Management system and management method

Abstract

To provide a management system and a management method which allow an autonomous mobile robot and accessory units to be appropriately combined in accordance with a service.SOLUTION: The management system manages an autonomous mobile robot and a plurality of accessory units 30 which is used in combination with the mobile robot to enable the mobile robot to perform a plurality of services. The management system acquires combination information in which combinations between the accessory units 30 and the mobile robot are registered, to generate a control signal for executing the combinations. The management system may use a machine learning model of deep learning or the like.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 / 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 are used in combination with the autonomous mobile robot to enable the autonomous mobile robot to perform a plurality of different services, obtains combination information in which combinations of the accessory units and the mobile robot are registered, and generates a control signal to execute the combination.

[0006] The management system 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 obtains combination information in which combinations of the accessory units and the mobile robot are registered, and generates a control signal for executing the combination. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a management system and a management method that can appropriately combine an autonomous mobile robot and an accessory unit depending on the service. [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] 10A and 10B are side views schematically showing the configuration of the cleaning unit before and after connection. [Figure 4] 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. Of course, 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 the transport unit 31, cleaning unit 32, security unit 33, and guide unit 34. In other words, the mobile robot 20 uses different attachment units 30 depending on the service to be performed. Of course, the mobile robot 20 may be configured to be able to attach two or more attachment units 30 at the same time. Furthermore, the mobile robot 20 may be configured to be able to attach an attachment unit 30 by its own action alone, or a user or the like may be assisted in the attachment.

[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 has a pad or mop for wiping floors. 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, allowing the mobile robot 20 to perform a plurality of different services. In other words, the mobile robot 20 performs a service according to the attached attachment unit 30. Also, usable and unusable attachment units 30 may be set according to the mobile robot 20. In other words, whether or not the mobile robot 20 and the attachment unit 30 can be combined may be set in advance.

[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 robots 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 the multiple mobile robots 20 and instructs the mobile robot 20 to perform the service.

[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 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.

[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 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.

[0038] The storage unit 22 stores a floor map 221, robot control parameters 223, and combination information 228. 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 combination information 228 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 mobile robot 20 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. 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.

[0041] The combination information 228 includes information regarding the combination of the mobile robot 20 and the accessory unit 30. Therefore, the mobile robot 20 and the accessory unit 30 are registered in the combination information 228. A plurality of combinations are registered in the combination information 228. One combination in the combination information 228 is information linking one mobile robot 20 with one accessory unit 30. The combination information 228 may also include information regarding whether the mobile robot 20 and the accessory unit 30 can be combined. The combination information may also include information for the mobile robot 20 to use the accessory unit 30. The combination information may also include location information where the accessory unit 30 is stored.

[0042] The combination information 228 may include information indicating how the mobile robot 20 connects to the accessory unit 30. Here, the following description will be given assuming that there are three methods for connecting the mobile robot 20 and the accessory unit 30: connection by a lifting and lowering operation, connection by a coupling operation, and connection by a wireless signal.

[0043] In connection by lifting and lowering operation, the mobile robot 20 mounts the accessory unit 30 by operating the lifting mechanism. Specifically, when the lifting stage is located directly below the transport unit 31 and the mobile robot 20 raises the lifting stage using the lifting mechanism 29, the transport unit 31 is mounted on the mobile robot 20 as shown in Fig. 1. Also, as shown in Fig. 3, the cleaning unit 32 may be connected to the mobile robot 20 by lifting and lowering operation. Fig. 3 is a side view schematically showing the configuration of the cleaning unit 32 before and after connection.

[0044] The cleaning unit 32 has a vacuum cleaner 321, a support part 322, and a fixing pin 323. The vacuum cleaner 321 is connected to the support part 322. Furthermore, the fixing pin 323 is provided on the lower side of the support part 322. The fixing pin 323 is a convex part that protrudes from the lower side of the support part 322.

[0045] The mobile robot 20 includes a chassis 240, a lifting stage 241, a support 243, wheels 245, and a display unit 27. The chassis 240 is provided with wheels 245. The wheels 245 rotate around axles provided on the chassis 240. The lifting stage 241 is provided on the top surface of the lifting stage 241. A recess 247 into which a fixing pin 323 is inserted is provided on the top surface of the lifting stage 241. The recess 247 is provided at a position corresponding to the fixing pin 323. A support 243 is provided at an end of the chassis 240. The support 243 extends upward from the chassis 240. A touch panel display serving as the display unit 27, etc. is provided on the support 243.

[0046] The mobile robot 20 moves to below the support part 322. In other words, the mobile robot 20 moves so that the chassis 240 is directly below the support part 322. Then, when the lift stage 241 provided on the chassis 240 rises, the fixing pin 323 is inserted into the recess 247. This connects the cleaning unit 32 to the mobile robot 20. When the mobile robot 20 moves, pushing or pulling the cleaning unit 32, the cleaning service is performed. The transport unit 31 shown in FIG. 1 may also be mounted on the mobile robot 20 with a configuration similar to that of the cleaning unit 32.

[0047] In connection by a coupling operation, for example, a coupling mechanism is provided for coupling to one or both of the mobile robot 20 and the attachment unit 30. Then, as the mobile robot 20 moves, the mobile robot 20 and the attachment unit 30 are coupled. The coupling mechanism has, for example, a hook mechanism, a locking mechanism, an engagement mechanism, a protrusion, a pin, a traction arm, a hole, a guide mechanism, or a joint mechanism. As the mobile robot 20 approaches the attachment unit 30, the locking piece or hook of the mobile robot is coupled to the attachment unit 30. As the mobile robot 20 moves forward or backward, the mobile robot 20 and the attachment unit 30 are coupled. In this way, the attachment unit 30 is attached to the mobile robot 20. Alternatively, a user or the like may assist the coupling operation.

[0048] In a connection via wireless signals, the mobile robot 20 transmits wireless signals to the accessory unit 30. For example, the mobile robot 20 and the accessory unit 30 are paired by Bluetooth (registered trademark) or the like. Then, the mobile robot 20 transmits wireless signals for remotely controlling the accessory unit 30. In this case, for example, the accessory unit 30 is a cleaning unit having a cleaning robot.

[0049] Furthermore, the combination information 228 registers information about the connection method for each mobile robot 20 or each accessory unit 30. Alternatively, the combination information 228 may register information about the connection method or connection operation for each combination. The combination information 228 may include control parameters, setting values, etc. for performing the connection operation for the accessory unit 30.

[0050] For example, in the case of connection by a linking operation, the combination information 228 includes information on the relative position of the mobile robot 20 with respect to the accessory unit 30, the approach direction, the approach distance, and the movement speed during approach. In the case of connection by a lifting operation, the combination information 228 may include information on the relative position of the mobile robot 20 with respect to the accessory unit 30, the approach direction, the lift amount, and the lift speed. In the case of connection by wireless, the combination information 228 may include information on the frequency band and channel of the wireless signal.

[0051] 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.

[0052] 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 combination information acquisition unit 218. Note that while FIG. 2 shows only representative processing blocks of the arithmetic processing unit 21, it also includes processing blocks not shown.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Specifically, the route planning unit 215 sets the departure point, intermediate points, and destination by referring to the floor map 221, the combination information 228, and the like 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 using points within the area where the service is to be performed as intermediate points and destinations.

[0057] When a service to be executed is assigned to the mobile robot 20 from the host management device 10 or the user terminal 400, the combination information acquisition unit 218 identifies the attachment unit 30 to be used. If there are multiple attachment units 30 to be used for the service to be executed, the host management device 10 or the mobile robot 20 selects one attachment unit 30 from the multiple attachment units 30. The combination information acquisition unit 218 acquires combination information 228 in which combinations of the mobile robot 20 and the attachment units 30 are registered. The combination information acquisition unit 218 may acquire the combination information based on the detection results of the camera 25 or the distance sensor group 24. The calculation processing unit 21 generates a control signal for executing the combination.

[0058] The mobile robot 20 refers to the combination information 228 corresponding to the attachment unit 30 and performs an operation to connect the attachment unit 30. The calculation processing unit 21 refers to the combination information 228 and generates a control signal for executing the combination. The combination information 228 may include position information of the attachment unit 30 on the floor map 221 and the identification number of the attachment unit 30. The combination information acquisition unit 218 acquires information about the attachment unit 30 to be used from the upper management device 10. Alternatively, the combination information acquisition unit 218 may acquire the identification number of the attachment unit 30 by identifying the attachment unit 30 near the mobile robot 20 based on an image from the camera 25 or the like. The mobile robot 20 moves to the position of the attachment unit 30 and connects to the attachment unit 30 based on this control signal.

[0059] For example, the combination information may include information indicating a method for connecting the accessory unit 30 to the mobile robot 20. The combination information 228 includes information indicating whether the mobile robot connects the accessory unit or remotely controls it. The combination information 228 also includes information indicating whether the connection with the mobile robot 20 is via a lifting / lowering operation or a connecting operation. By referring to the combination information, the combination information acquisition unit 218 can identify whether the connection between the mobile robot 20 and the accessory unit 30 is via a lifting / lowering operation, a connecting operation, or wireless connection. The calculation processing unit 21 then generates a control signal by referring to this combination information. This allows the mobile robot 20 to appropriately execute a combination according to the service.

[0060] The combination information 228 includes information about a connection operation for the mobile robot 20 to connect to the attachment unit 30. For example, the combination information 228 includes information about the approach direction, approach distance, relative position of the mobile robot 20 to the attachment unit 30, and lift height. The processor 21 then references this combination information 228 to generate a control signal. This allows the mobile robot 20 to appropriately perform a combination according to the attachment unit 30.

[0061] The relative position of the mobile robot 20 with respect to the accessory unit 30 can be measured from the detection results of the distance sensor group 24. Alternatively, the calculation processing unit 21 can measure the relative position from images from the camera 25 or the environmental camera 300. In other words, the position of the mobile robot 20 with respect to the accessory unit 30 can be adjusted based on the detection results of the distance sensor group 24 and the camera images. In this case, the mobile robot 20 can approach with high accuracy according to the approach distance, approach direction, etc. indicated by the combination information. Therefore, the mobile robot 20 can appropriately perform the combining operation and connecting operation of the accessory unit 30.

[0062] The combination information includes information indicating whether the mobile robot 20 will connect to or remotely control the attachment unit 30. When performing remote control, the mobile robot 20 moves close to the attachment unit 30. In other words, the mobile robot 20 moves within a range where wireless communication with the attachment unit 30 is possible, and pairs with the attachment unit 30. The mobile robot 20 remotely controls the attachment unit 30 using a wireless signal. When the mobile robot 20 wirelessly connects to the attachment unit 30, the processing unit 21 generates a control signal so that the mobile robot 20 performs a predetermined wireless connection operation with the attachment unit 30. In this way, the mobile robot 20 and the attachment unit 30 can be appropriately combined.

[0063] 4 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.

[0064] The combination information acquisition unit 218 acquires combination information of the mobile robot 20 and the attachment unit 30 (S11). The drive control unit 212 or the movement command extraction unit 211 references the combination information and generates a control signal for executing the combination (S12). This allows the mobile robot 20 to perform an operation for combining with the attachment unit 30 based on the control signal. In this way, the autonomous mobile robot and the attachment unit can be appropriately combined depending on the service. In the case where the mobile robot 20 selects and uses one attachment unit 30 from multiple attachment units 30, the management system 1 can appropriately perform the combination with the attachment unit 30. Of course, at least a part of the processing of the mobile robot 20 may be performed by the upper management device 10.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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]

[0069] 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 combination information in which the combination of the accessory unit and the autonomous mobile robot is registered; A management system that generates control signals to cause said combination to occur.

2. 2. The management system according to claim 1, wherein the combination information includes information indicating how to connect the accessory unit to the autonomous mobile robot.

3. 3. The management system according to claim 2, wherein the combination information includes information regarding a connection operation for connecting the autonomous mobile robot to the accessory unit.

4. 2. The management system according to claim 1, wherein said combination information includes information indicating whether said autonomous mobile robot is to connect to or remotely control said accessory unit.

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 combination information in which the combination of the accessory unit and the autonomous mobile robot is registered; A management method for generating control signals for executing said combination.

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