Management system and management method

Abstract

To provide a management system and a management method with which, when using an autonomous mobile robot together with an accessory unit, it is possible to exercise appropriate control suitable for the accessory unit.SOLUTION: A management system according to the present embodiment manages an autonomous mobile robot and a plurality of accessory units 30 that, by being used in combination with the mobile robot, enable the mobile robot to execute a plurality of different services. The management system acquires unit information related to the accessory unit used in combination with the mobile robot, acquires a plurality of control parameters set for each accessory unit on the basis of the unit information, and controls the operation of the mobile robot in accordance with the plurality of control parameters. The management system may use a deep learning or other machine learning model.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a management system and a management method. [Background technology]

[0002] Patent Document 1 discloses an autonomous mobile robot that pulls a wheeled cart. The autonomous mobile robot has a towing arm that pulls the wheeled cart. With the towing arm positioned below the wheeled cart, the autonomous mobile robot pulls the wheeled cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 086665 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, an autonomous mobile robot can perform a transportation service, such as transporting a wheeled cart. However, there is a demand for such mobile robots to perform services other than transportation services. [Means for solving the problem]

[0005] The management system of this embodiment is a management system that manages an autonomous mobile robot and a plurality of accessory units that are used in combination with the autonomous mobile robot to enable the autonomous mobile robot to perform a plurality of different services, and acquires unit information regarding the accessory units that are used in combination with the autonomous mobile robot, acquires a plurality of control parameters set for each accessory unit based on the unit information, and controls the operation of the autonomous mobile robot in accordance with the plurality of control parameters.

[0006] The management method of this embodiment is a management method for managing an autonomous mobile robot and a plurality of accessory units that are used in combination with the autonomous mobile robot to enable the autonomous mobile robot to perform a plurality of different services, and includes obtaining unit information about the accessory units that are used in combination with the autonomous mobile robot, obtaining a plurality of control parameters set for each accessory unit based on the unit information, and controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters. [Effects of the Invention]

[0007] According to the present disclosure, when an autonomous mobile robot is used together with an accessory unit, it is possible to provide a management system and management method that can perform appropriate control according to the accessory unit. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram illustrating the overall configuration of a management system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a control system of the management system. [Figure 3] 10 is a flowchart showing a management method. DETAILED DESCRIPTION OF THE INVENTION

[0009] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems.

[0010] (Overall composition) The management system according to this embodiment is a system for managing an autonomous mobile robot capable of executing multiple services (also called tasks). Fig. 1 is a schematic diagram showing the configuration of the management system 1. The management system 1 includes a mobile robot 20, a host management device 10, an accessory unit 30, a network 600, a communication unit 610, and a user terminal 400. The management system 1 is a system for managing one or more mobile robots 20 and their accessory units 30.

[0011] The auxiliary units 30 are used in combination with the mobile robot 20 to perform each service. For example, the auxiliary units 30 are a transport unit 31, a cleaning unit 32, a security unit 33, and a guide unit 34. The auxiliary units 30 are not limited to these, and may include units for other services. The auxiliary units 30 may not have one or more of the above four units.

[0012] The mobile robot 20 is an autonomous mobile robot that performs multiple services such as transportation, cleaning, security, and guidance. The mobile robot 20 moves autonomously in medical and welfare facilities such as hospitals, rehabilitation centers, nursing homes, and elderly care facilities. The system according to this embodiment can also be used in commercial facilities such as shopping malls. The mobile robot has wheels, a chassis, a motor, sensors, a battery, a controller, etc.

[0013] The mobile robot 20 is equipped with one of a transport unit 31, a cleaning unit 32, a security unit 33, and a guide unit 34 depending on the service to be performed. For example, when the mobile robot 20 performs a transport service, it is equipped with the transport unit 31. When the mobile robot 20 performs a cleaning service, a security service, or a guide service, it is equipped with the cleaning unit 32, the security unit 33, or the guide unit 34, respectively. In this way, an accessory unit 30 is prepared in advance for each service to be performed.

[0014] The mobile robot 20 is selectively equipped with one of a transport unit 31, a cleaning unit 32, a security unit 33, and a guide unit 34. The mobile robot 20 uses different accessory units 30 depending on the service to be performed. The mobile robot 20 may be configured to be able to simultaneously equip two or more accessory units 30. The mobile robot 20 may be configured to be able to equip the accessory units 30 by its own action alone, or may be configured so that a user or the like assists in the equip- ment process.

[0015] The transport unit 31 is an accessory unit 30 for transporting an object. For example, the transport unit 31 is a wheeled wagon or cart that can carry the object. The carriage portion of the mobile robot 20 serves as a stage for carrying the wagon or the like. The mobile robot 20 has a lifting function for lifting the transport unit 31. When the carriage portion of the mobile robot 20 moves under the transport unit 31, the lifting stage or the like lifts the transport unit 31. This allows the mobile robot 20 to carry the object stored in the transport unit 31 to its destination. By attaching the transport unit 31, the mobile robot 20 can perform transportation services. The transport unit 31 is used for serving and clearing food in restaurants, medical and welfare facilities, etc. The transport unit may also be used for transporting parts in factories, transporting specimens in hospitals, transporting linens in hotels, etc.

[0016] The cleaning unit 32 is an accessory unit 30 for cleaning facilities. The cleaning unit 32 has a vacuum cleaner that sucks up dirt and the like. Alternatively, the cleaning unit 32 may have a brush, a floor wiping pad, a mop, etc. When the mobile robot 20 moves with the cleaning unit 32 attached, the floor surface is cleaned. In other words, the floor surface is cleaned in the area where the mobile robot 20 moves. By attaching the cleaning unit 32, the mobile robot 20 can perform cleaning services. Furthermore, the cleaning unit 32 may be a remotely controllable robot vacuum cleaner. In this case, the cleaning service is performed by the mobile robot 20 remotely controlling the cleaning unit 32 via wireless communication.

[0017] The security unit 33 is an accessory unit 30 for guarding a facility. The security unit 33 has various sensors for detecting intruders and abnormalities, for example. For example, the security unit 33 has sensors such as a camera, an infrared camera, a distance sensor, a light sensor, a heat sensor, and a smoke sensor. It may also have a lighting device for illuminating intruders or abnormal locations. The accessory unit 30 may also have an alarm function for issuing an alert when an abnormality is detected. By attaching the security unit 33 to the mobile robot 20, it becomes possible for the mobile robot 20 to perform security services.

[0018] The guidance unit 34 is an accessory unit 30 for guiding visitors to a facility. For example, the guidance unit 34 provides guidance to visitors to the facility on routes to their destinations. The guidance unit 34 has an input device that allows visitors to input their destinations. The input device has a touch panel and buttons. The input device also has a microphone for voice input. The mobile robot 20 moves to the destination to guide the visitor. The guidance unit 34 may have a display device for displaying the route and a speaker for outputting the route as voice.

[0019] In this way, the attachment unit 30 can be used in combination with the mobile robot 20 to enable the mobile robot 20 to perform a plurality of different services. In other words, the mobile robot 20 performs a service according to the attachment unit 30 attached to it.

[0020] A plurality of attachment units 30 may be provided for one service. For example, two or more transport units 31 may be provided in the management system 1. In this case, two mobile robots 20 can simultaneously perform a transport service using the transport units 31. Furthermore, a plurality of types of attachment units 30 may be provided for one service. For example, the shape and size of the transport units 31 may differ depending on the content of the transported item.

[0021] User U1 or user U2 can make a service request, such as a request for transport of an item, using the user terminal 400. For example, the user terminal 400 is a tablet computer or a smartphone. The user terminal 400 may be any information processing device capable of wireless or wired communication.

[0022] In this embodiment, the mobile robot 20 and the user terminal 400 are connected to the host 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 LAN (Local Area Network) or WAN (Wide Area Network). Furthermore, the host management device 10 is connected to the network 600 via a wired or wireless connection. The communication unit 610 is, for example, a wireless LAN unit installed in each environment. The communication unit 610 may also be, for example, a general-purpose communication device such as a Wi-Fi (registered trademark) router.

[0023] Various signals transmitted from the user terminals 400 of users U1 and U2 are first sent to the host management device 10 via the network 600, and then transferred from the host management device 10 to the target mobile robot 20. Similarly, various signals transmitted from the mobile robot 20 are first sent to the host management device 10 via the network 600, and then transferred from the host management device 10 to the target user terminal 400. The host management device 10 is a server connected to each device and collects data from each device. Furthermore, the host management device 10 is not limited to a single physical device, but may have multiple devices performing distributed processing. Furthermore, the host management device 10 may be distributed and located in edge devices such as the mobile robot 20. For example, part or all of the management system 1 may be mounted on the mobile robot 20.

[0024] The user terminal 400 and the mobile robot 20 may transmit and receive signals without going through the upper management device 10. For example, the user terminal 400 and the mobile robot 20 may transmit and receive signals directly via wireless communication. Alternatively, the user terminal 400 and the mobile robot 20 may transmit and receive signals via the communication unit 610.

[0025] Assume that multiple mobile robots 20 are used in a facility. The host management device 10 assigns a service to each mobile robot 20. Each mobile robot 20 is equipped with an accessory unit 30 corresponding to the assigned service and performs the service. The service to be performed by the mobile robot 20 may be input by user U1 or user U2, or may be scheduled in advance. For example, user U1 or the like requests a service by operating the user terminal 400. User U1 or the like can input the type of service to be performed. User U1 or the like may also input the area and time period in which the service is to be performed.

[0026] In such an overall configuration, the management system 1 can be constructed as a whole by distributing each element of the management system 1 among the mobile robots 20, the user terminals 400, and the host management device 10. It is also possible to construct the management system 1 by collecting the essential elements for realizing the transportation of the transported goods into one device. The host management device 10 controls one or more mobile robots 20.

[0027] (Control system) Fig. 2 is a block diagram showing a control system of the management system 1 according to this embodiment. As shown in Fig. 2, the management system 1 has a host management device 10, a mobile robot 20, an accessory unit 30, an environmental camera 300, and a user terminal 400. A network 600 and a communication unit 610 are omitted in Fig. 2. Also, although Fig. 2 shows only one mobile robot 20, multiple mobile robots 20 may be used.

[0028] The host management device 10 has a personal computer or the like and performs calculations to control and manage the mobile robot 20. The host management device 10 can be implemented as a device capable of executing programs, such as a central processing unit (CPU) of a computer. Various functions can also be realized by programs. For example, the host management device 10 manages the mobile robots 20 so that they operate efficiently. For example, when the host management device 10 receives a service request from a user terminal 400 or the like, it selects one mobile robot 20 from multiple mobile robots 20 and instructs the mobile robot 20 to perform the service. Alternatively, the host management device 10 instructs the mobile robot 20 which accessory unit 30 to use.

[0029] A plurality of environmental cameras 300 are installed within the facility in which the mobile robot 20 travels. For example, the environmental cameras 300 are installed in the corridors, halls, elevators, entrances, etc. within the facility.

[0030] The environmental camera 300 captures images of the area in which the mobile robot 20 moves. In the management system 1, the images captured by the environmental camera 300 and information based on them are collected by the host management device 10. Alternatively, the images captured by the environmental camera 300 may be transmitted directly to the mobile robot 20. The environmental camera 300 may be a surveillance camera installed in a passageway or entrance / exit within a facility.

[0031] In the management system 1, the mobile robot 20 plans a route based on the content of the service. The mobile robot 20 moves autonomously toward the destination based on the route plan information created by the mobile robot 20. The mobile robot 20 moves autonomously toward the destination (destination) using sensors, a floor map, location information, etc. provided on the mobile robot 20. Of course, part of the processing of the mobile robot 20 may be performed by the upper management device 10.

[0032] For example, the mobile robot 20 moves so as not to come into contact with surrounding equipment, objects, walls, and people (hereinafter collectively referred to as surrounding objects). Specifically, the mobile robot 20 detects the distance to the surrounding objects and moves while remaining at least a certain distance (also referred to as a distance threshold or margin distance) from the surrounding objects. When the distance to the surrounding object becomes equal to or less than the distance threshold, the mobile robot 20 slows down or stops. In this way, the mobile robot 20 can move without coming into contact with surrounding objects. Because contact can be avoided, safe and efficient transportation becomes possible.

[0033] Mobile robot 20 has a processing unit 21, a memory unit 22, a communication unit 23, a group of distance sensors 24, a camera 25, a driving unit 26, a display unit 27, and an operation reception unit 28. Note that while Fig. 2 shows only representative processing blocks provided in mobile robot 20, mobile robot 20 also includes many other processing blocks that are not shown.

[0034] The communication unit 23 is a communication interface for communicating with the host management device 10, the environmental camera 300, or other mobile robots 20. The communication unit 23 communicates with the host management device 10, etc., using, for example, wireless signals. The distance sensor group 24 is, for example, a proximity sensor, and outputs nearby object distance information indicating the distance to an object or person present around the mobile robot 20. The camera 25, for example, takes images to grasp the situation around the mobile robot 20. The mobile robot 20 may identify surrounding objects based on images from the camera 25 or the environmental camera 300.

[0035] The driving unit 26 has a motor that drives the drive wheels attached to the mobile robot 20. The driving unit 26 may also have an encoder that detects the number of rotations of the drive wheels or their drive motors. The mobile robot's own position (current position) may be estimated based on the output of the encoder. The mobile robot 20 detects its own current position and transmits it to the host management device 10.

[0036] The display unit 27 and the operation reception unit 28 are realized by a touch panel display. The display unit 27 displays a user interface screen that serves as the operation reception unit 28. The display unit 27 may also display information indicating the destination of the mobile robot 20 and the status of the mobile robot 20. The operation reception unit 28 receives operations from the user. The operation reception unit 28 includes the user interface screen displayed on the display unit 27 as well as various switches provided on the mobile robot 20.

[0037] The lifting mechanism 29 raises and lowers a carriage portion on which the transport unit 31 is mounted. The lifting mechanism 29 is equipped with a motor and a lifting stage that is raised and lowered by the motor. The lifting stage is provided on the carriage portion of the mobile robot 20. When the stage is located directly below the transport unit 31, the lifting mechanism 29 raises the stage, thereby raising the transport unit 31. The wheels of the transport unit 31 lift off the ground, and the transport unit 31 is loaded onto the mobile robot 20 (see FIG. 1). Once the mobile robot 20 has transported the object to its destination, the lifting mechanism 29 lowers the stage. This removes the transport unit 31 from the stage. Of course, in addition to the transport unit 31, a cleaning unit 32, a security unit 33, or a guide unit 34 may also be connected to the mobile robot 20 by the lifting operation of the lifting mechanism 29.

[0038] The storage unit 22 stores a floor map 221, robot control parameters 223, and unit information 227. Fig. 2 shows only a portion of the information stored in the storage unit 22, and information other than the floor map 221, robot control parameters 223, and unit information 227 shown in Fig. 2 may also be included.

[0039] The floor map 221 is map information of a facility in which the mobile robot 20 is to move. This floor map 221 may be downloaded from the upper management device 10, for example. The floor map 221 may also be created in advance. Furthermore, the floor map 221 may not be map information of the entire facility, but may be map information that partially includes an area in which the robot is to move.

[0040] The route planning information 225 includes route planning information planned by the route planning unit 215. The route planning information 225 includes, for example, information indicating a destination and route information to the destination. The route planning information 225 may include information such as a departure point, a scheduled start time of a service, and a scheduled end time. The route planning information may include information regarding passing points and stopovers on the travel route. In the route planning information 225, the various types of information described above may be associated with each service. The route planning information 225 may include information regarding a service requested by the user U1 and its associated unit 30.

[0041] The unit information 227 includes information about the accessory unit 30 attached to the mobile robot 20. The unit information 227 includes information about the type of accessory unit 30, model number, identification number, start time of use, end time of use, time period of use, area to be used, etc. Furthermore, the unit information 227 may include information indicating the order of use, whether it has been used, or other information about the accessory unit 30.

[0042] The robot control parameters 223 are parameters used to control the operation of the mobile robot 20. The robot control parameters 223 include a threshold distance between the mobile robot 20 and surrounding objects, etc. The threshold distance is a margin distance (also called a virtual bumper distance) for avoiding contact with surrounding objects, including people. Furthermore, the robot control parameters 223 may include speed information related to the speed, such as an upper speed limit of the mobile robot 20. The robot control parameters 223 may include at least one of the speed information, height of the lifting mechanism, virtual bumper distance, suspension stiffness, turning radius, allowable tilt angle, designated travel environment, battery consumption mode, and wireless sensitivity.

[0043] The arithmetic processing unit 21 performs calculations used to control the mobile robot 20. The arithmetic processing unit 21 can be implemented as a device capable of executing programs, such as a central processing unit (CPU) of a computer. Various functions can also be realized by programs. The arithmetic processing unit 21 has a movement command extraction unit 211, a drive control unit 212, a parameter acquisition unit 213, a route planning unit 215, and a unit information acquisition unit 217. Note that while FIG. 2 shows only representative processing blocks of the arithmetic processing unit 21, it also includes processing blocks not shown.

[0044] The movement command extraction unit 211 extracts movement commands from the control signal provided by the higher-level management device 10 and the route planning information 225. 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 order in which to pass through the passing points. The movement command extraction unit 211 then extracts this information as movement commands.

[0045] The drive control unit 212 controls the drive unit 26 to move the mobile robot 20 based on the movement command provided by the movement command extraction unit 211. For example, the drive unit 26 has drive wheels that rotate according to a control command value from the drive control unit 212. The movement command extraction unit 211 extracts a movement command so that the mobile robot 20 moves along the movement path indicated by the route planning information 225. The drive unit 26 then drives the drive wheels to rotate. The mobile robot 20 moves autonomously toward a destination or a waypoint. The mobile robot 20 may estimate its own position and transmit a signal to the host management device 10 indicating that it has passed a waypoint or the like. This allows the host management device 10 to manage the current position and transportation status of each mobile robot 20.

[0046] The route planning unit 215 plans a route for the mobile robot 20. When a service request is received from the user terminal 400 or the upper management device 10, the route planning unit 215 plans a route for executing the service based on the service information. For example, the route planning unit 215 searches for a route to the area where the service is provided or a route during the service. As a result, a movement route on the floor map 221 is obtained. The route plan calculated by the route planning unit 215 is written to the storage unit 22 as route planning information 225.

[0047] Specifically, the route planning unit 215 sets the departure point, intermediate points, and destination by referring to the floor map 221 and the service contents already stored in the storage unit 22. The departure point is the current location, etc. The intermediate points are the attachment / detachment locations of the accessory unit 30, etc. The destination is the location where the service is to be performed, etc. Furthermore, when an area where a cleaning service or a monitoring service is to be performed is set, the route planning unit 215 plans a route by setting points within the area where the service is to be performed as intermediate points and destinations.

[0048] The unit information acquisition unit 217 acquires unit information from the host management device 10 or the user terminal 400. The unit information acquisition unit 217 acquires unit information of the accessory unit 30 attached to the mobile robot 20. Each accessory unit 30 is assigned a unique identification number. For example, when the user U1 inputs the service to be requested, the time, and the area, the unit information acquisition unit 217 acquires the identification number of the accessory unit 30 to perform the service as unit information. Alternatively, the unit information is information indicating whether the accessory unit 30 is a transport unit 31, a cleaning unit 32, a security unit 33, or a guide unit 34. The unit information acquisition unit 217 may acquire the unit information from the host management device 10 or directly from the user terminal 400. For example, the unit information acquisition unit 217 may acquire the unit information 227 from a service assigned by the host management device 10. The unit information acquisition unit 217 may acquire the unit information 227 from a preset schedule. The unit information acquisition unit 217 may also acquire unit information from images captured by the camera 25 or the environmental camera 300.

[0049] Furthermore, when the user U1 or the like attaches the attachment unit 30 to the mobile robot 20, the attachment unit 30 can be identified by detecting it with a sensor or camera 25 provided on the mobile robot 20. The attachment unit 30 may be equipped with an RFID tag, a QR code (registered trademark), or the like. Furthermore, the attachment unit 30 may transmit a signal to the mobile robot 20 to specify its identification number.

[0050] When the use of the attached unit 30 (such as the scheduled start time and scheduled end time) is scheduled in advance, the unit information acquisition unit 217 may identify the attached unit 30 to be used from the schedule information. The unit information acquisition unit 217 writes the identification number of the attached unit 30 and the like into the storage unit 22 as unit information 227. Furthermore, the unit information acquisition unit 217 may write the type, size, start time of use, end time of use, area of ​​use, and the like of the attached unit 30 as unit information 227. Furthermore, when two or more services are assigned consecutively, the unit information 227 may include the order in which the attached units 30 are used.

[0051] The parameter acquisition unit 213 reads out the value of each parameter from the robot control parameters 223. Then, the drive control unit 212 performs drive control using the robot control parameters. The parameter acquisition unit 213 acquires the robot control parameters 223 according to the accessory unit 30 used by the mobile robot 20. Specifically, the parameter acquisition unit 213 changes the robot control parameters 223 according to the unit information 227. In this way, the mobile robot 20 operates with the robot control parameters 223 according to the accessory unit 30 used by the mobile robot 20. This allows the mobile robot 20 to properly perform services.

[0052] The robot control parameters 223 have parameter values ​​set based on the attachment unit 30. That is, the parameter values ​​of the robot control parameters 223 differ depending on the type of attachment unit 30, etc. For example, the storage unit 22 stores a table of robot control parameters 223 corresponding to the type of attachment unit 30, etc. Then, the parameter acquisition unit 213 reads out the robot control parameters 223 corresponding to the type of attachment unit 30 used. Of course, some of the multiple robot control parameters 223 may have constant parameter values ​​regardless of the type of attachment unit 30.

[0053] The unit information acquisition unit 217 acquires unit information 227 of the attachment unit 30 used by the mobile robot 20. The parameter acquisition unit 213 acquires robot control parameters 223 according to the unit information. That is, the parameter acquisition unit 213 acquires appropriate parameter values ​​according to the unit information of the attachment unit 30 currently used by the mobile robot 20 or the attachment unit 30 to be used next. That is, the parameter acquisition unit 213 can read out optimal robot control parameters according to the attachment unit 30. This allows the mobile robot 20 to provide services with appropriate operation.

[0054] The unit information acquisition unit 217 acquires a plurality of robot control parameters 223 set for each attached unit 30 based on the unit information 227. The calculation processing unit 21 changes at least one of the virtual bumper distance, speed, suspension stiffness, turning radius, allowable tilt angle, designated driving environment, battery consumption mode, and wireless sensitivity according to the unit information 227. Of course, some of the robot control parameters 223 may have the same parameter values ​​in two or more attached units 30. The drive control unit 212 controls the operation of the mobile robot 20 using the robot control parameters according to the unit information 227.

[0055] (Example of setting robot control parameters according to unit information) The distance threshold (also called the virtual bumper distance) for surrounding objects is variable depending on the auxiliary unit 30. The drive control unit 212 refers to the robot control parameters 223 and detects when the distance indicated by the distance information obtained from the distance sensor group 24 falls below the virtual bumper distance. When the distance indicated by the distance sensor falls below the virtual bumper distance, the drive control unit 212 stops or slows down the operation.

[0056] For example, the external shape of the mobile robot 20 changes depending on the accessory unit 30 attached to the mobile robot 20. Therefore, the parameter acquisition unit 213 can set different virtual bumper distances depending on the accessory unit 30 attached to the mobile robot 20. For example, suppose that the size of the transport unit 31 is larger than the sizes of the cleaning unit 32, security unit 33, and guide unit 34. In this case, the calculation processing unit 21 sets the virtual bumper distance when the transport unit 31 is attached to be larger than the virtual bumper distance when the cleaning unit 32, security unit 33, and guide unit 34 are attached. The virtual bumper distance when the mobile robot 20 is operating the transport unit 31 is larger than the virtual bumper distance when the cleaning unit 32, security unit 33, and guide unit 34 are used. In other words, the parameter acquisition unit 213 updates the virtual bumper distance based on the unit information 227.

[0057] Furthermore, when the mobile robot 20 travels through a facility's corridors, it moves straight along the corridor while maintaining a certain distance from the left and right walls. At this time, the robot control parameters 223 may be set so that the distance from the wall changes depending on the size of the attachment unit 30. In this way, when the mobile robot 20 is equipped with a small-sized attachment unit 30, it can travel through narrower corridors, etc. If the passable passage width changes depending on the unit information 227, the route planning unit 215 may plan a route depending on the passage width. In other words, the route planning unit 215 may plan a route so as to avoid impassable passages.

[0058] Alternatively, the turning radius may be variable based on the unit information 227. The calculation processing unit 21 changes the turning radius of the mobile robot 20 depending on the size of the attachment unit 30. This allows the mobile robot 20 equipped with the attachment unit 30 to turn appropriately. This allows the mobile robot 20 equipped with the attachment unit 30 to travel stably. Furthermore, in facilities where the mobile robot 20 rides in an elevator, the number of mobile robots 20 that can ride in an elevator at the same time may be variable depending on the unit information 227. In other words, if an attachment unit 30 with a large outer shape is attached, the number of robots that can ride in one elevator will be reduced.

[0059] Alternatively, the speed information regarding the moving speed may be variable depending on the unit information 227. Here, the drive control unit 212 controls the drive unit 26 so that the mobile robot 20 travels at the speed set by the speed information. The speed information may include information such as an upper speed limit, a lower speed limit, a speed range (speed range), or acceleration. For example, when an upper speed limit is set, the drive control unit 212 limits the rotation speed of the drive wheels so that the mobile robot 20 does not travel at a speed equal to or greater than the upper speed limit.

[0060] When a heavy accessory unit 30 is mounted, the robot control parameters 223 are changed so that the upper speed limit is lowered. Alternatively, in the case of the security unit 33, the robot control parameters 223 are set so that the security unit 33 moves at a high speed. This allows the mobile robot 20 to reliably detect intruders. In the case of the cleaning unit 32, the robot control parameters 223 are set so that the security unit 33 moves at a low speed. This allows the mobile robot 20 to reliably suck up dirt and the like, thereby enabling the mobile robot 20 to perform cleaning services appropriately.

[0061] Alternatively, in the case of the guidance unit 34, the robot control parameters 223 are set so that the speed range is in accordance with the walking speed. In this case, speed information regarding the lower and upper speed limits is set as the robot control parameters 223. This allows the mobile robot 20 to appropriately guide the user through facilities.

[0062] In the case of the transport unit 31, the speed may be changed depending on the object being transported. For heavy or fragile objects, the robot control parameters 223 are set to a lower upper speed limit. Alternatively, when transporting specimens or fragile medical equipment, or when serving meals, the upper speed limit is set to a lower value. This allows the mobile robot 20 to transport the object stably. On the other hand, for light and less fragile objects, the robot control parameters 223 are set to a higher upper speed limit. Alternatively, when clearing used tableware, the robot control parameters 223 are set to a higher upper speed limit. This allows the mobile robot 20 to transport the object efficiently. In this case, the unit information 227 may include information for identifying the object being transported. Alternatively, information for identifying the object stored in the transport unit 31 may be transmitted from the upper management device 10 to the mobile robot 20. Alternatively, the transport unit 31 may be identified depending on the type of object being transported. For example, the transport unit 31 used may be differentiated between objects being transported at high speed and objects being transported at low speed.

[0063] The range of allowable tilt angles may be variable depending on the unit information 227. The allowable angle range is, for example, the allowable range of the roll angle or pitch angle of the chassis. For example, an angle sensor or angular velocity sensor mounted on the chassis detects the angle of the chassis. If the allowable tilt angle range is exceeded, the mobile robot 20 stops or decelerates. If the mobile robot 20 is equipped with a wagon as the transport unit 31, the center of gravity will be higher. On the other hand, if the mobile robot 20 is equipped with a vacuum cleaner as the cleaning unit 32, the center of gravity will be lower. Therefore, the allowable tilt angle range may be set smaller when performing a transport service than when performing a cleaning service. This prevents the mobile robot 20 from traveling in an unstable state.

[0064] The battery consumption mode may be variable depending on the unit information 227. If the unit consumes a lot of power, the power saving mode is set to reduce the power consumption of the wheel drive motor. This makes it possible to suppress sudden power consumption.

[0065] Furthermore, the sensitivity of the wireless signal may be variable depending on the unit information 227. For example, the size and shape of the attached unit 30 may interfere with the transmission and reception of wireless signals. Therefore, the receiving sensitivity, transmission strength, and transmission direction of the wireless signal may be changed depending on the unit information. For example, suppose the mobile robot 20 is equipped with multiple wireless signal transceivers, each with a different frequency band. For example, suppose the mobile robot 20 has a wireless communication device in the 2.4 GHz band and a wireless communication device in the 5 GHz band. The mobile robot 20 may switch the wireless communication device to be used depending on the unit information 227. In this way, the mobile robot 20 can change the sensitivity of the wireless signal depending on the unit information 227.

[0066] At least one robot control parameter is changed according to the unit information 227. Of course, two or more robot control parameters may be changed. In this way, the mobile robot 20 can use each attachment unit 30 appropriately. For example, when the mobile robot 20 moves autonomously, the mobile robot 20 is autonomously controlled using the robot control parameters 223 suitable for the attachment unit 30. In this way, the mobile robot 20 can move autonomously appropriately. Even when the mobile robot 20 is used together with the attachment unit 30, the management system 1 can perform appropriate control according to the service. Of course, at least a part of the processing of the mobile robot 20 may be performed by the upper management device 10.

[0067] 3 is a flow chart illustrating a management method for managing a mobile robot 20 and a number of attached units that, when used in combination with the mobile robot 20, enable the mobile robot to perform a number of different services.

[0068] The unit information acquisition unit 217 acquires unit information regarding the attached unit used by the mobile robot 20 (S11). For example, the unit information acquisition unit 217 acquires identification information of the attached unit selected via an interface. The parameter acquisition unit 213 acquires a plurality of control parameters set for each attached unit based on the unit information (S12). The calculation processing unit 21 controls the operation of the mobile robot 20 in accordance with the plurality of control parameters (S13). In this way, even when the mobile robot 20 is used together with the attached unit 30, the management system 1 can perform appropriate control according to the service. Of course, at least a part of the processing of the mobile robot 20 may be performed by the upper management device 10.

[0069] Furthermore, the robot control parameters 223 may be adjustable by a user or an administrator. For example, when a user or the like selects to adjust the robot control parameters 223, the user terminal 400 displays an adjustment bar or the like. The control parameters are updated when the user or the like operates the user terminal 400. The robot control parameters 223 may be updated for each service. When the parameter acquisition unit 213 acquires the updated values, it rewrites the values ​​of the robot control parameters 223 in the storage unit 22. Then, the calculation processing unit 21 controls the movement of the mobile robot using the updated robot control parameters. In this way, the mobile robot 20 controls its movement using more appropriate robot control parameters 223. When the mobile robot performs the same service again, the mobile robot 20 performs control using the updated robot control parameters 223.

[0070] The mobile robot 20 may use a machine learning model such as deep learning for route planning and control of the drive control unit 212. Furthermore, machine learning models such as deep learning, such as RNN (Recurrent Neural Network) and CNN (Convolutional Neural Network), may also be used for detecting surrounding objects.

[0071] Furthermore, some or all of the processes of the mobile robot 20, the host management device 10, etc. described above can be implemented as a computer program. Such a program can be stored on various types of non-transitory computer-readable media and provided to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can provide the program to a computer via wired communication paths such as electric wires and optical fibers, or via wireless communication paths.

[0072] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0073] 1 Management System 10 Upper management device 20 Mobile Robot 21 Processing unit 22 Memory section 23 Communications Department 24 Range sensors 25 Camera 26 Drive unit 27 Display section 28 Operation reception section 30 Accessory Unit 31 Transport unit 32 Cleaning Unit 33 Security Unit 34 Guidance unit

Claims

1. An autonomous mobile robot, a management system for managing a plurality of accessory units that are used in combination with the autonomous mobile robot to enable the autonomous mobile robot to perform a plurality of different services, acquiring unit information relating to the accessory unit used in combination with the autonomous mobile robot; acquiring a plurality of control parameters set for each of the auxiliary units based on the unit information; controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters; Management system.

2. 2. The management system according to claim 1, wherein identification information of the selected accessory unit is acquired via the interface, and the plurality of control parameters are acquired based on the identification information.

3. 2. The management system according to claim 1, wherein an accessory unit combined with the autonomous mobile robot is detected, and a plurality of control parameters are acquired based on unit information of the detected accessory unit.

4. The management system of claim 1 , wherein the control parameters are user adjustable.

5. An autonomous mobile robot, a management method for managing a plurality of accessory units that are used in combination with the autonomous mobile robot to enable the autonomous mobile robot to perform a plurality of different services, the method comprising: acquiring unit information relating to the accessory unit used in combination with the autonomous mobile robot; acquiring a plurality of control parameters set for each of the auxiliary units based on the unit information; controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters; Management method.

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