Robot control system, robot control method, and storage medium

Abstract

The present disclosure relates to a robot control system, a robot control method, and a storage medium. The robot control system according to the present embodiment is a robot control system for controlling a mobile robot that is autonomously movable within a facility. The system performs: acquiring attribute information about a person present in a travel region in front of the mobile robot in a direction of advance of the mobile robot; setting an upper limit of an operation intensity of the mobile robot in accordance with the attribute information; and controlling an operation of the mobile robot in accordance with the upper limit.

Description

Technical Field

[0001] This disclosure relates to a robot control system, a robot control method, and a storage medium. Background Technology

[0002] Japanese Unexamined Patent Application Publication No. 9-267276 discloses a delivery robot system that moves within medical welfare facilities. Summary of the Invention

[0003] In such a delivery robot system, proper control of the robot is desired.

[0004] To meet this expectation, this disclosure provides a robot control system, a robot control method, and a storage medium that enable appropriate control of the robot.

[0005] The robot control system according to this embodiment is a robot control system for controlling a mobile robot that can move autonomously within a facility. The system performs the following actions: acquiring attribute information about a person present in a travel area ahead of the mobile robot in its direction of travel; setting an upper limit for the operational intensity of the mobile robot based on the attribute information; and controlling the operation of the mobile robot based on the upper limit.

[0006] In the control system, the upper limit of the operational intensity can be the upper limit of the moving speed of the mobile robot.

[0007] In the control system, the driving area can be photographed by a camera, and the attribute information can be obtained based on the images from the camera.

[0008] In the control system, the camera may be an environmental camera installed in the facility.

[0009] In the control system, the camera may be a robot camera mounted on the mobile robot.

[0010] In the control system, the facility may be a medical welfare facility, and the attribute information may include information indicating whether the person is a healthcare worker.

[0011] In the control system, the attribute information may include information indicating whether the person is able-bodied or disabled.

[0012] In the control system, the attribute information may include information about age.

[0013] The robot control method according to this embodiment is a robot control method for controlling a mobile robot that can move autonomously within a facility. The method includes: acquiring attribute information about a person present in a travel area ahead of the mobile robot in its direction of travel; setting an upper limit for the operational intensity of the mobile robot based on the attribute information; and controlling the operation of the mobile robot based on the upper limit.

[0014] In the control method, the upper limit of the operation intensity can be the upper limit of the moving speed of the mobile robot.

[0015] In the control method, the driving area can be photographed by a camera, and the attribute information can be obtained based on the image from the camera.

[0016] In the control method, the camera may be an environmental camera installed in the facility.

[0017] In the control method, the camera may be a robot camera mounted on the mobile robot.

[0018] In the control method, the facility may be a medical welfare facility, and the attribute information may include information indicating whether the person is a healthcare worker.

[0019] In the control method, the attribute information may include information indicating whether the person is able-bodied or disabled.

[0020] In the control method, the attribute information may include information about age.

[0021] According to this embodiment, the storage medium is a storage medium storing a program that causes a computer to execute a robot control method for controlling a mobile robot that can move autonomously within a facility. The robot control method includes: acquiring attribute information about a person present in a travel area ahead of the mobile robot in its direction of travel; setting an upper limit for the operational intensity of the mobile robot based on the attribute information; and controlling the operation of the mobile robot based on the upper limit.

[0022] In the storage medium, the upper limit of the operational intensity may be the upper limit of the moving speed of the mobile robot.

[0023] The storage medium can be used to capture images of the driving area by a camera, and the attribute information can be obtained based on the images captured by the camera.

[0024] In the storage medium, the camera may be an environmental camera installed in the facility.

[0025] In the storage medium, the camera may be a robotic camera mounted on the mobile robot.

[0026] In the storage medium, the facility may be a medical welfare facility, and the attribute information may include information indicating whether the person is a healthcare worker.

[0027] In the storage medium, the attribute information may include information indicating whether the person is able-bodied or disabled.

[0028] In the storage medium, the attribute information may include information about age.

[0029] According to the present invention, a robot control system, a robot control method, and a storage medium capable of achieving appropriate control of a mobile robot can be provided. Attached Figure Description

[0030] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0031] Figure 1 This is a conceptual diagram used to describe the overall configuration of a system using a mobile robot according to an embodiment;

[0032] Figure 2 This is a control block diagram of the control system according to this embodiment;

[0033] Figure 3 This is a schematic diagram illustrating an example of a mobile robot;

[0034] Figure 4 This is an illustrative view of Example 1;

[0035] Figure 5 This is an illustrative view of Example 2;

[0036] Figure 6 This is an illustrative view of Example 3; and

[0037] Figure 7 This is a flowchart illustrating the control method according to this embodiment. Detailed Implementation

[0038] Although the invention will be described below by way of embodiments, the invention within the scope of the claims is not limited to the embodiments described below. Furthermore, not all components described in the embodiments are indispensable means to achieve the intended purpose.

[0039] Indicative configuration

[0040] Figure 1This is a conceptual diagram illustrating the overall configuration of system 1 using the mobile robot 20 according to this embodiment. For example, the mobile robot 20 is a delivery robot that performs the task of delivering items to be delivered. The mobile robot 20 travels autonomously to deliver items to be delivered within medical and welfare facilities such as hospitals, rehabilitation centers, nursing facilities, and retirement homes. The system according to this embodiment can also be used in commercial facilities such as shopping malls.

[0041] User U1 places an item to be delivered in mobile robot 20 and submits a delivery request. Mobile robot 20 delivers the item by autonomously moving to a pre-defined target destination. In other words, mobile robot 20 performs an item delivery task (hereinafter also referred to as the task). In the following description, the location where the item is loaded is defined as the delivery source, and the location where the item is delivered is defined as the delivery destination.

[0042] For example, suppose mobile robot 20 moves within a general hospital with multiple medical departments. Mobile robot 20 delivers supplies, consumables, medical equipment, etc., between medical departments. For instance, the mobile robot delivers items to be delivered from one nursing station in one medical department to another. Alternatively, mobile robot 20 delivers items to be delivered from a warehouse of supplies and medical equipment to any nursing station in any medical department. Mobile robot 20 also delivers medications prepared in the pharmacy to medical departments or patients who plan to use these medications.

[0043] Examples of items to be delivered may include medicines, consumables such as packaging bags, specimens, testing tools, medical equipment, hospital meals, and supplies such as stationery. Examples of medical equipment may include blood pressure monitors, transfusion pumps, infusion pumps, foot pumps, nurse call buttons, bed exit sensors, low-pressure continuous aspiration devices, electrocardiogram monitors, drug injection controllers, enteral feeding pumps, ventilators, cuff pressure gauges, touch sensors, aspiration devices, nebulizers, pulse oximeters, blood pressure monitors, resuscitation devices, sterile devices, and echo devices. Mobile robot 20 can also deliver meals such as hospital meals or food for examinations. Mobile robot 20 can further deliver used equipment, tableware, etc. This makes it possible to collect used equipment, tableware, etc. When the delivery destination is located on different floors, mobile robot 20 can move by using elevators or other equipment.

[0044] System 1 includes one or more mobile robots 20, an upper-level management device 10, a network 600, a communication unit 610, and a user terminal 400. User U1 or user U2 can submit a delivery request for an item to be delivered using his or her user terminal 400. For example, the user terminal 400 is a tablet computer or a smartphone. The user terminal 400 can be an information processing device capable of communicating via wireless or wired connection.

[0045] In this embodiment, the mobile robot 20 and the user terminal 400 are connected to the upper-level management device 10 via a network 600. The mobile robot 20 and the user terminal 400 are connected to the network 600 via a communication unit 610. The network 600 is a wired or wireless local area network (LAN) or wide area network (WAN). The upper-level management device 10 is further connected to the network 600 via a wired or wireless means. For example, the communication unit 610 is a wireless LAN unit installed in the appropriate environment. For example, the communication unit 610 can be a general-purpose communication device, such as a WiFi router.

[0046] Various signals output from user terminals 400 of users U1 and U2 are sent to upper-level management device 10 via network 600, and then forwarded from upper-level management device 10 to target mobile robot 20. Similarly, various signals output from mobile robot 20 are sent to upper-level management device 10 via network 600, and then forwarded from upper-level management device 10 to target user terminal 400. Upper-level management device 10 is a server connected to the various devices and collects data from them. Upper-level management device 10 is not limited to a physically single device. Instead, upper-level management device 10 may include multiple devices performing distributed processing. Upper-level management device 10 may also be distributed and installed in edge devices such as mobile robot 20. For example, system 1 may be partially or entirely installed in mobile robot 20.

[0047] User terminal 400 and mobile robot 20 can exchange signals without going through upper-level management device 10. For example, user terminal 400 and mobile robot 20 can exchange signals directly via wireless communication. Alternatively, user terminal 400 and mobile robot 20 can exchange signals via communication unit 610.

[0048] User U1 or User U2 uses User Terminal 400 to submit a delivery request for an item to be delivered. In the following explanation, it will be assumed that User U1 is the person submitting the delivery request at the delivery source and User U2 is the intended recipient at the delivery destination (target destination). Of course, User U2 at the delivery destination can also submit a delivery request. Users located at locations other than the delivery source and delivery destination can also submit delivery requests.

[0049] When user U1 submits a delivery request, user U1 uses user terminal 400 to input details of the item to be delivered, the receiving location of the item (hereinafter referred to as the delivery source), the delivery location of the item (hereinafter referred to as the delivery destination), the estimated time of arrival at the delivery source (receiving time of the item to be delivered), and the estimated time of arrival at the delivery destination (delivery deadline). In the following text, this information is also referred to as delivery request information. User U1 can input the delivery request information by operating the touch panel of user terminal 400. The delivery source can be the location where user U1 is present or the location where the item to be delivered is stored. The delivery destination is the location where user U2 or the patient who plans to use the item to be delivered is present.

[0050] User terminal 400 sends delivery request information input by user U1 to upper-level management device 10. Upper-level management device 10 is a management system that manages multiple mobile robots 20. Upper-level management device 10 sends operation commands to mobile robots 20 for performing delivery tasks. Upper-level management device 10 determines which mobile robot 20 is used to perform the relevant delivery task for each delivery request. Then, upper-level management device 10 sends a control signal including the operation command to the selected mobile robot 20. The mobile robot 20 moves from the delivery source to the delivery destination according to the operation command.

[0051] For example, the upper-level management device 10 assigns a delivery task to a mobile robot 20 located at or near a delivery source. Alternatively, the upper-level management device 10 assigns a delivery task to a mobile robot 20 that is approaching or near a delivery source. The mobile robot 20 assigned the task proceeds to the delivery source to receive the item to be delivered. For example, the delivery source is the location where the user U1 who requested the task is present.

[0052] When the mobile robot 20 arrives at the delivery source, user U1 or other personnel load the item to be delivered onto the mobile robot 20. The mobile robot 20, loaded with the item, autonomously moves to the delivery destination. The upper-level management device 10 sends a signal to user terminal 400 of user U2 at the delivery destination. This informs user U2 that the item is being delivered and its scheduled arrival time. When the mobile robot 20 arrives at the designated delivery destination, user U2 can receive the item stored in the mobile robot 20. In this way, the mobile robot 20 performs the delivery task.

[0053] In this overall configuration, multiple components of the control system can be distributed across the mobile robot 20, the user terminal 400, and the upper-level management device 10, and these components can be integrated into a unified control system. The system can also be constructed by concentrating the essential components for delivering the items to be delivered into a single device. The upper-level management device 10 controls more than one mobile robot 20.

[0054] Control block diagram

[0055] Figure 2 This is a control block diagram showing the control system of System 1. For example... Figure 2 As shown, system 1 includes an upper management device 10, a mobile robot 20, and an environmental camera 300.

[0056] System 1 efficiently controls the mobile robot 20 while enabling it to move autonomously within a designated facility. Therefore, an environmental camera 300 is installed within the facility. For example, the environmental camera 300 is installed in locations such as passageways, corridors, elevators, and facility entrances / exits.

[0057] An environmental camera 300 acquires images of the movement range of the mobile robot 20. In System 1, the upper-level management device 10 collects the images acquired by the environmental camera 300 and information based on those images. Alternatively, the images acquired by the environmental camera 300 can be sent directly to the mobile robot. The environmental camera 300 can be a surveillance camera installed in passageways and entrances / exits within the facility. The environmental camera 300 can be used to obtain the distribution of congestion within the facility.

[0058] In system 1 according to the first embodiment, the upper-level management device 10 performs route planning based on delivery request information. The upper-level management device 10 designates a destination for each mobile robot 20 based on the generated route planning information. Then, the mobile robots 20 autonomously move towards the destination designated by the upper-level management device 10. The mobile robots 20 use sensors, floor maps, location information, etc., installed on themselves to autonomously move towards the designated destination.

[0059] For example, the mobile robot 20 travels in a manner that avoids contact with surrounding devices, objects, walls, and people (collectively referred to as surrounding objects below). Specifically, the mobile robot 20 detects its distance from surrounding objects and travels while maintaining a fixed distance (distance threshold) or greater than the distance threshold. When the distance to surrounding objects becomes equal to or less than the distance threshold, the mobile robot 20 decelerates or stops. In this way, the mobile robot 20 is able to travel without contacting surrounding objects. Because contact can be avoided, safe and efficient delivery can be achieved.

[0060] The upper-level management device 10 includes an arithmetic processing unit 11, a storage unit 12, a buffer memory 13, and a communication unit 14. The arithmetic processing unit 11 performs arithmetic operations to control and manage the mobile robot 20. For example, the arithmetic processing unit 11 can be implemented as a device capable of executing programs, such as the central processing unit (CPU) of a computer. Various functions can also be implemented through programs. Figure 2 Only the feature units in the arithmetic processing unit 11 are shown, including the robot control unit 111, the attribute information acquisition unit 114, and the route planning unit 115. However, the arithmetic processing unit 11 can include other processing blocks.

[0061] The robot control unit 111 performs arithmetic processing and generates control signals for remotely controlling the mobile robot 20. The robot control unit 111 generates control signals based on route planning information 125, which will be described later. The robot control unit 111 further generates control signals based on various information obtained from the environmental camera 300 and the mobile robot 20. The control signals may include updated information such as the floor map 121, robot information 123, and robot control parameters 122, which will be described later. In other words, when various information is updated, the robot control unit 111 generates control signals corresponding to the updated information.

[0062] The attribute information acquisition unit 114 acquires attribute information based on images acquired by the environment camera 300 and the camera 25 of the mobile robot 20. The attribute information will be described later. The robot control unit 111 can generate control signals based on the attribute information. The communication unit 14 sends the control signals generated by the robot control unit 111 to each of the mobile robots 20.

[0063] The route planning unit 115 performs route planning for each mobile robot 20. When a delivery task is input, the route planning unit 115 performs route planning to deliver the relevant items to the delivery destination (target destination) based on the delivery request information. Specifically, the route planning unit 115 refers to the route planning information 125, robot information 123, etc., already stored in the storage unit 12 to determine the mobile robot 20 to perform the new delivery task. The starting point is such as the current position of the mobile robot 20, the delivery destination of the mobile robot 20's previous delivery task, and the place where the items to be delivered are received. The target destination is such as the delivery destination of the items to be delivered, the waiting place, and the charging place.

[0064] Here, the route planning unit 115 sets passing points between the starting point and the destination of the mobile robot 20. The route planning unit 115 sets the passing order of these passing points for each mobile robot 20. For example, passing points may be set at intersections, junctions, lobbies in front of elevators, and their surrounding areas. In narrow passages, it is difficult for the mobile robots 20 to pass each other. In these cases, points preceding the narrow passage can be set as passing points. Candidate passing points can be pre-registered in the floor plan 121.

[0065] The route planning unit 115 determines the mobile robot 20 from among multiple mobile robots 20 to perform each delivery task, enabling the system to perform tasks efficiently as a whole. The route planning unit 115 prioritizes assigning delivery tasks to mobile robots 20 that are waiting or located near the delivery source.

[0066] The route planning unit 115 sets multiple transit points, including the origin and destination, for the mobile robot 20 assigned a delivery task. For example, when there are more than two routes from the delivery source to the delivery destination, the route planning unit 115 sets transit points so that the mobile robot 20 can move in a shorter time. Therefore, the upper management device 10 updates information indicating the congestion status of the passage based on camera images, etc. Specifically, places where other mobile robots 20 are passing through and places with many people have high congestion. Therefore, the route planning unit 115 sets transit points to avoid places with high congestion.

[0067] There are situations where the mobile robot 20 can move to its destination along both counter-clockwise and clockwise routes. In these cases, the route planning unit 115 sets waypoints to facilitate travel along less congested routes. Because the route planning unit 115 sets more than one waypoint to the destination, the mobile robot 20 can move along less congested routes. For example, when a passageway branches at an intersection or junction, the route planning unit 115 appropriately sets waypoints at and around the intersection, junction, corner, and surrounding areas. This enables improved delivery efficiency.

[0068] The route planning unit 115 can set passing points based on elevator congestion, travel distance, etc. The upper management device 10 can further estimate the number of mobile robots 20 and the number of people involved when a given mobile robot 20 plans to pass through a given location. The route planning unit 115 can set passing points based on the estimated congestion. The route planning unit 115 can also dynamically change passing points based on changes in congestion. The route planning unit 115 sets passing points sequentially for mobile robots 20 assigned delivery tasks. Passing points may include delivery sources and delivery destinations. As described later, the mobile robots 20 move autonomously to sequentially pass through the passing points set by the route planning unit 115.

[0069] Storage unit 12 is a storage unit for storing information required for the management and control of the robot. Figure 2 The example shown illustrates floor plan 121, robot information 123, robot control parameters 122, attribute information 124, and route planning information 125. However, other information can be stored in storage unit 12. Arithmetic processing unit 11 performs arithmetic operations using the information stored in storage unit 12 while executing various processes. The various information stored in storage unit 12 can be updated appropriately.

[0070] Floor map 121 is a map of the facilities in which the mobile robot 20 moves. Floor map 121 can be generated in advance, based on information obtained from the mobile robot 20, or by adding map correction information prepared based on information obtained from the mobile robot 20 to a pre-generated base map.

[0071] Robot information 123 describes information such as the ID, model, and specifications of the mobile robot 20 managed by the upper-level management device 10. Robot information 123 may include location information indicating the current location of the mobile robot 20. Robot information 123 may include information indicating whether the mobile robot 20 is performing a task or in a waiting state. Robot information 123 may include information indicating whether the mobile robot 20 is operating, malfunctioning, etc. Robot information 123 may also include information about deliverable and non-deliverable items.

[0072] Robot control parameters 122 describe control parameters of the mobile robot 20 managed by the upper management device 10, such as threshold distances to surrounding objects. The threshold distance is a margin of safety to avoid contact with surrounding objects, including people. Robot control parameters 122 may further include information about operational intensity, such as the upper speed limit of the mobile robot 20.

[0073] Robot control parameters 122 can be updated based on attribute information as described later. Robot control parameters 122 may include information indicating the vacancy and usage status of the storage space in the storage cabinet 291. Robot control parameters 122 may include information about deliverable and non-deliverable items. Robot control parameters 122 are associated with various information about the individual mobile robots 20.

[0074] Attribute information 124 is attribute information acquired by attribute information acquisition unit 114. Here, attribute information about people in the facility is stored in association with location information about people.

[0075] Route planning information 125 includes information about the route plan planned in route planning unit 115. For example, route planning information 125 includes information indicating delivery tasks. Route planning information 125 may include the ID of the mobile robot 20 assigned the task, the origin, the contents of the item to be delivered, the delivery destination, the estimated arrival time at the delivery destination, and the delivery deadline. Route planning information 125 may be associated with various information for each delivery task. Route planning information 125 may include at least a portion of the delivery request information input by user U1.

[0076] The route planning information 125 may further include information about waypoints for each mobile robot 20 or for each delivery task. For example, the route planning information 125 includes information indicating the order in which the waypoints for each mobile robot 20 are passed. The route planning information 125 may include the coordinates of each waypoint on the floor map 121 and information indicating whether a mobile robot 20 has already passed a waypoint.

[0077] 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 determines the mobile robot 20 to perform the task based on the floor map 121, robot information 123, robot control parameters 122, and route planning information 125. Then, the route planning unit 115 sets the transit points to the delivery destination and their transit order with reference to the floor map 121. 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. In the case of continuous task processing, the route planning unit 115 can set the delivery source and delivery destination as transit points.

[0078] It is also possible to assign a single delivery task to two or more mobile robots 20. For example, when the item to be delivered is larger than the deliverable capacity of a mobile robot 20, the item is split in two and loaded onto two mobile robots 20. Alternatively, when the item to be delivered is heavier than the deliverable weight of a mobile robot 20, the item is split in two and loaded onto two mobile robots 20. In this way, two or more mobile robots 20 can share and perform a single delivery task. Of course, when controlling mobile robots 20 of different sizes, route planning can be performed so that the mobile robot 20 capable of delivering the item receives the item.

[0079] Furthermore, a single mobile robot 20 can perform more than two delivery tasks in parallel. For example, two or more items to be delivered can be loaded onto a single mobile robot 20 simultaneously and delivered sequentially to different delivery destinations. Alternatively, while one mobile robot 20 is delivering one item, another item to be delivered can be loaded onto that mobile robot 20. Moreover, items loaded at different locations can have the same or different delivery destinations. In this way, tasks can be performed efficiently.

[0080] In these situations, storage information indicating the usage or vacancy status of the storage space in the mobile robot 20 can be updated. In other words, the upper-level management device 10 can control the mobile robot 20 by managing the storage information indicating vacancy status. For example, the storage information is updated when the loading or receiving of an item to be delivered is completed. When a delivery task is input, the upper-level management device 10 refers to the storage information and dispatches the mobile robot 20, which has sufficient space to load the item to be delivered, to receive the item. In this way, one mobile robot 20 can perform multiple delivery tasks simultaneously, and two or more mobile robots 20 can share and perform a single delivery task. For example, sensors can be installed in the storage space of the mobile robot 20 to detect vacancy status. Furthermore, the capacity and weight of each item to be delivered can be pre-registered.

[0081] The buffer memory 13 is a memory that accumulates intermediate information generated during the processing performed by the arithmetic processing unit 11. The communication unit 14 is a communication interface for communicating with the environmental camera 300 and at least one mobile robot 20 installed in the facility using system 1. The communication unit 14 is capable of both wired and wireless communication. For example, the communication unit 14 sends control signals required to control each mobile robot 20. The communication unit 14 also receives information collected by the mobile robots 20 and the environmental camera 300.

[0082] The mobile robot 20 includes an arithmetic processing unit 21, a storage unit 22, a communication unit 23, a proximity sensor (e.g., a distance sensor group 24), a camera 25, a drive unit 26, a display unit 27, and an operation receiving unit 28. Figure 2 Only typical processing blocks included in mobile robot 20 are shown. However, mobile robot 20 includes many other processing blocks that are not shown.

[0083] Communication unit 23 is a communication interface for communicating with communication unit 14 of the upper management device 10. For example, communication unit 23 communicates with communication unit 14 using radio signals. For example, distance sensor group 24 is a proximity sensor that outputs proximity information indicating the distance to objects or people present around the mobile robot 20. For example, camera 25 captures images to understand the situation around the mobile robot 20. Camera 25 is also capable of capturing images of, for example, location markers set on the ceiling of the facility. These location markers can be used to let the mobile robot 20 know its own location.

[0084] The drive unit 26 drives the drive wheels mounted on the mobile robot 20. The drive unit 26 may also have an encoder that detects the rotation speed of the drive wheels and their drive motors. The mobile robot 20's own position (current position) can be estimated based on the encoder's output. The mobile robot 20 detects its current position and sends it to the upper-level management device 10.

[0085] The display unit 27 and the operation receiving unit 28 are implemented using a touch panel display. The display unit 27 displays a user interface screen that serves as the operation receiving unit 28. The display unit 27 can display the destination of the mobile robot 20 and information indicating the status of the mobile robot 20. The operation receiving unit 28 receives operations from the user. The operation receiving unit 28 includes a user interface screen displayed on the display unit 27, and various switches provided on the mobile robot 20.

[0086] The arithmetic processing unit 21 performs arithmetic operations for controlling the mobile robot 20. For example, the arithmetic processing unit 21 can be implemented as a device capable of executing programs, such as the central processing unit (CPU) of a computer. Various functions can also be implemented by programs. The arithmetic processing unit 21 includes a movement command extraction unit 211, a drive control unit 212, and an attribute information acquisition unit 214. Figure 2 Only typical processing blocks included in the arithmetic processing unit 21 are shown. However, the arithmetic processing unit 21 may include processing blocks not shown. The arithmetic processing unit 21 may also search for routes between points.

[0087] The movement command extraction unit 211 extracts movement commands from the control signals given by the upper-level management device 10. For example, the movement command includes information about the next passing point. For example, the control signal may include the coordinates of the passing point and information about the passing order of the passing points. The movement command extraction unit 211 extracts this information as a movement command.

[0088] The movement command may further include information indicating that it can move to the next passage point. When the passageway is narrow, the mobile robots 20 may not be able to pass each other. Furthermore, there are situations where some passageways are temporarily closed. In these cases, the control signal includes an instruction to stop the mobile robot 20 at the passageway before the intended stopping point. Then, after another mobile robot has passed or the passageway becomes passable, the upper-level management device 10 outputs a control signal indicating that the mobile robot 20 can move. This causes the temporarily stopped mobile robot 20 to resume movement.

[0089] The drive control unit 212 controls the drive unit 26 to move the mobile robot 20 based on the movement commands given by the movement command extraction unit 211. For example, the drive unit 26 has drive wheels that rotate according to control command values ​​from the drive control unit 212. The movement command extraction unit 211 extracts movement commands to cause the mobile robot 20 to move toward a pass point received from the upper management device 10. The drive unit 26 then rotates and drives the drive wheels. The mobile robot 20 moves autonomously toward the next pass point. In this way, the mobile robot 20 passes through the pass points sequentially and reaches the delivery destination. The mobile robot 20 can estimate its own position and send a signal to the upper management device 10 indicating that the mobile robot 20 has passed through the pass point. Therefore, the upper management device 10 is able to manage the current position and delivery status of each mobile robot 20.

[0090] Similar to attribute information acquisition unit 114, attribute information acquisition unit 214 acquires information about human attributes. Attribute information acquisition unit 214 acquires information about the attributes of humans present around the mobile robot 20 based on images acquired by camera 25 of the mobile robot 20. In the following description, attribute information acquisition unit 114 in the upper-level management device 10 primarily performs the process of acquiring attribute information independently. However, attribute information acquisition unit 214 in the mobile robot 20 can also perform the process of acquiring attribute information. Alternatively, attribute information acquisition unit 114 and attribute information acquisition unit 214 can perform the process of acquiring attribute information by cooperating with each other or by assigning their respective roles. Furthermore, at least one of attribute information acquisition unit 114 and attribute information acquisition unit 214 can be omitted.

[0091] Storage unit 22 stores floor map 221 and robot control parameters 222. Figure 2Some of the information stored in storage unit 22 is shown. Storage unit 22 can also store other information besides... Figure 2 Information beyond the floor map 221 and robot control parameters 222 shown herein. Floor map 221 is map information about the facility in which the mobile robot 20 moves. For example, floor map 221 is floor map 121 downloaded from the upper-level management device 10. Floor map 221 can be prepared in advance. Floor map 221 may also partially include map information about the areas where the mobile robot 20 is planned to travel, rather than map information about the entire facility.

[0092] Robot control parameters 222 are parameters used to operate the mobile robot 20. For example, robot control parameters 222 include a threshold for the distance to surrounding objects. Robot control parameters 222 can be further used as a setting unit to set an upper limit for the operating intensity of the mobile robot. Specifically, robot control parameters 222 include an upper limit for the speed of the mobile robot 20. Alternatively, when the mobile robot 20 has a robotic arm, the operating intensity can be the operating speed of the robotic arm.

[0093] The drive control unit 212 refers to the robot control parameters 222 and stops or slows down its operation in response to the distance information obtained from the distance sensor group 24 becoming lower than the distance threshold. The drive control unit 212 controls the drive unit 26 to travel at a speed equal to or lower than the speed limit. The drive control unit 212 limits the rotational speed of the drive wheels so that the mobile robot 20 does not move at a speed higher than the speed limit.

[0094] Similar to attribute information 124, attribute information 224 is acquired by attribute information acquisition unit 214 or attribute information acquisition unit 114. Attribute information 224 is information about the attributes of people present in the driving area ahead of the mobile robot 20 in its forward direction. Therefore, attribute information 224 may simply be information about some people near the mobile robot 20 as found in attribute information 124.

[0095] Configuration of Mobile Robot 20

[0096] Here, the appearance of the mobile robot 20 will be described. Figure 3 A schematic diagram of the mobile robot 20 is shown. Figure 3 The mobile robot 20 shown is one embodiment of the mobile robot 20. The mobile robot 20 can have any other configuration. Figure 3 In the diagram, the x-direction is the forward and backward direction of the mobile robot 20, the y-direction is the left and right direction of the mobile robot 20, and the z-direction is the height direction of the mobile robot 20.

[0097] The mobile robot 20 includes a main body unit 290 and a truck unit 260. The main body unit 290 is mounted on top of the truck unit 260. Both the main body unit 290 and the truck unit 260 have cuboid housings, in which various component parts are mounted. For example, the drive unit 26 is housed in the truck unit 260.

[0098] The main unit 290 includes a storage cabinet 291 serving as storage space and a door 292 for sealing the storage cabinet 291. The storage cabinet 291 has multiple shelves, and the empty status of each shelf is managed. For example, the empty status can be updated by arranging various sensors (such as weight sensors) in each shelf. The mobile robot 20 moves autonomously to deliver items stored in the storage cabinet 291 to a target destination specified by the upper management device 10. The main unit 290 may include a control box (not shown) within its housing. The door 292 can be locked using an electronic key or the like. Upon arrival at the delivery destination, the user U2 unlocks the door 292 using the electronic key. Alternatively, the door 292 may open automatically upon arrival at the delivery destination.

[0099] like Figure 3 As shown, the front-back distance sensor 241 and the left-right distance sensor 242, which are part of the distance sensor group 24, are disposed on the exterior of the mobile robot 20. The mobile robot 20 uses the front-back distance sensor 241 to measure the distance to surrounding objects in the front-back direction. The mobile robot 20 also uses the left-right distance sensor 242 to measure the distance to surrounding objects in the left-right direction.

[0100] For example, front-rear distance sensors 241 are arranged on the front and rear surfaces of the housing of the main body unit 290. Left-right distance sensors 242 are arranged on the left and right surfaces of the housing of the main body unit 290. For example, the front-rear distance sensors 241 and the left-right distance sensors 242 are ultrasonic distance sensors or laser rangefinders. The front-rear distance sensors 241 and the left-right distance sensors 242 detect the distance to surrounding objects. When the distance to a surrounding object detected by the front-rear distance sensor 241 or the left-right distance sensor 242 becomes a distance threshold or is less than the distance threshold, the mobile robot 20 decelerates or stops.

[0101] The drive unit 26 is equipped with drive wheels 261 and casters 262. Drive wheels 261 are wheels used to move the mobile robot 20 forward, backward, left, and right. Casters 262 are driven wheels that do not apply driving force. Casters 262 rotate by following drive wheels 261. The drive unit 26 has a drive motor (not shown) to drive drive wheels 261.

[0102] For example, drive unit 26 supports two drive wheels 261 and two casters 262 within a housing, each of which contacts a driving surface. The two drive wheels 261 have rotation axes arranged to coincide with each other. Each drive wheel 261 is independently driven by a motor (not shown). The drive wheels 261 respond to a... Figure 2 The drive control unit 212 rotates according to the control command value. Casters 262 are driven wheels, configured such that a pivot axis extending vertically from the drive unit 26 supports the wheel at a distance away from the wheel's axis of rotation. Casters 262 follow the direction of movement of the drive unit 26.

[0103] For example, when the two drive wheels 261 rotate at the same speed in the same direction, the mobile robot 20 moves forward; when the two drive wheels 261 rotate at the same speed in opposite directions, the mobile robot 20 pivots about a vertical axis that extends approximately through the center of the two drive wheels 261. When the two drive wheels 261 rotate at different speeds in the same direction, the mobile robot 20 can turn left and right while moving. For example, by making the rotational speed of the left drive wheel 261 higher than that of the right drive wheel 261, the mobile robot 20 can turn right. Conversely, by making the rotational speed of the right drive wheel 261 higher than that of the left drive wheel 261, the mobile robot 20 can turn left. This means that by controlling the rotational direction and speed of the two drive wheels 261, the mobile robot 20 can move straight, pivot, turn right, and turn left in any direction.

[0104] The mobile robot 20 also has a display unit 27 and an operation interface 281 on the upper surface of the main body unit 290. The display unit 27 displays the operation interface 281. When a user touches and operates the operation interface 281 displayed on the display unit 27, the operation receiving unit 28 can receive the user's command. An emergency stop button 282 is also provided on the upper surface of the display unit 27. The emergency stop button 282 and the operation interface 281 serve as the operation receiving unit 28.

[0105] For example, display unit 27 is a liquid crystal panel. Display unit 27 displays a human face as an illustration and displays information about the mobile robot 20 through text or icons. When a human face is displayed on display unit 27, it can give observers around the mobile robot 20 the impression that display unit 27 is a fake face. Display unit 27 and the like installed in the mobile robot 20 can also be used as a user terminal 400.

[0106] Cameras 25 are mounted on the front surface of the main unit 290. In this example, two cameras 25 are used as stereo cameras. In other words, two cameras 25 with the same field of view are arranged horizontally apart from each other. Images captured by the cameras 25 are output as image data. Based on the image data from the two cameras 25, the distance to an object and the size of the object can be calculated. The arithmetic processing unit 21 is able to detect people and obstacles in front of it in the direction of movement by analyzing the images from the cameras 25. If there is a person or obstacle in front of it in the direction of movement, the mobile robot 20 moves along the route while avoiding them. The image data from the cameras 25 is sent to the upper-level management device 10.

[0107] The mobile robot 20 analyzes image data output from the camera 25 and detection signals output from the front-to-back distance sensor 241 and the left-to-right distance sensor 242, thereby identifying surrounding objects or its own position. The camera 25 captures images of the area in front of the mobile robot 20 in its forward direction. As shown in the figure, the area in front of the mobile robot 20 is located on one side of the mobile robot 20 where the camera 25 is mounted. In other words, during normal movement, the forward direction of the mobile robot 20 is indicated by the arrow.

[0108] Attribute information

[0109] Now described by Figure 2 The attribute information acquisition unit 114 acquires attribute information 124. Attribute information is information indicating the attributes of people present in the facility. The facility is used by a large number of unspecified people, such as facility staff, facility users, and visitors. Facility staff include doctors, nurses, nursing staff, pharmacists, engineers, and physical therapists. There are also facility personnel other than medical staff, such as IT staff. Users include inpatients and outpatients. In addition, visitors of inpatients and companions of outpatients also use the facility. Visitors include suppliers of equipment, necessities, and medications.

[0110] In healthcare facilities such as hospitals, many users are disabled, including those with disabilities. Many users use tools such as wheelchairs, canes, walkers, handrails, trolleys, and walking sticks to move around. Some users carry IV stands. These people with mobility difficulties walk slower than able-bodied individuals. The elderly and children may also walk slowly. Therefore, when a mobile robot 20 approaches a person with mobility difficulties, that person cannot quickly avoid it.

[0111] Therefore, in this embodiment, the attribute information acquisition unit 114 acquires attribute information about people present around each mobile robot 20. The robot control unit 111 can change the upper speed limit of the mobile robot 20 based on the attribute information. For example, when a person with walking difficulties who uses a cane is near the mobile robot 20, the upper speed limit of the mobile robot 20 is reduced. In this way, people with walking difficulties can walk near the mobile robot 20 without worry.

[0112] Specifically, the environmental camera 300 and the robot's camera 25 capture images of the travel area ahead of the mobile robot 20 in its direction of movement. Then, the attribute information acquisition unit 114 acquires information about the presence of one or more people in the travel area based on the image data from the camera 25 and the environmental camera 300. For example, the attribute information acquisition unit 114 uses image analysis to detect people in the images. Then, the attribute information acquisition unit 114 determines whether the person in the image is using any device. The attribute information acquisition unit 114 identifies assistive devices such as walkers, canes, and walking sticks through image analysis. The attribute information acquisition unit 114 also identifies wheelchairs, IV stands, etc. The attribute information acquisition unit 114 is capable of acquiring various attribute information. The attribute information acquisition unit 114 can further determine a speed limit based on the device being used.

[0113] The attribute information may include information indicating whether a person is a medical worker. When the attribute information acquisition unit 114 detects a person, it estimates whether that person is a medical worker. Alternatively, when the medical worker carries a contactless IC card for short-range radio communication, the detection of objects that would otherwise result in a high processing load can be omitted.

[0114] For example, medical staff typically wear uniforms, making them easily identifiable through image analysis. Since medical staff are likely employees such as doctors, nurses, caregivers, pharmacists, and physical therapists, they are likely capable of walking at a normal pace. Medical staff working in the facility are familiar with the operation of the mobile robot 20. When a person is detected as a medical staff member, the robot control unit 111 maintains a high-speed limit. Alternatively, when a name tag worn by an employee acting as a medical staff member is detected, the attribute information acquisition unit 114 identifies the person with the name tag as a medical staff member. When a medical device typically held by a medical staff member (such as a stethoscope) is detected, the attribute information acquisition unit 114 identifies the person holding the medical device as a medical staff member. In these cases, the robot control unit 111 also maintains a high-speed limit.

[0115] When the detected person is a general user other than medical personnel, the robot control unit 111 lowers the speed limit. Since general users other than medical personnel lack knowledge about the operation of the mobile robot 20, they could approach it suddenly. Therefore, the robot control unit 111 sets a lower speed limit for the mobile robot 20 when it approaches a general user. This allows for safe and efficient task execution.

[0116] The attribute information includes information about age. For example, when the detected person is a general user, the speed limit can vary based on the user's age. The attribute information acquisition unit 114 estimates the age of the general user. The attribute information acquisition unit 114 can further reduce the speed limit based on the age of the general user. Based on age, the attribute information acquisition unit 114 can determine whether the person is an infant, child, minor, elderly, or adult. For example, when an elderly person or infant is present, the speed limit can be further reduced. This means that people are categorized according to age, and the speed limit is only further reduced when an elderly person or infant is present.

[0117] The attribute information may include information indicating whether the person is able-bodied or disabled. The speed limit is further reduced when a person in the driving area is using a cane, crutch, walker, cast, IV stand, wheelchair, etc. When image analysis detects a person using a walker or wheelchair, the attribute information acquisition unit 114 determines that the person has difficulty walking. In this case, the robot control unit 111 lowers the speed limit to a minimum. When a specific device or person is detected, the speed limit of the mobile robot 20 can be set to 0. In other words, the mobile robot 20 can be temporarily stopped when a specific device or person is detected.

[0118] In this way, the robot control unit 111 sets a speed limit based on attribute information about the person or multiple people present in the driving area. Then, the upper-level management device 10 sends the speed limit to the mobile robot 20. The sent speed limit is stored in the robot control parameters 222. The mobile robot 20 travels at a speed equal to or less than the speed limit. For example, the drive control unit 212 controls the rotational speed of the drive wheels 261 so that the mobile robot 20 moves near a person with mobility difficulties at a speed equal to or less than the speed limit. In this way, safety can be further improved and task processing can be performed more efficiently. This makes it possible to perform efficient control suitable for situations in medical welfare facilities.

[0119] The robot control unit 111 sets the speed limit in stages based on attribute information. When only medical personnel are present, a high-speed mode is used. In high-speed mode, for example, the speed limit is 3 km / h. When anyone with mobility difficulties using a cane, crutch, cast, IV stand, or wheelchair is present, a low-speed mode is used. When any infants or elderly people are present, a low-speed mode is used. In low-speed mode, for example, the speed is approximately 0.5 km / h. When general users are present, but no people with mobility difficulties, and no elderly or infants, a medium-speed mode is used. In medium-speed mode, the speed is approximately 1 km / h. Of course, this embodiment is not limited to speeds or speed limits set in stages.

[0120] Speed ​​limits can also vary for different areas within the facility. The facility can be pre-divided into multiple zones, and speed limits can be set for each zone. For example, floor plans 121 and 221 could include information about speed limits. Higher speed limits can be set in staff-only zones where only medical personnel are permitted, while lower speed limits can be set in zones where general users (other than medical personnel) are present. Specifically, lower speed limits can be set in areas accessible to general users (such as around facility entrances and reception areas). Areas accessible to medical personnel by presenting ID can be designated as staff-only zones.

[0121] By collecting images from the environmental camera 300 and the camera 25 of the mobile robot 20, the speed limits included in the floor maps 121 and 221 can be updated at any time. For example, when a person with mobility difficulties, the elderly, or a child is detected at a detection point, the speed limit at and near the detection point can be lowered in the floor map. When the person with mobility difficulties, the elderly, or a child has moved away from the detection point, the speed limit in the floor map can be restored to its initial value. The upper-level management device 10 sends information including information about the speed limits to the mobile robot 20. The upper-level management device 10 sends portions of the floor map near each mobile robot 20. The mobile robot 20 can read the speed limits from the floor map 221.

[0122] At least some of the processing of the attribute information acquisition unit 114 can be performed by the environmental camera 300 or the mobile robot 20. For example, a processor mounted on the environmental camera 300 or the mobile robot 20 can perform image analysis to determine human attributes. The upper-level management device 10 can then receive attribute information from the environmental camera 300 or the mobile robot 20.

[0123] Example 1

[0124] Figure 4 This is an illustrative view for Example 1, used to retrieve attribute information. Figure 4In this process, attribute information is obtained based on images from cameras 25 mounted on mobile robot 20. Assume mobile robot 20 moves along route R from point M1 to point M2. In the travel area A ahead of mobile robot 20, there are people P1 and P2. Travel area A is the area ahead of mobile robot 20 and extends beyond a predetermined distance from mobile robot 20.

[0125] Camera 25 captures images of the driving area A ahead in the direction of movement. Therefore, people P1 and P2 are present in the image of camera 25. The upper-level management device 10 receives the image data from camera 25. The attribute information acquisition unit 114 acquires attribute information about people P1 and P2 by analyzing the image from camera 25. For example, when person P2 is using a walking aid, a minimum speed limit is set. When both people P1 and P2 present in driving area A are medical personnel, a maximum speed limit is set.

[0126] In Example 1, the mobile robot 20 is capable of setting its own speed limit. In this case, the attribute information acquisition unit 214 in the mobile robot 20 acquires attribute information. The camera 25 captures an image of the front of the mobile robot 20 in its direction of movement. The arithmetic processing unit 21 can analyze the image from the camera 25, and thus the attribute information acquisition unit 214 can acquire attribute information about people present in the driving area.

[0127] Example 2

[0128] Figure 5 This is an illustrative view of Example 2, used to obtain attribute information. In Example 2, assume that mobile robot 20 moves along route R from point M1 to point M2. More specifically, mobile robot 20 turns right along route R.

[0129] Therefore, based on the images from the environmental camera 300 installed in the facility, the attribute information acquisition unit 114 acquires attribute information about people P1 and P2. For example, at an intersection or corner, a blind spot of the camera 25 is formed in the driving area A ahead in the direction of movement. Therefore, in Example 2, the attribute information acquisition unit 114 acquires attribute information based on the images from the environmental camera 300 installed at the corner. In this way, a speed limit can be set before the mobile robot 20 reaches the corner.

[0130] For example, the upper-level management device 10 receives image data from the environmental camera 300. The attribute information acquisition unit 114 analyzes the images from the environmental camera 300 and thereby acquires attribute information about a person P1 in the driving area A. For example, when person P1 is using a walking aid, a low-speed mode is used. When person P1 in the image of the environmental camera 300 is a medical worker, a high-speed mode is used. Of course, in Example 2, the attribute information can be determined using images from the camera 25 of the mobile robot 20.

[0131] Attribute information can be generated by the attribute information acquisition unit 214 of the mobile robot 20 performing image processing on image data from the environment camera 300. In this case, the image data from the environment camera is sent to the mobile robot 20.

[0132] Example 3

[0133] Figure 6 This is an illustrative view for Example 3, used to retrieve attribute information. In Example 3, besides... Figure 5 In addition to the configuration shown, mobile robot 20 turns left at a corner along route RA from the opposite direction. Person P3 is also present in the driving area A. In Example 3, based on images from environmental camera 300, camera 25 of mobile robot 20, and camera 25A of mobile robot 20A, attribute information acquisition unit 114 acquires attribute information about each of persons P1 to P3. In other words, attribute information acquisition unit 114 acquires attribute information based on images of driving area A taken from multiple directions.

[0134] exist Figure 6 In the driving area A, there are people P1 to P3. There is person P2 between environmental camera 300 and person P3. Therefore, it is possible that environmental camera 300 can only partially capture person P3. When only a portion of person P3 is captured, it is difficult to determine attributes through image analysis. Therefore, in this embodiment, attribute information acquisition unit 114 acquires attribute information based on images from camera 25A of mobile robot 20A.

[0135] In this way, the attributes of all persons P1 to P3 present in the driving area A can be accurately determined. In other words, person P3 cannot be photographed when there is no mobile robot 20A moving in the opposite direction in the driving area A. By using multiple cameras with different shooting directions in this way, the accuracy of attribute determination through image analysis processing can be improved.

[0136] Note that attribute information can be obtained from images captured by camera 25A of mobile robot 20A. Mobile robot 20A can directly send attribute information and location information about person P3 to mobile robot 20. Of course, mobile robot 20A can also send attribute information to upper-level management device 10. Then, upper-level management device 10, which manages the current location of mobile robot 20, can send attribute information about person P3 to mobile robot 20.

[0137] When people P1 and P2 are medical personnel and person P3 is a person with mobility difficulties, the robot control unit 111 sets the speed limit to the minimum. By using multiple cameras in this way, blind spots can be reduced. This makes it possible to improve the accuracy of determining information about a person's attributes. Therefore, the mobile robot 20 can perform delivery tasks more safely and efficiently.

[0138] Figure 7 This is a flowchart illustrating the control method according to this embodiment. Figure 7 This shows the processing to be performed after route planning, which is executed in response to a delivery request. In other words, Figure 7 This illustrates the processing of the upper management device 10 while the mobile robot 20 is moving.

[0139] First, the attribute information acquisition unit 114 acquires attribute information (S701). For example, the environmental camera 300 and camera 25 capture images of the driving area ahead in the forward direction. The upper-level management device 10 receives images from the environmental camera 300 and camera 25. Based on the images, the upper-level management device 10 acquires attribute information about people present in the driving area.

[0140] Next, the arithmetic processing unit 11 sets an upper limit for the operation of the mobile robot 20 based on attribute information (S702). For example, when there are general users other than medical personnel in the driving area, the arithmetic processing unit 11 lowers the speed limit. When the general user is a person with difficulty walking, the arithmetic processing unit 11 further lowers the speed limit.

[0141] Based on the speed limit set in this way, the robot control unit 111 performs robot control (S703). In other words, when the speed limit is updated, the upper management device 10 sends the speed limit to the mobile robot 20. The mobile robot 20 travels at a speed equal to or less than the speed limit.

[0142] In this way, appropriate control of the mobile robot can be achieved. For example, when there are people with mobility difficulties, the elderly, or infants in the area where it operates, the mobile robot 20 moves in a low-speed mode. When only medical personnel are present in the area, the mobile robot 20 moves in a high-speed mode. Therefore, tasks can be handled safely and efficiently.

[0143] Furthermore, some or all of the processing in the upper-level management device 10, mobile robot 20, etc., can be implemented as a computer program. Such a program can be stored and provided to the computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), read-only optical disc storage (CD-ROM), CD-R, CD-R / W, semiconductor memory (e.g., mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash memory ROM, and random access memory (RAM)). The program can be provided to the computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide the program to the computer via wired or wireless communication paths such as wires and optical fibers.

[0144] Note that the present invention is not limited to the disclosed embodiments and appropriate modifications can be made without departing from the scope of the invention. For example, the disclosed embodiments describe a system including a delivery robot that moves autonomously within a hospital. However, the system allows for the delivery of specified items as articles in hotels, restaurants, office buildings, event venues, or complexes.

Claims

1. A robot control system for controlling a mobile robot capable of autonomous movement within a medical welfare facility, the robot control system performing: Obtain attribute information about the people present in the driving area ahead of the mobile robot in its forward direction; The upper limit of the operational intensity of the mobile robot is set according to the attribute information; as well as The operation of the mobile robot is controlled according to the upper limit; The upper limit of the operational intensity is the upper limit of the moving speed of the mobile robot; The driving area is captured by cameras, including environmental cameras installed in the medical welfare facility and robotic cameras mounted on the mobile robot; and The attribute information is obtained based on the images from the camera; The robot control system further executes: Based on the analysis results of the image, it is determined whether the person is wearing a uniform, and the person wearing the uniform is set as a medical staff member, while the person not wearing the uniform is set as a general user, thereby obtaining the attribute information; By estimating the age of the general user, the attribute information of the general user is classified as either elderly or child; Based on the analysis results of the image, it is determined whether the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair. If the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair, the general user is set as a person with difficulty walking, and the attribute information is obtained. The robot control system further executes: The medical welfare facility is pre-divided into multiple areas, and a speed limit is set for each area. The speed limit in the staff-only area, which is only accessible to medical staff, is higher than the speed limit in the area accessible to general users. When a person with walking difficulties, an elderly person, or a child is detected at a detection point, the upper speed limit at that detection point is reduced; when the person with walking difficulties, an elderly person, or a child has moved away from the detection point, the upper speed limit at that detection point is restored to its initial value. At intersections or corners, when a blind spot area of ​​the robot camera is formed in the driving area ahead of the mobile robot in the direction of travel, the attribute information of the person in the blind spot area is obtained based on the image of the environmental camera installed at the intersection or corner. Before the mobile robot reaches the blind spot area, the upper limit of the mobile robot's speed is preset.

2. A robot control method for controlling a mobile robot capable of autonomous movement within a medical welfare facility, the robot control method comprising: Obtain attribute information about the people present in the driving area ahead of the mobile robot in its forward direction; The upper limit of the operational intensity of the mobile robot is set according to the attribute information; as well as The operation of the mobile robot is controlled according to the upper limit; The upper limit of the operational intensity is the upper limit of the moving speed of the mobile robot; The driving area is captured by cameras, including environmental cameras installed in the medical welfare facility and robotic cameras mounted on the mobile robot; and The attribute information is obtained based on the images from the camera; The robot control method includes: Based on the analysis results of the image, it is determined whether the person is wearing a uniform, and the person wearing the uniform is set as a medical staff member, while the person not wearing the uniform is set as a general user, thereby obtaining the attribute information; By estimating the age of the general user, the attribute information of the general user is classified as either elderly or child; Based on the analysis results of the image, it is determined whether the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair. If the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair, the general user is set as a person with difficulty walking, and the attribute information is obtained. The robot control method further includes: The medical welfare facility is pre-divided into multiple areas, and a speed limit is set for each area. The speed limit in the staff-only area, which is only accessible to medical staff, is higher than the speed limit in the area accessible to general users. When a person with walking difficulties, an elderly person, or a child is detected at a detection point, the upper speed limit at that detection point is reduced; when the person with walking difficulties, an elderly person, or a child has moved away from the detection point, the upper speed limit at that detection point is restored to its initial value. The robot control method further includes: At intersections or corners, when a blind spot area of ​​the robot camera is formed in the driving area ahead of the mobile robot in the direction of travel, the attribute information of the person in the blind spot area is obtained based on the image of the environmental camera installed at the intersection or corner. Before the mobile robot reaches the blind spot area, the upper limit of the mobile robot's speed is preset.

3. A storage medium storing a program that causes a computer to execute a robot control method for controlling a mobile robot capable of autonomous movement within a healthcare facility, the robot control method comprising: Obtain attribute information about the people present in the driving area ahead of the mobile robot in its forward direction; The upper limit of the operational intensity of the mobile robot is set according to the attribute information; as well as The operation of the mobile robot is controlled according to the upper limit; The upper limit of the operational intensity is the upper limit of the mobile robot's movement speed. The driving area is captured by cameras, including environmental cameras installed in the medical welfare facility and robotic cameras mounted on the mobile robot; and The attribute information is obtained based on the images from the camera; The robot control method includes: Based on the analysis results of the image, it is determined whether the person is wearing a uniform, and the person wearing the uniform is set as a medical staff member, while the person not wearing the uniform is set as a general user, thereby obtaining the attribute information; By estimating the age of the general user, the attribute information of the general user is classified as either elderly or child; Based on the analysis results of the image, it is determined whether the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair. If the general user is using a cane, crutch, walker, plaster cast, IV stand, or wheelchair, the general user is set as a person with difficulty walking, and the attribute information is obtained. The robot control method further includes: The medical welfare facility is pre-divided into multiple areas, and a speed limit is set for each area. The speed limit in the staff-only area, which is only accessible to medical staff, is higher than the speed limit in the area accessible to general users. When a person with walking difficulties, an elderly person, or a child is detected at a detection point, the upper speed limit at that detection point is reduced; when the person with walking difficulties, an elderly person, or a child has moved away from the detection point, the upper speed limit at that detection point is restored to its initial value. The robot control method further includes: At intersections or corners, when a blind spot area of ​​the robot camera is formed in the driving area ahead of the mobile robot in the direction of travel, the attribute information of the person in the blind spot area is obtained based on the image of the environmental camera installed at the intersection or corner. Before the mobile robot reaches the blind spot area, the upper limit of the mobile robot's speed is preset.

Images