to waiting mobile robots 20 or mobile robots 20 located near a transport source.

[0064] The route planning unit 115 sets transit points, including a departure point and a destination, for the mobile robot 20 assigned a transport mission. For example, when there are two or more transport routes from the transport source to the transport destination, transit points are set so that the mobile robot 20 can move in a shorter time. Therefore, the main management device 10 updates information indicating the congestion level of the passage based on camera images, etc. Specifically, congestion is high in areas where another mobile robot 20 is passing or where there are many people. Therefore, the route planning unit 115 sets transit points to avoid areas with high congestion.

[0065] The mobile robot 20 can move to the destination along either a clockwise or counterclockwise path. In this case, the route planning unit 115 sets pass-through points so that the mobile robot 20 can pass along an uncrowded path among the movement paths. When the route planning unit 115 sets one or more pass-through points along the route to the destination, the mobile robot 20 can move along an uncrowded path. For example, when the passage branches at a branch point or intersection, the route planning unit 115 sets pass-through points at the branch point, intersection, corner, or locations around the branch point. This improves transportation efficiency.

[0066] The route planning unit 115 can set the pass points while taking into account the congestion of the elevator, the moving distance, etc. The main management device 10 can estimate the number of mobile robots 20 and the number of people at the predetermined time when the mobile robots 20 pass through a certain point. Then, the route planning unit 115 sets the pass points according to the estimated congestion. The route planning unit 115 can dynamically change the pass points according to the change in congestion. The route planning unit 115 sets the pass points for the mobile robots 20 assigned the transportation tasks in sequence. The pass points can include a transportation source and a transportation destination. The mobile robot 20 moves autonomously so as to pass through the pass points set by the route planning unit 115 in sequence.

[0067] The detection unit 116 detects a notification of an emergency event (emergency event notification) transmitted from the notification system 50 and received by the communication unit 14. When the detection unit 116 detects such a notification, the robot control unit 111 transmits a control signal to the mobile robot 20 via the communication unit 14. The control signal contains a security level lowering command to cause the mobile robot 20 to lower the security level of unlocking the storage cabinet 29. Before transmitting the control signal containing such a security level lowering command, the robot control unit 111 is capable of incorporating information indicating the lowered security level into the security level (SL) information 129 (described later) at the stage when the detection unit 116 detects the notification, and is capable of generating a signal by referring to the SL information 129. Alternatively, the SL information 129 may contain both information before the security level is lowered and information after the security level is lowered, and the robot control unit 111 may be configured to make a change to refer to the information after the security level is lowered at the stage when the detection unit 116 detects the notification.

[0068] The storage unit 12 is a storage unit that stores information required for managing and controlling the robot. Figure 2 In the example shown, a floor map 121, robot information 123, robot control parameters 122, route plan information 125, transport item information 126, and safety level (SL) information 129 are shown; however, the information stored in the storage unit 12 may include other information. When performing various processes, the calculation processing unit 11 uses the information stored in the storage unit 12 to perform calculations. The various information stored in the storage unit 12 can be updated with the latest information.

[0069] Floor map 121 is map information of the facility in which mobile robot 20 moves. Floor map 121 may be a pre-created floor map, a floor map generated based on information obtained from mobile robot 20, or a floor map obtained by adding map correction information generated based on information obtained from mobile robot 20 to a pre-created base map. Floor map 121 may also include map information outside the facility. In this case, information indicating whether a location is inside or outside the facility is preferably configured to be read out.

[0070] The robot information 123 includes the ID, model, specifications, and other information of each mobile robot 20 managed by the master management device 10. The robot information 123 may include location information indicating the current location of each mobile robot 20. The robot information 123 may also include information regarding whether each mobile robot 20 is currently performing a task or waiting. The robot information 123 may also include information indicating whether each mobile robot 20 is currently operating, malfunctioning, or the like. The robot information 123 may also include information regarding transportable and non-transportable items.

[0071] The robot control parameters 122 include control parameters such as the threshold distance from surrounding objects to each mobile robot 20 managed by the master management device 10. The threshold distance is a margin distance for avoiding contact with surrounding objects, including humans. The robot control parameters 122 may also include information on operational intensity, such as an upper limit on the movement speed of each mobile robot 20.

[0072] The robot control parameters 122 can be updated as needed. The robot control parameters 122 may include information indicating the vacancy and usage status of storage space in the storage cabinet 29 (described later) that can actually accommodate transport items. The robot control parameters 122 may also include information regarding transportable and non-transportable items. Furthermore, the robot control parameters 122 may include information indicating whether another transport item other than the current transport item can be transported. The robot control parameters 122 associate various pieces of information with each mobile robot 20.

[0073] The route planning information 125 includes route planning information planned by the route planning unit 115. For example, the route planning information 125 includes information indicating a transport task. The route planning information 125 may include information such as the ID of the mobile robot 20 assigned the task, the departure point, details of the transported item, the transport destination, the transport source, the scheduled arrival time at the transport destination, the scheduled arrival time at the transport source, and the arrival deadline. Various information may be associated with each transport task in the route planning information 125. The route planning information 125 may also include at least a portion of the transport request information input by the user U1.

[0074] The route planning information 125 may include information about passage points for each mobile robot 20 and transport mission. For example, the route planning information 125 may include information indicating the passage order of passage points for each mobile robot 20. The route planning information 125 may include the coordinates of each passage point in the floor map 121 and information indicating whether the passage point has been passed.

[0075] The transport item information 126 is information about the transport item for which the transport request is made. For example, the transport item information 126 includes information about the transport item details (type), transport source, transport destination, etc. The transport item information 126 may include the ID of the mobile robot 20 responsible for transport. The transport item information 126 may also include information indicating states such as in transit, before transport (before loading), and transported. The transport item information 126 associates this information with each transport item.

[0076] The route planning unit 115 formulates a route plan by referring to various information stored in the storage unit 12. For example, the route planning unit 115 selects the mobile robot 20 to perform a task based on the floor map 121, robot information 123, robot control parameters 122, and route plan information 125. The route planning unit 115 sets the transit points and the order of transit to the transportation destination by referring to the floor map 121 and other information. Candidate transit points are pre-registered in the floor map 121. The route planning unit 115 sets transit points based on factors such as congestion. For example, when tasks are processed consecutively, the route planning unit 115 may set the transportation source and destination as transit points.

[0077] Two or more mobile robots 20 can be assigned to a single transport task. For example, when the transported item is larger than the transportable weight of the mobile robot 20, the item is split into two and loaded onto two mobile robots 20. Alternatively, for example, when the transported item is heavier than the transportable weight of the mobile robot 20, the item is split into two and loaded onto two mobile robots 20. With this configuration, two or more mobile robots 20 can each share a single transport task. Of course, when controlling mobile robots 20 of different sizes, a route can be planned so that the mobile robot 20 capable of transporting the item picks up the item.

[0078] A single mobile robot 20 can perform two or more transport tasks in parallel. For example, a single mobile robot 20 can simultaneously load two or more transport items and transport them sequentially to different destinations. Alternatively, a single mobile robot 20 can simultaneously transport one transport item while also being loaded with another. The transport destinations of the items loaded at different locations can be the same or different. This configuration allows for efficient mission execution.

[0079] In this case, the storage information indicating the usage status or vacant status can be updated for the storage space of each mobile robot 20. That is, the main management device 10 can manage the storage information indicating the vacant status and control the mobile robot 20. For example, when the loading or picking up of the transport items is completed, the storage information is updated. When a transport task is input, the main management device 10 refers to the storage information and enables the mobile robot 20 with space for loading the transport items to pick up the items. With this configuration, one mobile robot 20 can perform multiple transport tasks at the same time, or more than two mobile robots 20 can perform shared transport tasks. For example, a sensor can be installed in the storage space of each mobile robot 20, and the vacant status can be detected. For each transport item, the capacity and weight of the transport item can be registered in advance.

[0080] Security level (SL) information 129 indicates the security level set for unlocking the storage cabinet 29. The security level is a level during the process of removing transported items (i.e., handling transported items) and can be set for transported items, target persons, etc. In this embodiment, the following assumptions will be made: in the case of objects with high security levels (transported items, target persons, etc.), the number of target persons authorized to remove the transported items is reduced; in the case of objects with low security levels, the number of target persons authorized to remove the transported items is increased. An example of SL information 129 will be described later.

[0081] The buffer memory 13 is a memory that accumulates intermediate information generated during processing by the computational processing unit 11. The communication unit 14 is a communication interface for communicating with a plurality of environmental cameras 300 and at least one mobile robot 20 installed in the facility where the operation management system 1 is located. The communication unit 14 is capable of both wired and wireless communication. For example, the communication unit 14 transmits control signals required to control each mobile robot 20 to the mobile robot 20. The communication unit 14 receives information collected by the mobile robot 20 and the environmental cameras 300. The communication unit 14 is also capable of receiving emergency notifications from the notification system 50.

[0082] Each mobile robot 20 may include a computing processing unit 21 , a storage unit 22 , a communication unit 23 , a proximity sensor (eg, a distance sensor group 24 ), a camera 25 , a driving unit 26 , a display unit 27 , and an operation receiving unit 28 . Figure 2 Shown are only typical processing blocks included in each mobile robot 20. Each mobile robot 20 also includes numerous other processing blocks (not shown).

[0083] The communication unit 23 is a communication interface for communicating with the communication unit 14 of the main management device 10. The communication unit 23 communicates with the communication unit 14 using, for example, radio signals. The distance sensor group 24 is, for example, a proximity sensor, and outputs proximity object distance information indicating the distance to objects or people around the mobile robot 20. For example, the camera 25 captures images to capture the situation around the mobile robot 20. The camera 25 can capture images of, for example, location markers provided on the ceiling of a facility. The location markers can be used to enable the mobile robot 20 to determine its own location.

[0084] The communication unit 23 may be configured to receive an emergency event notification from the notification system 50. Therefore, the detection unit 216 (described later) can directly detect the occurrence of an emergency event and lower the security level even without receiving a security level lowering command based on the emergency event notification from the primary management device 10.

[0085] The drive unit 26 drives the drive wheels provided for the mobile robot 20. The drive unit 26 may include an encoder or the like that detects the rotational speed of each drive wheel or the drive motor for each drive wheel. The mobile robot 20 can estimate its own position (current position) based on the output of the encoder. The mobile robot 20 detects its current position and transmits it to the master management device 10.

[0086] The display unit 27 and the operation receiving unit 28 are implemented by a touch panel display. The display unit 27 displays a user interface screen serving as the operation receiving unit 28. The display unit 27 can be caused to display information indicating the destination of the mobile robot 20 and the status of the mobile robot 20. The operation receiving unit 28 receives operations from the user. In addition to the user interface screen displayed on the display unit 27, the operation receiving unit 28 also includes various switches provided for the mobile robot 20.

[0087] The operation to be received by the operation receiving unit 28 may include an operation to unlock the storage cabinet 29. With this configuration, the electronic lock 293 (described later) is controlled from the operation receiving unit 28. However, in this embodiment, the security level for unlocking the storage cabinet 29 is set as described above, and not all users are authorized to unlock the storage cabinet 29.

[0088] The calculation processing unit 21 performs calculations for controlling the mobile robot 20. The calculation processing unit 21 can be implemented as a unit capable of executing programs, such as a central processing unit (CPU) of a computer. Various functions can be implemented by programs. The calculation processing unit 21 includes a detection unit 216, a lock / unlock processing unit 217, a movement command extraction unit 211, and a drive control unit 212. Figure 2 Only typical processing blocks of the calculation processing unit 21 are shown. The calculation processing unit 21 also includes processing blocks (not shown). The calculation processing unit 21 can search for routes between passing points.

[0089] The movement command extraction unit 211 extracts a movement command from the control signal from the master management device 10. For example, the movement command includes information about the next pass point. For example, the control signal may include the coordinates of the pass point and information about the pass order of the pass points. The movement command extraction unit 211 extracts this information as a movement instruction.

[0090] The movement command may include information indicating that the mobile robot 20 can move to the next passage point. When the passage is narrow, the mobile robot 20 may not be able to pass through. The passage may be temporarily impassable. In this case, the control signal includes a command to stop the mobile robot 20 at the passage point before the position where it will stop. Then, after another mobile robot 20 passes or the passage becomes passable, the main management device 10 outputs a control signal to the mobile robot 20 notifying it that it is allowed to move. As a result, the temporarily stopped mobile robot 20 resumes movement.

[0091] The drive control unit 212 controls the drive unit 26 so that the mobile robot 20 moves based on the movement command given from the movement command extraction unit 211. For example, the drive unit 26 includes drive wheels that rotate according to the control command value from the drive control unit 212. The movement command extraction unit 211 extracts the movement command so that the mobile robot 20 moves toward the passing point received from the main management device 10. Then, the drive unit 26 drives the drive wheels for rotation. The mobile robot 20 moves autonomously toward the next passing point. In this way, the mobile robot 20 passes through the passing points in sequence and arrives at the transportation destination. The mobile robot 20 can estimate its own position and transmit a signal indicating the passage of the passing point to the main management device 10. Therefore, the main management device 10 is able to manage the current position and transportation status of each mobile robot 20.

[0092] The detection unit 216 detects (extracts) a security level lowering command from the control signal given by the master management device 10. The security level lowering command is a command to lower the security level. When the security level lowering command is detected, the computing processing unit 21 lowers the security level by updating the security level (SL) information 229 in the storage unit 22.

[0093] The electronic lock 293 is configured to lock or unlock the storage cabinet 29. When the lock / unlock processing unit 217 receives an unlock operation from the operation receiving unit 28 or an unlock operation from the user terminal 400, the lock / unlock processing unit 217 controls the electronic lock 293 according to the security level set by the SL information 229 by referring to the SL information 229. When unlocking the storage cabinet 29 is permitted, the electronic lock 293 unlocks the storage cabinet 29. When the lock / unlock processing unit 217 receives a lock operation from the operation receiving unit 28 or a lock operation from the user terminal 400, the lock / unlock processing unit 217 controls the electronic lock 293 and causes it to lock the storage cabinet 29. The electronic lock 293 only needs to have a mechanism capable of electrically locking or unlocking, and the configuration of the electronic lock 293 is not important. For example, the electronic lock 293 can adopt a mechanism that locks or unlocks through near-field communication with a user's electronic key (e.g., an IC card).

[0094] The storage unit 22 stores a floor map 221 , robot control parameters 222 , transport item information 226 , and SL information 229 . Figure 2 Only part of the information stored in the storage unit 22 is shown. The information stored in the storage unit 22 also includes Figure 2 The floor map 221 is information other than the floor map 221, robot control parameters 222, or transported item information 226 shown. The floor map 221 is map information of the facility in which the mobile robot 20 moves. The floor map 221 is data obtained by, for example, downloading a portion or all of the floor map 121 from the master management device 10. The floor map 221 can be pre-created. The floor map 221 does not need to be map information for the entire facility, but may be map information that partially encompasses the area in which the mobile robot 20 is scheduled to move.

[0095] The robot control parameters 222 are parameters for operating the mobile robot 20. The robot control parameters 222 include, for example, a threshold value of distance to surrounding objects and an upper limit of the speed of the mobile robot 20.

[0096] The transport item information 226 contains information about the transport item, similar to the transport item information 126. The transport item information 226 can include information about the transport item details (type, i.e., model), the transport source, the transport destination, etc. The transport item information 226 can include information indicating states such as in transit, before transport (before loading), and transported. The transport item information 226 associates this information with each transport item. The transport item information 226 only needs to include information about the transport item to be transported by the mobile robot 20. Therefore, the transport item information 226 is part of the transport item information 126. That is, the transport item information 226 does not need to include information about the transport item to be transported by another mobile robot 20.

[0097] The drive control unit 212 refers to the robot control parameter 222 and stops or slows down the operation in response to the fact that the distance indicated by the distance information obtained from the distance sensor group 24 becomes less than the distance threshold. The drive control unit 212 controls the drive unit 26 so that the mobile robot 20 travels at a speed lower than or equal to the upper speed limit. The drive control unit 212 limits the rotation speed of each drive wheel so that the mobile robot 20 does not move at a speed higher than or equal to the upper speed limit.

[0098] The security level (SL) information 229, as well as the SL information 129, is information indicating the security level set for unlocking the storage cabinet 29, and does not need to include information indicating the security level set for unlocking the storage cabinet 29 in another mobile robot 20. The security level of the SL information 229 only needs to be consistent with the security level of the SL information 129 by timely referring to the SL information 129.

[0099] The notification system 50 may, for example, include a system used by public entities such as municipalities and government departments to provide disaster information notifications. In this case, the communication unit 14 of the host management device 10 or both the communication unit 14 and the communication unit 23 of the mobile robot 20 can obtain the disaster information provided by the system via the network 600, etc. The notification system 50 may be a transmitter of a television broadcast signal. In this case, when the host management device 10 or both the host management device 10 and the mobile robot 20 are configured to receive the television broadcast signal and extract emergency report information when the television broadcast signal contains the information, the host management device 10 or both the host management device 10 and the mobile robot 20 can obtain the emergency report information.

[0100] The notification system 50 may include one or more fire alarms installed at one or more locations within the facility. In this case, the communication unit 14 of the master management device 10 or both the communication unit 14 and the communication unit 23 of the mobile robot 20 may be configured to receive notification signals from the one or more fire alarms. The one or more fire alarms may be managed by a facility management system that manages the facility. The master management device 10 may include the facility management system or may be configured as an integrated management system that manages the facility management system in an integrated manner.

[0101] As illustrated herein, when the facility is a hospital, the notification system 50 may include a facility management system that makes an emergency call (an in-hospital alarm indicating that the hospital is under emergency conditions). In this case, the communication unit 14 of the main management device 10 or both the communication unit 14 and the communication unit 23 of the mobile robot 20 may be configured to receive the emergency call from the facility management system.

[0102] As in the case of these examples, the management system 1 can be constructed as an integrated management system that manages a plurality of mobile robots 20 and a facility management system that manages a facility (building). With this configuration, information about the facility and the plurality of mobile robots 20 is integrated, information and command signals are transmitted to the plurality of mobile robots 20 based on information provided from the facility management system, and emergency situations are determined based on notifications from the facility management system managed by the management system 1.

[0103] Configuration of the mobile robot 20

[0104] Here, the appearance of the mobile robot 20 will be described. Figure 3 A schematic diagram of a mobile robot 20 is shown. Figure 3 The mobile robot 20 shown is one form of the mobile robot 20. The mobile robot 20 may be in another form. Figure 3 , the x direction corresponds to the front-rear direction of the mobile robot 20 , the y direction corresponds to the left-right direction of the mobile robot 20 , and the z direction corresponds to the height direction of the mobile robot 20 .

[0105] Mobile robot 20 includes a main body 290 and a carriage 260. Main body 290 is mounted on carriage 260. Each of main body 290 and carriage 260 has a rectangular parallelepiped housing. Components of each of main body 290 and carriage 260 are mounted within the housing. For example, drive unit 26 is housed within carriage 260.

[0106] The main body 290 includes a storage vault 291 and a door 292. The storage vault 291 has a storage cabinet 29 as a storage space. The door 292 hermetically seals the storage vault 291. A plurality of shelves are provided in the storage cabinet 29, and the vacancy status is managed for each shelf. For example, when various sensors (such as weight sensors) are installed on each shelf, the vacancy status can be updated. The mobile robot 20 transports the transport items contained in the storage cabinet 29 by autonomously moving to a destination set by an instruction from the main management device 10. A control box (not shown) and the like may be installed in the housing of the main body 290.

[0107] An electronic lock 293 may be provided at the door 292 and can be locked or unlocked using an electronic key, etc. When the mobile robot 20 arrives at the transport destination, the user U2 uses the electronic key to unlock the door 292. When the user U2 is the recipient or when the user U2 is authorized to unlock the door 292, the door 292 is allowed to be unlocked.

[0108] like Figure 3 As shown, a front-to-back distance sensor 241 and a left-to-right distance sensor 242 are provided on the outside of the mobile robot 20 as the distance sensor group 24. The mobile robot 20 uses the front-to-back distance sensor 241 to measure the distance from the mobile robot 20 to surrounding objects in the front-to-back direction. The mobile robot 20 uses the left-to-right distance sensor 242 to measure the distance from the mobile robot 20 to surrounding objects in the left-to-right direction.

[0109] For example, a front-to-back distance sensor 241 is disposed on each of the front and rear sides of the housing of the main body 290. A left-to-right distance sensor 242 is disposed on each of the right and left sides of the housing of the main body 290. The front-to-back distance sensor 241 and the left-to-right distance sensor 242 are each, for example, an ultrasonic distance sensor or a laser rangefinder. Each of the front-to-back distance sensor 241 and the left-to-right distance sensor 242 detects the distance to surrounding objects. When the distance to a surrounding object detected by any one of the front-to-back distance sensor 241 and the left-to-right distance sensor 242 becomes less than or equal to a distance threshold, the mobile robot 20 decelerates or stops.

[0110] The drive unit 26 includes a drive wheel 261 and a caster 262. The drive wheel 261 is a wheel used to move the mobile robot 20 forward, backward, right, or left. The caster 262 is not provided with a driving force. The caster 262 is a driven wheel that rolls along with the drive wheel 261. The drive unit 26 includes a drive motor (not shown) and drives the drive wheel 261.

[0111] For example, the drive unit 26 supports two drive wheels 261 and two casters 262 in the housing. Each drive wheel 261 and caster 262 is in contact with the travel surface. The two drive wheels 261 are arranged so that the rotation axes coincide with each other. Each drive wheel 261 is independently driven to rotate by a motor (not shown). The drive wheels 261 are driven according to the rotation of the motor. Figure 2 The casters 262 are driven wheels and are configured to pivotally support the wheels so that the pivot axis extending vertically from the drive unit 26 is positioned away from the wheel's rotation axis. The casters 262 follow the direction of movement of the drive unit 26 so as to align with the direction of movement of the drive unit 26.

[0112] For example, when the two drive wheels 261 rotate in the same direction at the same rotational speed, the mobile robot 20 moves forward in a straight line, while when the drive wheels 261 rotate in opposite directions at the same rotational speed, the mobile robot 20 rotates around a vertical axis that roughly passes through the centers of the two drive wheels 261. When the two drive wheels 261 rotate in the same direction at different rotational speeds, the mobile robot 20 can move while turning right or left. For example, when the rotational speed of the left drive wheel 261 is higher than the rotational speed of the right drive wheel 261, the mobile robot 20 can turn right. On the other hand, when the rotational speed of the right drive wheel 261 is higher than the rotational speed of the left drive wheel 261, the mobile robot 20 can turn left. In other words, when the rotational direction and rotational speed of the two drive wheels 261 are controlled, the mobile robot 20 can, for example, translate in a selected direction, rotate, turn right, or turn left.

[0113] In the mobile robot 20, a display unit 27 and an operation interface 281 are provided on the top side of the main body portion 290. The operation interface 281 is displayed on the display unit 27. When a user touches and operates the operation interface 281 displayed on the display unit 27, the operation receiving unit 28 can receive a command input by the user. An emergency stop button 282 is provided on the top side of the display unit 27. The emergency stop button 282 and the operation interface 281 function as the operation receiving unit 28.

[0114] Display unit 27 is, for example, a liquid crystal panel. Display unit 27 displays a person's face graphically or displays information about mobile robot 20 using text or icons. When a person's face is displayed on display unit 27, it can give the impression to surrounding observers that the person's face is a fake face. Display unit 27 or the like installed in mobile robot 20 can function as user terminal 400.

[0115] The camera 25 is mounted on the front side of the main body 290. Here, the two cameras 25 function as stereo cameras. That is, the two cameras 25 having the same viewing angle are arranged horizontally apart from each other. The cameras 25 each output the captured image as image data. The distance to the subject and the size of the subject can be calculated based on the image data of the two cameras 25. The computing processing unit 21 can detect people, obstacles, etc. ahead in the direction of movement by analyzing the images of the cameras 25. When there are people, obstacles, etc. ahead in the direction of movement, the mobile robot 20 moves along the route while avoiding them. The image data of the camera 25 is transmitted to the main management device 10.

[0116] Mobile robot 20 identifies surrounding objects or confirms its own position by analyzing image data output from camera 25 and detection signals output from front-to-back distance sensor 241 and left-to-right distance sensor 242. Camera 25 captures images of the area in front of the mobile robot 20's moving direction. As shown in the figure, the front side of mobile robot 20 is the side on which camera 25 is mounted. That is, during normal movement, as indicated by the arrows, the front side of mobile robot 20 corresponds to the moving direction.

[0117] Main features of this embodiment

[0118] Next, we will describe the main features of this embodiment within the management system 1 configured as described above. This embodiment not only determines whether to unlock the storage cabinet 29 based on the security level set for unlocking the storage cabinet 29, but also lowers the security level upon receiving an emergency notification. This control can be performed, for example, when the master management device 10 serves as the main controller for controlling the mobile robot 20, and while such an example is described here, it can also be performed by, for example, the mobile robot 20 itself.

[0119] Will refer to Figures 4 to 6 Describes examples of setting the security level and lowering the security level. Figure 4 : is a table showing examples of security levels set for respective target persons. Figure 5 is a table showing examples of security levels set for respective transport items. Figure 6 is a table showing examples of the degree to which the security level is lowered for various types of notifications. For ease of description, an example will be described in which the security level is set to any one of three levels (i.e., high, medium, and low); however, the number of levels is not important. For example, SL information 129 or SL information 229 can be Figures 4 to 6 One or some of the tables shown are used for illustration purposes only.

[0120] like Figure 4 As shown, the target personnel for setting the security level can be doctors, nurses (head nurses), nurses (others), office staff, etc., and the security level can be set to "low", "low", "medium", "medium", and "high" respectively during normal time (when the security level is not lowered). For example, doctors whose security level is set to "low" are allowed to access and unlock the electronic lock 293 under any circumstances, and office staff whose security level is set to "high" are rarely allowed to access and unlock the electronic lock 293.

[0121] When the master management device 10 receives an emergency notification in this state, it transmits a control signal containing a security level reduction command to the mobile robot 20. Based on the security level reduction command, the mobile robot 20 can lower the security level (making unlocking easier) by setting the security level of doctors, nurses (head nurses), nurses (other), and office staff to "low," "low," "low," "low," and "medium." Examples of target personnel include clinical technicians, clinical radiologists, occupational therapists, physical therapists, clinical engineers, assistant nurses, and engineers from instrument manufacturers.

[0122] In this way, when the management system 1 receives an emergency notification, the management system 1 can reduce the security level by expanding the scope of target personnel who are authorized to unlock the storage cabinet 29 (authorized to take out the transported items). Therefore, it is possible to increase the target personnel who can unlock the storage cabinet 29 in an emergency.

[0123] When the management system 1 receives an emergency notification, it can lower the security level if a predetermined security level lowering condition (condition for lowering the security level) is satisfied. Therefore, a situation in which the security level is not lowered even when an emergency notification is received can be set.

[0124] For example, predetermined security level reduction conditions can be set for each transport item accommodated in the storage cabinet 29. For example, the security level of one transport item is reduced only for the target person whose security level is set to "high", and the security level of another transport item is reduced for the person whose security level is set to any one of "high", "medium" and "low". In this way, the security level does not change uniformly, and it is allowed to set conditions for reducing the security level for each transport item. Therefore, it is possible to finely set whether to reduce the security level for each transport item in an emergency. Here, when the security level of at least one of the transport items accommodated at the same time is allowed to be reduced, the security level can be reduced. When the security level of all or more than a predetermined proportion (for example, 50%) of the transport items accommodated at the same time is allowed to be reduced, the security level can be reduced.

[0125] An example of setting and lowering the security level of each transported item will be described. Figure 5 As shown in FIG, security levels can be set for each transported item. In this example, during normal times (when the security level is not lowered), security levels (i.e., "High," "Medium," "Medium," and "Low") can be set for each transported item, including controlled drugs (poisons, potent drugs, narcotics, etc.), other common drugs, medical devices, and supplies (stationery, etc.).

[0126] When the master management device 10 receives an emergency notification in this state, it transmits a control signal containing a security level reduction command to the mobile robot 20. The mobile robot 20 can lower the security level (making unlocking easier) by setting the security level of controlled drugs, general drugs, medical devices, and supplies to "medium," "low," "low," and "none" based on the security level reduction command. If the security level is not sufficiently reduced, as in this example, the lowest security level is set.

[0127] Predetermined safety level lowering conditions can be set for each type of emergency event notification. The type of notification means the type of emergency event. Examples of the type of notification include types of earthquakes, fires, and emergency numbers, and can be further subdivided into types of major earthquakes, medium-level earthquakes, major fires, small fires, and emergency numbers of various colors. For example, for one type of notification, the safety level is lowered only for target persons whose safety level is set to "high", while for another type of notification, the safety level is lowered for target persons whose safety level is set to any one of "high", "medium", and "low". Therefore, it is possible to finely determine whether to lower the safety level based on the type of notification in an emergency situation.

[0128] You can set the degree of security reduction for each type of emergency notification. Figure 6As shown in the figure, the degree of security level reduction can be set for each notification type. In this example, the security level can be reduced by two levels, one level, and zero levels for emergency events (i.e., earthquakes or fires with a seismic intensity of 5 or higher, earthquakes or small fires with a seismic intensity of 4 or higher, and suspicious individuals entering). Reducing the security level by two levels means changing the security level from "high" to "low."

[0129] Predetermined security level reduction conditions can be set for each patient using the transport items stored in storage cabinet 29. For example, the security level of a transport item for one patient can be reduced only for those whose security level is set to "High," while the security level of a transport item for another patient can be reduced for those whose security level is set to any of "High," "Medium," and "Low." In this way, when the facility is a hospital, the security level is not uniformly changed; instead, the conditions for reducing the security level are configured to be set for each patient using the transport item. Therefore, in an emergency, it is possible to precisely determine whether to reduce the security level for each patient.

[0130] When the management system 1 receives an emergency notification, it can determine whether to lower the security level for each transported item contained in the storage cabinet 29. This way, the security level is not uniformly changed, but rather determined for each transported item. Thus, for example, it is possible to determine that the security level of a transported item, such as poison, should never be lowered. In this case, if the security level of at least one of the transported items has not been lowered, it is desirable not to lower the security level.

[0131] Whether the security level should be lowered upon receiving an emergency notification can be set for each patient using a transport item stored in storage cabinet 29. In this way, if the facility is a hospital, the security level is not uniformly changed, but rather it can be set for each patient using a transport item. Therefore, the security level for a transport item used for a specific patient can be maintained constant. Similarly, in this case, if the security level of at least one of the stored transport items has not been lowered, it is desirable not to lower the security level.

[0132] When the management system 1 receives an emergency notification and lowers the security level, and a person other than the target person who was authorized to unlock the storage cabinet 29 before the security level was lowered unlocks the storage cabinet 29, the management system 1 can provide a notification to the target person who was authorized to unlock the storage cabinet 29 before the security level was lowered. When a person other than the person belonging to the security level before the security level was lowered unlocks the storage cabinet 29 in this manner, the person belonging to the security level before the security level was lowered is notified, and the target person is able to learn that the storage cabinet 29 has been unlocked. Therefore, the target person can deal with situations where they are in some trouble or need to transport items.

[0133] When management system 1 receives an emergency notification, it can lower the safety level only for mobile robots 20 within the predetermined range of movement. Therefore, the safety level of mobile robots 20 outside the predetermined range of movement (e.g., outside the facility) is not lowered, thus preventing significant safety issues. Whether the location is inside or outside the facility can be determined by referring to floor map 121 or floor map 221.

[0134] According to the present embodiment, when a mobile robot 20 including a storage cabinet 29 capable of accommodating transport items and capable of being locked or unlocked is managed while setting a target person who is authorized to unlock the storage cabinet 29, the transport items can be taken out even when an emergency occurs and the target person who is authorized to unlock the storage cabinet 29 is unable to unlock the storage cabinet 29. In particular, in a system in which only a specific person can unlock the transport robot in an emergency, the specific person often plays a major role in handling other work in an emergency, so there is a concern that no one will be able to handle the transport items in an emergency. However, in the present embodiment, the security level is lowered, thereby reducing such concerns. When the degree of lowering the security level, etc. can be set, a person who has no problem handling the transport items can handle the transport items in consideration of safety, so the specific person will not be disturbed.

[0135] Management methods

[0136] Figure 7 is a flowchart showing an example of the management method according to the present embodiment. First, the main management device 10 or the mobile robot 20 sets a security level for unlocking the mobile robot 20 (S701). Subsequently, the main management device 10 or the mobile robot 20 determines whether an emergency event notification is received (S702), and waits until an emergency event notification is received. When the notification is received (yes in S702), the main management device 10 causes the managed mobile robot 20 to lower the security level (S703). Alternatively, in S703, the mobile robot 20 may receive the notification and lower the security level.

[0137] Subsequently, the main management device 10 or the mobile robot 20 determines whether a notification of the resolution (cancellation) of the emergency event has been received (S704), and waits until the notification is received. When the notification is received (yes in S704), the main management device 10 causes the managed mobile robot 20 to cancel the reduction of the security level (S705), and then ends the processing. Alternatively, in S705, the mobile robot 20 may receive such a notification and cancel the reduction of the security level. Canceling the reduction of the security level can be configured to be executed by an administrator with predetermined access rights from the main management device 10 or the mobile robot 20 or the user terminal 400.

[0138] Part or all of the processing in the main management device 10, the mobile robot 20, the notification system 50, etc. can be implemented as a computer program. The above program can be stored in various types of non-transitory computer-readable media and can be provided to the computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (such as floppy disks, magnetic tapes, and hard disk drives), magneto-optical recording media (such as magneto-optical disks), read-only memories (CD-ROMs), CD-Rs, CD-R / Ws, semiconductor memories (such as mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, and random access memories (RAMs)). The program can be provided to the computer via various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via a wired communication path (such as electric wires and optical fibers) or a wireless communication path.

[0139] The present invention is not limited to the above-described embodiments and may be modified as needed without departing from the scope of the present invention. For example, the management system according to the present embodiment is not limited to the case of using the mobile robot 20 configured as described above. As an alternative to or in addition to this configuration, mobile robots of various configurations each having storage cabinets of various configurations that can be locked or unlocked may be used. In the above-described embodiments, a system in which the mobile robot moves autonomously mainly within a hospital is described; however, the transport system may transport transport items in a hotel, a restaurant, an office building, an event venue, or a complex facility. The description is made assuming that the transport items are transported within one facility; however, the transport system is equally applicable to transport between multiple facilities as long as the mobile robot is capable of moving between multiple facilities. Examples of target personnel include doctors, nurses, and technicians; however, these names vary from country to country, and the categories and the medications that personnel in each category are allowed to handle also vary.

Claims

1. A management system comprising: A mobile robot capable of autonomous movement, configured to be managed by the management system, wherein: The mobile robot includes a storage cabinet capable of accommodating transport items and capable of being electrically locked or unlocked; The management system is configured to determine whether to unlock the storage cabinet according to a security level set for unlocking the storage cabinet; and The management system is configured to, when the management system receives a notification of an emergency event, lower the security level when a predetermined security level lowering condition is met; The predetermined security level reduction condition is set for each transported article contained in the storage cabinet.

2. The management system according to claim 1, wherein: The management system is configured to, when the management system receives the notification of the emergency event, reduce the security level by expanding the scope of target personnel authorized to unlock the storage cabinet.

3. The management system according to claim 1, wherein: The management system is configured to manage the mobile robot so that the mobile robot moves within the hospital; and The predetermined safety level lowering condition is set for each patient using the transport item accommodated in the storage cabinet.

4. The management system according to any one of claims 1 to 3, wherein: The predetermined security level lowering condition is set for the notification of various types of emergency events.

5. The management system according to any one of claims 1 to 3, wherein: The management system is configured to provide a notification to the target person who was authorized to unlock the storage cabinet before the security level was lowered when the management system receives the notification of the emergency event and lowers the security level, and when a person other than the target person who was authorized to unlock the storage cabinet before the security level was lowered unlocks the storage cabinet.

6. The management system according to any one of claims 1 to 3, wherein: The management system is configured to, when the management system receives the notification of the emergency event, lower the safety level only for the mobile robot existing within a predetermined movement range.

7. A method for managing a mobile robot capable of autonomous movement, the mobile robot comprising a storage cabinet capable of accommodating transported items and capable of being electrically locked or unlocked, the method comprising: determining whether to unlock the storage cabinet according to a security level set for unlocking the storage cabinet; as well as When receiving a notification of an emergency event, lowering the security level if a predetermined security level lowering condition is met; The predetermined security level reduction condition is set for each transported item contained in the storage cabinet.

8. The management method according to claim 7, wherein: When the notification of the emergency event is received, the security level is lowered by expanding the range of target personnel authorized to unlock the storage cabinet.

9. The management method according to claim 7, further comprising managing the mobile robot so that the mobile robot moves within the hospital, wherein: The predetermined safety level lowering condition is set for each patient using the transport item accommodated in the storage cabinet.

10. The management method according to any one of claims 7 to 9, wherein: The predetermined security level lowering condition is set for the notification of each type of the emergency event.

11. The management method according to any one of claims 7 to 9 further includes, when the notification of the emergency event is received, the security level is lowered, and when a person other than the target person who was authorized to unlock the storage cabinet before the security level was lowered unlocks the storage cabinet, providing a notification to the target person who was authorized to unlock the storage cabinet before the security level was lowered.

12. The management method according to any one of claims 7 to 9, wherein: When the notification of the emergency event is received, the safety level is lowered only for the mobile robot existing within a predetermined movement range.

13. A computer-readable recording medium storing a program causing a computer to execute a management process for managing a mobile robot capable of autonomous movement, the mobile robot including a storage cabinet capable of accommodating transported items and capable of being electrically locked or unlocked, the management process comprising: determining whether to unlock the storage cabinet according to a security level set for unlocking the storage cabinet; as well as When receiving a notification of an emergency event, lowering the security level if a predetermined security level lowering condition is met; Here, in the management process, the predetermined security level reduction condition is set for each transported article accommodated in the storage cabinet.

14. The computer-readable recording medium according to claim 13, wherein In the management process, when the notification of the emergency event is received, the security level is lowered by expanding the range of target persons authorized to unlock the storage cabinet.

15. The computer-readable recording medium according to claim 13, wherein: The management process further includes managing the mobile robot so that the mobile robot moves within the hospital; and The predetermined safety level lowering condition is set for each patient using the transport item accommodated in the storage cabinet.

16. The computer-readable recording medium according to any one of claims 13 to 15, wherein: The predetermined security level lowering condition is set for the notification of each type of the emergency event.

17. The computer-readable recording medium according to any one of claims 13 to 15, wherein: The management process also includes, when the notification of the emergency event is received, the security level is lowered, and when a person other than the target person who was authorized to unlock the storage cabinet before the security level was lowered unlocks the storage cabinet, providing a notification to the target person who was authorized to unlock the storage cabinet before the security level was lowered.

18. The computer-readable recording medium according to any one of claims 13 to 15, wherein: In the management process, when the notification of the emergency event is received, the safety level is lowered only for the mobile robot existing within a predetermined movement range.

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