Management system, management method, and program

Abstract

To provide a management system, a management method, and a program with which, when using an autonomous mobile robot together with an accessory unit, it is possible to exercise appropriate control suitable for services.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 service information related to the service executed by the mobile robot, acquires a plurality of control parameters set for each service on the basis of the service 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, a management method, and a program. [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 / 86665 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, when used in combination with the autonomous mobile robot, enable the autonomous mobile robot to perform a plurality of different services, obtains service information regarding the services to be performed by the autonomous mobile robot, obtains a plurality of control parameters set for each of the services based on the service 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, when used in combination with the autonomous mobile robot, enable the autonomous mobile robot to perform a plurality of different services, and includes obtaining service information regarding the services to be performed by the autonomous mobile robot, obtaining a plurality of control parameters set for each of the services based on the service information, and controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters.

[0007] The program of this embodiment is a program for causing a computer to execute a management method for managing an autonomous mobile robot and a plurality of accessory units that, when used in combination with the autonomous mobile robot, enable the autonomous mobile robot to perform a plurality of different services, the management method acquiring service information regarding the services to be performed by the autonomous mobile robot, acquiring a plurality of control parameters set for each of the services based on the service information, and controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters. [Effects of the Invention]

[0008] 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, a management method, and a program that can perform appropriate control according to the service. [Brief explanation of the drawings]

[0009] [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

[0010] 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.

[0011] (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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] (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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In the management system 1, the mobile robot 20 plans a route based on service information. The mobile robot 20 autonomously moves toward the destination based on the route plan information created by the mobile robot 20. The mobile robot 20 autonomously moves 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The lifting mechanism 29 raises and lowers the carriage 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 of the mobile robot 20. When the stage is 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 Figure 1). Once the mobile robot 20 has transported the object to its destination, the lifting mechanism 29 lowers the stage. This allows the transport unit 31 to be lowered from the stage.

[0039] The storage unit 22 stores a floor map 221, robot control parameters 223, and service information 226. 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 service information 226 shown in Fig. 2 may also be included.

[0040] 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.

[0041] 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. The route planning information 225 may associate the various types of information described above with each service. The route planning information 225 may include at least a portion of service information, etc. input by the user U1.

[0042] The service information 226 includes information about the services to be performed by the mobile robot 20. The service information 226 includes information about the type of service, start time, end time, time period in which the service is to be performed, and area in which the service is to be performed. Furthermore, the service information 226 may include information about the order in which the service is to be performed, information indicating whether the service has been performed, or information about the accessory unit 30.

[0043] 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.

[0044] 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 service information acquisition unit 216. Note that while FIG. 2 shows only representative processing blocks of the arithmetic processing unit 21, it also includes processing blocks not shown.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Specifically, the route planning unit 215 sets the departure point, intermediate points, and destination by referring to the floor map 221, service information 226, etc., 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 attachment 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.

[0049] The service information acquisition unit 216 acquires service information from the host management device 10 or the user terminal 400. The service information acquisition unit 216 acquires service information related to services assigned to the mobile robot 20. For example, when the user U1 inputs the requested service, its time, and area, the service information acquisition unit 216 acquires the content as service information. The service information acquisition unit 216 may acquire the service information from the host management device 10, or may acquire it directly from the user terminal 400. The service information acquisition unit 216 may acquire the service information 226 from a preset schedule. The service information acquisition unit 216 may also acquire the service information from images captured by the camera 25 or the environmental camera 300.

[0050] Furthermore, when the user U1 or the like attaches the attachment unit 30 to the mobile robot 20, a sensor provided on the mobile robot 20 detects the attachment unit 30, thereby identifying the service to be performed. The attachment unit 30 may be equipped with an RFID tag, a QR code (registered trademark), or the like for identifying the service or the attachment unit 30. Furthermore, the attachment unit 30 may transmit a signal to the mobile robot 20 for identifying the service.

[0051] If the execution schedule of a service (such as the scheduled start time and scheduled end time) is scheduled in advance, the service information acquisition unit 216 may identify the service from the schedule information. The service information acquisition unit 216 writes the acquired information about the service into the storage unit 22 as service information 226. Furthermore, if two or more services are assigned consecutively, the service information may include the order in which they are to be executed.

[0052] 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 service to be executed by the mobile robot 20. Specifically, the parameter acquisition unit 213 changes the robot control parameters 223 according to the service information. In this way, the mobile robot 20 operates with the robot control parameters 223 according to the service to be executed. This allows the mobile robot 20 to appropriately execute the service.

[0053] A parameter value is set in the robot control parameters 223 for each service to be executed. That is, the parameter values ​​of the robot control parameters 223 differ depending on the type of service. For example, the storage unit 22 stores a table of robot control parameters 223 corresponding to each service. Of course, some of the multiple robot control parameters 223 may have constant parameter values ​​regardless of the type of service.

[0054] The service information acquisition unit 216 acquires service information 226 related to a service to be executed by the mobile robot 20. The parameter acquisition unit 213 acquires robot control parameters 223 according to the service information 226. That is, the parameter acquisition unit 213 acquires appropriate parameter values ​​according to the content of the service currently being performed by the mobile robot 20 or the next service to be performed. That is, the parameter acquisition unit 213 can read out optimal robot control parameters for each service. This allows the mobile robot 20 to provide the service with appropriate operation.

[0055] The service information acquisition unit 216 acquires a plurality of robot control parameters 223 set for each service based on the service information 226. 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 in accordance with the service information 226. Of course, some of the robot control parameters 223 may have the same parameter values ​​in two or more services. The drive control unit 212 controls the operation of the mobile robot 20 using the robot control parameters according to the service information 226.

[0056] (Example of setting robot control parameters according to service information) The distance threshold (also called the virtual bumper distance) for surrounding objects is variable depending on the service. The drive control unit 212 refers to the robot control parameters 223 and detects that 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.

[0057] 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 performing a transport service is larger than the virtual bumper distance when the mobile robot 20 is performing a cleaning service, security service, or guide service. In other words, the parameter acquisition unit 213 updates the virtual bumper distance based on the service information 226.

[0058] 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. When the width of a passable corridor changes depending on the service information 226, the route planning unit 215 may plan a route depending on the corridor width. In other words, the route planning unit 215 may plan a route so as to avoid impassable corridors.

[0059] Alternatively, the turning radius may be variable based on the service information 226. 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 based on the service information 226. 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.

[0060] Alternatively, the speed information regarding the moving speed may be variable depending on the service information 226. 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.

[0061] 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 security services, the robot control parameters 223 are set so that the mobile robot 20 moves at a high speed. This allows the mobile robot 20 to reliably detect intruders. In the case of cleaning services, the robot control parameters 223 are set so that the mobile robot 20 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.

[0062] Alternatively, in the case of a guidance service, the robot control parameters 223 are set so that the speed range matches 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 provide appropriate guidance around facilities.

[0063] In the case of a delivery service, the speed may be changed depending on the item being delivered. For heavy or fragile items, the robot control parameters 223 are set so that the upper speed limit is low. Alternatively, when transporting specimens or fragile medical equipment, or when serving meals, the upper speed limit is set so that it is low. This allows the mobile robot 20 to stably deliver the item. On the other hand, for light and non-fragile items, the robot control parameters 223 are set so that the upper speed limit is high. Alternatively, when clearing used tableware, the robot control parameters 223 are set so that the upper speed limit is high. This allows the mobile robot 20 to efficiently deliver the item. In this case, the service information 226 may include information for identifying the item being delivered.

[0064] The range of allowable tilt angles may be variable depending on the service information 226. 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.

[0065] The battery consumption mode may be variable depending on the service information 226. If the auxiliary unit 30 consumes a lot of power, the power saving mode is set to reduce the power consumption of the wheel drive motors. This makes it possible to suppress sudden power consumption.

[0066] Furthermore, the sensitivity of the wireless signal may be variable depending on the service information 226. For example, the size and shape of the mounted accessory unit 30 may interfere with the transmission and reception of wireless signals. Therefore, the reception sensitivity, transmission strength, and transmission direction of the wireless signal may be changed depending on the service information. For example, suppose the mobile robot 20 is equipped with multiple wireless signal transceivers, each operating in a different frequency band. For example, suppose the mobile robot 20 has a wireless communication device operating in the 2.4 GHz band and a wireless communication device operating in the 5 GHz band. The mobile robot 20 may switch the wireless communication device to be used depending on the service information 226. In this way, the mobile robot 20 can change the sensitivity of the wireless signal depending on the service information 226.

[0067] At least one robot control parameter is changed in accordance with the service information 226. Of course, two or more robot control parameters may be changed. In this way, the mobile robot 20 can appropriately execute each service. For example, when the mobile robot 20 moves autonomously, the mobile robot 20 is autonomously controlled with the robot control parameters 223 appropriate for the service. In this way, the mobile robot 20 can appropriately move autonomously. Even when the mobile robot 20 is used together with the accessory 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.

[0068] 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.

[0069] The service information acquisition unit 216 acquires service information related to the service to be executed by the mobile robot 20 (S11). The parameter acquisition unit 213 sets a plurality of robot control parameters for each service based on the service information (S12). The calculation processing unit 21 controls the operation of the mobile robot 20 in accordance with the plurality of robot control parameters (S13). In this way, even when the mobile robot 20 is used together with the accessory unit 30, the management system 1 can perform appropriate control in accordance with 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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]

[0074] 1 Management System 10 Upper management device 20 Mobile Robot

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 service information relating to a service to be executed by the autonomous mobile robot; acquiring a plurality of control parameters set for each of the services based on the service 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 the control parameters include at least one of speed, height, virtual bumper distance, suspension stiffness, turning radius, allowable tilt angle, designated driving environment, battery consumption mode, and wireless sensitivity.

3. The management system according to claim 1 , wherein the auxiliary units include at least one of a transport unit, a cleaning unit, a security unit, and a guide unit.

4. 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 service information relating to a service to be executed by the autonomous mobile robot; acquiring a plurality of control parameters set for each of the services based on the service information; controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters; Management method.

5. An autonomous mobile robot, a program for causing a computer to execute 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 program comprising: The management method includes: acquiring service information relating to a service to be executed by the autonomous mobile robot; acquiring a plurality of control parameters set for each of the services based on the service information; controlling the operation of the autonomous mobile robot in accordance with the plurality of control parameters; program.

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