Control system, control method, and program

Abstract

To provide a control system which enables a user to easily give an instruction on conveyance to a designated conveyance destination to a conveyance robot.SOLUTION: A control system controls a conveyance system including a conveyance robot 100 capable of conveying a conveyed object in an autonomously movable manner. The control system acquires conveyance destination information indicating a conveyance destination of an article from a wagon 500 capable of storing the article, and makes the conveyance robot 100 autonomously move to convey the wagon 500 to the conveyance destination indicated by the acquired conveyance destination information.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a control system, a control method, and a program. [Background technology]

[0002] Patent Document 1 discloses a technology for managing assets in an asset management database using RFID (Radio Frequency Identification) attached to the assets. In the technology described in Patent Document 1, the position of the RFID attached to the asset is determined based on scan data read by an autonomous mobile robot, and the position is associated with a position on a map, and the position and direction of the autonomous mobile robot in the asset management database are updated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 9,020,679 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need for a technology that allows a user to easily issue a transport instruction specifying a transport destination to a transport robot. However, the technology described in Patent Document 1 is not a technology that can solve this problem.

[0005] The present disclosure has been made to solve such problems, and provides a control system, control method, and program that allow a user to easily issue transport instructions to a transport robot specifying a transport destination. [Means for solving the problem]

[0006] The control system according to the present disclosure controls a transport system including a transport robot capable of autonomous movement and transporting transported objects. The control system acquires destination information indicating the destination of an item from a wagon capable of storing the item, and autonomously moves the transport robot to transport the wagon to the destination indicated by the destination information. In the control system configured as described above, a user can issue a transport instruction to the transport robot, including the destination of the item, by simply storing the destination information on the wagon. The destination information can be acquired from the wagon, and the transport robot can autonomously transport the item to the destination in accordance with the transport instruction indicated by the destination information. Therefore, the control system allows a user to easily issue a transport instruction specifying the destination to the transport robot. Note that the autonomous movement can also be performed using a learning model obtained by machine learning.

[0007] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a sensor that detects the destination information from the label or a communication unit that receives the destination information from the sensor. In the control system configured as described above, a user can easily give transport instructions without using any device that requires electricity, and the transport robot can receive the transport instructions.

[0008] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a camera that captures an image of the label to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. In the control system configured as described above, a user can easily give transport instructions without using any device that requires electricity, and the transport robot can receive the transport instructions.

[0009] The label may have the destination information printed on one side and destination information printed on the other side, which indicates the destination to which the cart should be moved after being delivered to the destination indicated by the destination information, thereby enabling the user to easily give instructions to return the cart.

[0010] The label may have a two-dimensional or one-dimensional code printed thereon that indicates the destination, thereby reducing misidentification of destination information compared to character recognition.

[0011] The label may include a tab portion, and the tab portion may be provided with at least one of a position indicating the destination, a color indicating the destination, and a shape indicating the destination, thereby preventing a user from giving a transport instruction by mistake on the label.

[0012] The label may be a label on which characters indicating the destination are printed, or a label in a color indicating the destination, thereby preventing a user from giving a wrong label and giving a wrong transport instruction.

[0013] The wagon may include a label placement unit for placing the label in a replaceable state, thereby enabling a user to easily give transport instructions.

[0014] The wagon may be provided with a display device that displays the destination information, and the control system may be provided with a sensor that detects the destination information from the display device or a communication unit that receives the destination information from the sensor. In the control system configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0015] The wagon may be equipped with a display device that displays the destination information, and the control system may be equipped with a camera that captures an image of the display device to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. In the control system configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0016] The wagon may be equipped with an RFID tag on which the destination information is recorded, and the control system may be equipped with an RFID reader that reads the destination information from the RFID tag, or a communication unit that receives the destination information read by the RFID reader. In the control system configured as described above, a user can give transport instructions in a simple manner, and the transport robot can accurately receive the transport instructions.

[0017] The destination information may include information indicating a plurality of destinations, and the control system may autonomously move the transport robot so as to transport the wagon along a route including the plurality of destinations indicated by the destination information. In the control system having the above configuration, even when there are a plurality of destinations, the transport robot can transport all of the items to the specified destinations.

[0018] The wagon may include a storage section for storing the article and a support section for supporting the storage section in a state in which a space for at least a part of the chassis of the transport robot is formed below the storage section, and the transport robot may include a lifting mechanism on an upper surface side of at least a part of the chassis for loading and unloading the wagon. With the control system configured as described above, the wagon can be easily automatically transported by the transport robot.

[0019] A control method according to the present disclosure is a method in which a control system for controlling a transport system including a transport robot capable of autonomously moving and transporting transported objects acquires destination information indicating the destination of the item from a wagon capable of storing the item, and the control system autonomously moves the transport robot to transport the wagon to the destination indicated by the destination information. In the control method configured as described above, a user can issue a transport instruction to the transport robot including the destination of the item simply by having the wagon store the destination information, and the destination information can be acquired from the wagon, and the transport robot can autonomously transport the item to the destination in accordance with the transport instruction indicated by the destination information. Therefore, the control method allows a user to easily issue a transport instruction specifying the destination to the transport robot.

[0020] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a sensor that detects the destination information from the label or a communication unit that receives the destination information from the sensor. In the control method configured as described above, a user can easily give transport instructions without using any device that requires electricity, and the transport robot can receive the transport instructions.

[0021] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a camera that captures an image of the label to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. In the control method configured as described above, a user can easily give transport instructions without using any device that requires electricity, and the transport robot can receive the transport instructions.

[0022] The wagon may be provided with a display device that displays the destination information, and the control system may be provided with a sensor that detects the destination information from the display device or a communication unit that receives the destination information from the sensor. In the control method configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0023] The wagon may be equipped with a display device that displays the destination information, and the control system may be equipped with a camera that captures an image of the display device to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. In the control method configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0024] The wagon may be equipped with an RFID tag on which the destination information is recorded, and the control system may be equipped with an RFID reader that reads the destination information from the RFID tag, or a communication unit that receives the destination information read by the RFID reader. In the control method configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can accurately receive the transport instruction.

[0025] The destination information may include information indicating a plurality of destinations, and the control system may autonomously move the transport robot so as to transport the wagon along a route including the plurality of destinations indicated by the destination information. With the control method configured as described above, even when there are a plurality of destinations, the transport robot can transport all of the items to the specified destinations.

[0026] A program according to the present disclosure is a program that causes a computer included in a control system that controls a transport system including a transport robot that is autonomously mobile and capable of transporting transported objects to input destination information indicating the destination of an item obtained from a wagon that can store the item, and to execute a process of autonomously moving the transport robot to transport the wagon to the destination indicated by the input destination information. With the program having the above configuration, a user can issue a transport instruction to the transport robot, including the destination of the item, by simply storing the destination information on the wagon. The destination information can then be acquired from the wagon, and the transport robot can autonomously transport the item to the destination in accordance with the transport instruction indicated by the destination information. Therefore, the above program allows a user to easily issue a transport instruction specifying the destination to the transport robot.

[0027] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a sensor that detects the destination information from the label or a communication unit that receives the destination information from the sensor. With the program configured as described above, a user can easily give transport instructions without using any device that requires electricity, and the transport robot can receive the transport instructions.

[0028] The wagon may be provided with a label on which the destination information is printed, and the control system may be provided with a camera that captures an image of the label to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. With the program configured as described above, a user can easily give transport instructions without using a device that requires electricity, and the transport robot can receive the transport instructions.

[0029] The wagon may be provided with a display device that displays the destination information, and the control system may be provided with a sensor that detects the destination information from the display device or a communication unit that receives the destination information from the sensor. With the program configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0030] The wagon may be provided with a display device that displays the destination information, and the control system may be provided with a camera that captures an image of the display device to obtain image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. With the program configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can receive the transport instruction.

[0031] The wagon may be equipped with an RFID tag on which the destination information is recorded, and the control system may be equipped with an RFID reader that reads the destination information from the RFID tag, or a communication unit that receives the destination information read by the RFID reader. With the program configured as described above, a user can give a transport instruction in a simple manner, and the transport robot can accurately receive the transport instruction.

[0032] The destination information may include information indicating a plurality of destinations, and the process may include autonomously moving the transport robot so as to transport the wagon along a route including the plurality of destinations indicated by the input destination information. With the program having the above configuration, even when there are a plurality of destinations, the transport robot can transport all of the items to the specified destinations. [Effects of the Invention]

[0033] According to the present disclosure, it is possible to provide a control system, a control method, and a program that enable a user to easily issue a transport instruction to a transport robot specifying a transport destination. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a perspective view showing an example of the overall configuration of a transport robot according to an embodiment; [Figure 2] 2 is a perspective view showing an example of the overall configuration of a wagon transported by the transport robot of FIG. 1. FIG. [Figure 3] FIG. 3 is a diagram illustrating a list of labels that can be attached to the wagon of FIG. 2. [Figure 4] 3 is a side view showing how the transport robot of FIG. 1 detects destination information from a label placed on the wagon of FIG. 2. FIG. [Figure 5] 3 is a perspective view showing the state in which the transport robot of FIG. 1 transports the wagon of FIG. 2. FIG. [Figure 6] 3 is a front view showing the state in which the transport robot of FIG. 1 transports the wagon of FIG. 2.

[0023] FIG. [Figure 7] 3 is a side view showing the state in which the transport robot of FIG. 1 transports the wagon of FIG. 2. FIG. [Figure 8] 1. FIG. 4 is a flowchart illustrating an example of a wagon transport process executed by the transport robot of FIG. [Figure 9] 2 is a schematic diagram showing an example of a wagon transport process executed by the transport robot of FIG. 1. FIG. [Figure 10] 1. FIG. 4 is a schematic diagram showing another example of the wagon transport process executed by the transport robot of FIG. [Figure 11] FIG. 10 is a side view showing how destination information is read from an RFID tag mounted on a wagon by a transport robot in another configuration example of an embodiment. [Figure 12] 1 is a schematic diagram illustrating an example of the overall configuration of a transport system including a transport robot according to an embodiment; [Figure 13] 13 is a flowchart for explaining an example of control over the transport robot executed by the host management device in the transport system of FIG. 12. FIG. [Figure 14] FIG. 2 illustrates an example of a hardware configuration of the apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0035] 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 as means for solving the problems.

[0036] (Embodiment) The control system according to this embodiment controls a transport system including a transport robot that is autonomously mobile and capable of transporting an object. The transport robot is a mobile robot that can transport an object. An example of the configuration of the transport robot according to this embodiment will be described below with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing an example of the overall configuration of the transport robot according to this embodiment, and FIG. 2 is a perspective view showing an example of the overall configuration of a wagon transported by the transport robot of FIG. 1.

[0037] The above-described transport system may include a transport robot such as the transport robot 100 shown in Fig. 1, but may also include other devices such as a host management device. However, for the sake of simplicity, an example in which the transport system is configured using the transport robot 100 alone will first be given, and its main features will be explained. In this example, the control system may refer to the transport robot 100 itself or the components of the control system provided in the transport robot 100.

[0038] In the following explanation, an XYZ Cartesian coordinate system will be used as appropriate. The X direction is the front-to-back direction of the transport robot 100 shown in FIG. 1, the Y direction is the left-to-right direction, and the Z direction is the vertical up-down direction. More specifically, the +X direction is defined as the front direction of the transport robot 100, and the -X direction is defined as the rear direction of the transport robot 100. The +Y direction is the left direction of the transport robot 100, and the +Z direction is the vertical up direction.

[0039] The transport robot 100 can move both forward and backward. That is, when the wheels are rotated forward, the transport robot 100 moves forward, and when the wheels are rotated backward, the transport robot 100 moves backward. By changing the rotation speed of the left and right wheels, the transport robot 100 can turn left and right.

[0040] 1, the transport robot 100 may include a chassis 110 on which an object to be transported is mounted, a stand 120, and an operation unit 130. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer 101, a drive motor, and the like. Note that the description will be given assuming that the control computer 101 is mounted in the position shown in the figure on the chassis 110, but this is not limiting, and the control computer 101 may be mounted in another position on the chassis 110, or part or all of the control computer 101 may be mounted on at least one of the stand 120 and the operation unit 130.

[0041] The chassis 110 holds wheels 111 in a rotatable manner. Furthermore, the chassis 110 and the stand 120 may be provided with various sensors such as a camera and a distance sensor, for example, to prevent contact with obstacles and confirm the route. The transport robot 100 is an autonomous mobile robot, but it may also have a function that allows it to move by user operation, that is, it may be a mobile robot that can switch between an autonomous movement mode and a user operation mode. In controlling the autonomous movement, the transport robot can also move autonomously by determining a route and avoiding contact using a learning model obtained by machine learning.

[0042] Here, the user operation mode, in which movement is based on user operation, may be a mode in which the degree of user operation is relatively high compared to the autonomous movement mode in which movement is autonomous. In other words, the user operation mode does not need to be limited to a mode in which the user operates all of the movements of the mobile robot and autonomous control by the mobile robot is completely eliminated, and similarly, the autonomous movement mode does not need to be limited to a mode in which the mobile robot is completely autonomously controlled and does not accept any user operation. For example, the user operation mode and the autonomous movement mode may include the following first to third examples.

[0043] In a first example, in the autonomous movement mode, the mobile robot moves autonomously and makes the decision to stop and start moving, without any user operation; in the user operation mode, the mobile robot moves autonomously and the user performs the stop and start operations. In a second example, in the autonomous movement mode, the mobile robot moves autonomously and the user performs the stop and start operations; in the user operation mode, the mobile robot does not move autonomously and the user performs the stop and start operations as well as the movement operations. In a third example, in the autonomous movement mode, the mobile robot moves autonomously and makes the decision to stop and start moving, without any user operation; in the user operation mode, the mobile robot moves autonomously, adjusting speed and avoiding collisions, while the user performs the operation to change the direction of movement and route.

[0044] The user may be an employee of the facility where the transport robot 100 is operated, or, if the facility is a hospital, a hospital employee. The transport robot 100 may be configured such that its movement route and the like are managed by a host management device (not shown), and the transport robot 100 transports the transported object in accordance with instructions from the host management device. In this case, the external device described below may be the host management device or a wireless communication device connected to the host management device. Here, the host management device is an example of a server that can be connected to the transport robot 100 via wireless communication, and this server provides the transport robot 100 with information for autonomous movement. This server is not limited to being configured as a single device, but may also be configured as a system in which functions are distributed across multiple devices.

[0045] The control computer 101 can be realized, for example, by an integrated circuit, and can be realized, for example, by a processor such as an MPU (Micro Processor Unit) or a CPU (Central Processing Unit), a working memory, and a non-volatile storage device. A control program to be executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby fulfilling the function of controlling the transport robot 100. The control computer 101 can be called a control unit.

[0046] The transport robot 100 may also include a wireless communication unit (not shown) for wirelessly communicating with an external device. The wireless communication unit may be configured to perform wireless communication with the external device based on one or more wireless communication standards among various wireless communication standards, such as the Wi-Fi (registered trademark; the same applies below). The external device may be, for example, a wireless LAN (Local Area Network) access point or repeater, but is not limited to these, and may be any wireless communication device or device with a wireless communication function.

[0047] The chassis 110 may also be equipped with an elevator mechanism 140 for loading and unloading the transported object. A portion of the elevator mechanism 140 may be housed inside the chassis 110, or the elevator mechanism 140 may be disposed on the upper surface of the chassis 110 with a loading surface on which the transported object is placed exposed. The elevator mechanism 140 is a lift stage that can be raised and lowered, and can be raised and lowered under control of the control computer 101. The chassis 110 is provided with an elevator motor and a guide mechanism. The upper surface of the elevator mechanism 140 serves as a loading surface on which a wagon serving as the transported object is placed. The wagon may be any wagon having a predetermined size, shape, and weight that can be placed on the elevator mechanism 140 and transported. In the following description, the wagon 500 shown in FIG. 2 will be used as an example of this wagon, but the present invention is not limited to this. The elevator mechanism 140 has a lift mechanism that lifts the wagon 500. The space above the elevator mechanism 140 serves as a loading space on which the transported object is placed. It should be noted that the chassis 110 does not need to be provided with the lifting mechanism 140 if the user is limited to loading the wagon 500 .

[0048] The stand 120 is attached to the chassis 110. The stand 120 is a rod-shaped member extending upward from the chassis 110. Here, the stand 120 is formed in a cylindrical shape with the longitudinal direction in the Z direction, but of course, the shape is not important, and the transport robot 100 may be configured without the stand 120. The longitudinal direction of the stand 120 is arranged parallel to the Z direction. The stand 120 is arranged outside the lifting mechanism 140. In other words, the stand 120 is arranged so as not to interfere with the lifting operation of the lifting mechanism 140. The stand 120 is arranged at one end of the chassis 110 in the Y direction (left-right direction). The stand 120 is attached near the front right corner of the chassis 110. In the XY plane, the stand 120 is provided at the end of the chassis 110 on the +X side and the -Y side.

[0049] The top surface of the stand 120 may be provided with, for example, a stick portion of a joystick device, an emergency stop button, or an indicator lamp showing the operating state of the transport robot 100. This joystick device is a device for operating the transport robot 100 in the direction intended by the user in the user operation mode.

[0050] The stand 120 supports the operation unit 130. The operation unit 130 is attached near the upper end of the stand 120. This allows the operation unit 130 to be installed at a height that is easy for a user to operate. In other words, the stand 120 extends to a height that is easy for a user to operate while standing. The operation unit 130 extends from the stand 120 to the +Y side. In the left-right direction, the operation unit 130 is disposed in the center of the chassis 110.

[0051] The operation unit 130 may include a touch panel monitor that accepts user operations. Of course, the operation unit 130 may also include a microphone for voice input. The monitor of the operation unit 130 faces away from the chassis 110. That is, the display surface (operation surface) of the operation unit 130 faces the +X side. The operation unit 130 may be detachable from the stand 120. That is, the stand 120 may be equipped with a holder that holds the touch panel. By operating the operation unit 130, the user can input information such as the destination of the transported object and transport information related to the transported object. Furthermore, the operation unit 130 can display to the user information such as the contents of the transported object, the transported object, and the object to be transported, as well as its destination. Of course, the transport robot 100 may be configured without the operation unit 130.

[0052] Furthermore, the stand 120 may include an acquisition unit that acquires destination information indicating the destination of an item from the wagon 500 that can accommodate the item. In FIG. 1, an example of this acquisition unit is shown in which a camera 104 facing the +X side is provided, which is an example of a sensor that detects destination information. The position of this sensor is not limited to being provided on the stand 120, but it may also be provided on the chassis 110 or the operation unit 130. As this sensor, various sensors for preventing contact with obstacles, confirming the route, etc. may be used.

[0053] Then, the control computer 101 autonomously moves the transport robot 100 so as to transport the wagon 500 to the destination indicated by the destination information detected by the sensor exemplified by the camera 104. It can be said that the control computer 101 can be equipped with a movement control unit that performs control for such autonomous movement. The subject of the autonomous movement control may include a drive unit (not shown) provided in the transport robot 100, but by including the lifting mechanism 140, loading or loading and unloading of the wagon 500 can also be performed automatically. The drive unit can refer to a part that drives the wheels 111, etc.

[0054] A user places an item to be transported in a wagon 500 placed on the transport robot 100 and requests transportation. In the following description, since the wagon 500 itself can also be referred to as an item, for convenience, the item to be transported stored in the wagon 500 will be referred to as an article. The transport robot 100 autonomously moves to a set destination and transports the wagon 500. In other words, the transport robot 100 executes a transport task for the wagon 500. In the following description, the location where the wagon 500 is loaded will be referred to as the origin or loading location, and the location where the wagon 500 is delivered will be referred to as the destination or destination.

[0055] For example, suppose that the transport robot 100 moves within a general hospital with multiple medical departments. The transport robot 100 transports items such as supplies, consumables, and medical instruments between the multiple medical departments. For example, the transport robot 100 delivers items from the nurse's station of one medical department to the nurse's station of another medical department. Alternatively, the transport robot 100 delivers items from a storage room for supplies and medical instruments to the nurse's station of a medical department. Furthermore, the transport robot 100 delivers medicine dispensed in a pharmacy department to the medical department or patient that will use the medicine.

[0056] Examples of items include consumables such as medicines and bandages, specimens, testing equipment, medical instruments, hospital food, stationery, and other supplies. Medical equipment includes blood pressure monitors, transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, blood pressure monitors, artificial resuscitators, sterilization devices, and ultrasound machines. Meals such as hospital meals and test meals may also be delivered. Furthermore, the transport robot 100 may deliver used equipment, used tableware, and the like. If the delivery destination is on a different floor, the transport robot 100 may move using an elevator or the like.

[0057] Details of the wagon 500 in FIG. 2, examples of storing destination information, examples of holding the wagon 500 by the transport robot 100, and examples of detecting the destination information will be described below. As described above, the transport robot 100 is equipped with a sensor exemplified by the camera 104. As a result, in order for a user to issue a transport instruction to the transport robot 100 including the destination of an item, the user only needs to have the destination information stored on the wagon 500. In other words, the transport robot 100 can detect the destination information from the wagon 500 based on just such a transport instruction, and autonomously transport the item to the destination in accordance with the transport instruction indicated by the destination information. Therefore, the transport robot 100 allows a user to easily issue a transport instruction specifying a destination to the transport robot 100, i.e., allows a user to easily issue a transport instruction specifying a destination to the transport robot.

[0058] Next, details of the wagon 500, an example of storing destination information, an example of storing the wagon 500 by the transport robot 100, and an example of detecting the destination information will be described with reference to Figures 2 to 4. Figure 3 is a diagram illustrating a list of labels that can be attached to the wagon 500. Figure 4 is a side view showing how destination information is detected from a label 600 attached to the wagon 500 by the transport robot 100.

[0059] The wagon 500 includes a storage section for storing items, and a support section for supporting the storage section with a space formed below the storage section for allowing at least a portion of the chassis 110 to enter. As shown in FIG. 2, the storage section can be configured to include side panels 504 on both sides of the wagon 500 and an openable / closable cover 501. A user can open the cover 501 to load and unload items stored inside the wagon 500. As shown in FIG. 2, the support section can be configured to include a support frame 505 for supporting the storage section, and wheels 502 attached to the underside of the support frame 505. The wheels 502 can also be provided with a cover (not shown).

[0060] As described above, the wagon 500 can be held by the lifting mechanism 140 in the transport robot 100. The lifting mechanism 140 is a mechanism for loading and unloading the wagon 500 as an object to be transported onto at least a portion of the upper surface side of the chassis 110. By providing the lifting mechanism 140, the transport robot 100 can easily automatically transport the wagon 500.

[0061] The wagon 500 can be provided with a label placement unit 503 that places a replaceable label 600, such as the one shown in Fig. 3. The label 600 is a label for detecting destination information with the camera 104, and corresponds to the destination selected by the user from the list shown in Fig. 3. As shown in Fig. 2, the label placement unit 503 can be provided on the side panel 504, but is not limited to this and may also be provided on the cover 501, for example. By providing the label placement unit 503 on the wagon 500, the user can easily give transport instructions.

[0062] However, for example, a transport instruction can be easily given by making at least a portion of the side plate 504 or the cover 501 a ferromagnetic material such as iron and making at least a portion of the label 600 a magnet. Of course, the same effect can be achieved by making at least a portion of the side plate 504 or the cover 501 a magnet and making at least a portion of the label 600 a ferromagnetic material such as iron. Furthermore, a transport instruction can be easily given by applying a reusable adhesive substance to the backside of the label 600 or by attaching a reusable double-sided tape to the backside of the label 600. In this case, if the label 600 is attached at a predetermined position on the side plate 504 or the cover 501, the location where the camera 104 reads the information is determined, making it easy to detect the destination information. Alternatively, a transport instruction can be given by placing the label 600 in a container such as a transparent bag provided at a predetermined position on the side plate 504 or the cover 501.

[0063] The label 600 may have a two-dimensional code printed thereon as destination information, which indicates the destination. Examples of two-dimensional codes include, but are not limited to, matrix-type two-dimensional codes such as QR Code (registered trademark; the same applies hereinafter) 606. By printing such a two-dimensional code on the label 600, the transport robot 100 can reduce misidentification of destination information compared to when detecting and recognizing characters. The area 605 is an area of ​​a different color from the main body 601 that is provided around the QR code 606, and is provided to improve the accuracy of reading the QR code 606 by the camera 104. Of course, instead of a two-dimensional code, a one-dimensional code such as a barcode, special characters, or a special pattern may be printed as destination information.

[0064] Furthermore, as illustrated by the labels for each destination in FIG. 3 , the label 600 can include a main body 601 and a tab 602, and the material is not critical, except for examples where a magnet or ferromagnetic material or an adhesive material is used. The tab 602 can be provided with at least one of a position indicating the destination, a color indicating the destination, and a shape indicating the destination, thereby preventing a user from giving the wrong label 600 a wrong delivery instruction. In FIG. 3 , the tab 602 is provided in a different position for the destination on the first floor and the destination on the sixth floor. That is, in FIG. 3 , the tab 602 is provided in a position relative to the main body 601 that indicates the floor to which the destination belongs in the operating facility as the destination location. Of course, a label without the tab 602 can be used instead of the label 600.

[0065] Furthermore, the label 600 may be a label on which characters indicating the delivery destination are printed. For example, as shown in FIG. 3, the main body 601 may have character information 604 indicating the delivery destination printed thereon as delivery destination information. That is, the character information 604 may include at least one of the name of the delivery destination and a symbol indicating the delivery destination. This prevents a user from giving delivery instructions for the wrong label 600. In this example, the label 600 may also have a tab portion 602, and the same characters as those indicated by the character information 604 may also be printed on the tab portion 602, although this is not shown.

[0066] Furthermore, the label 600 can be a label with a color indicating the destination of transport. For example, as shown in FIG. 3 where the difference in color 603 between the labels for the emergency room and the intensive care unit is indicated by different hatching, the main body 601 can be a color indicating the destination of transport as destination information. This can prevent a user from giving transport instructions by mistake using the wrong label 600. In this example, the label 600 can also be provided with a tab portion 602, and the color of the tab portion 602 can be the same as the color of the main body 601.

[0067] 3 shows an example in which different destinations, such as the emergency room and Room B on the 6th floor, are colored the same 603, but this is an example assuming that the destinations will be distinguished by the QR code 606 or text information 604. In the example of FIG. 3, different colors can be used to distinguish between different types of destinations, such as the level of urgency or the person in charge, such as the doctor or nurse in charge, making it easier for the user to understand information about the destination and preventing mistakes in giving transport instructions.

[0068] Furthermore, the label 600 may have destination information printed on one side and destination information indicating the destination to which the wagon 500 should be moved after being transported to the destination indicated by the destination information printed on the other side. This allows the user to issue an instruction to return the wagon 500 by simply flipping the label 600 over and setting it down.

[0069] It is possible to adopt one or more of the various printing contents and printing positions described above for the label 600. The various pieces of information may also be printed on a sticker, in which case the sticker is affixed to the label 600. The label 600 is a label that indicates the delivery destination, and therefore can be called a delivery destination display label or a destination display label.

[0070] As shown in FIG. 4 , the transport robot 100 can capture an image of the label 600 when the camera 104 is facing the label 600 on the wagon 500. The control computer 101 can detect destination information from the image data captured by the camera 104. That is, in this example, a user can issue transport instructions, including the destination, using only the label 600, and the transport robot 100 can recognize the destination. In particular, when using such a label 600, the user can easily issue transport instructions without using any electrical devices, and the transport robot 100 can receive the instructions. Furthermore, the user can easily visually identify the destination based on the characters printed on the label 600, the shape and color of the label 600, and so on, thereby preventing mistakes in destination selection. Particularly when used in a hospital, the user can issue transport instructions without touching the operation unit 130 or other parts of the transport robot 100, which is effective in preventing infection with infectious diseases and also makes it easier for medical staff, who often operate the robot while wearing gloves, to issue transport instructions.

[0071] Next, a manner in which the transport robot 100 transports the wagon 500 as a transported object will be described with reference to Figures 5 to 7. Figures 5, 6, and 7 are a perspective view, a front view, and a side view, respectively, showing the transport robot 100 of Figure 1 transporting the wagon 500 of Figure 2.

[0072] As shown in FIGS. 5 to 7, the transport robot 100 can hold the wagon 500 using the lifting mechanism 140. The space into which at least a portion of the chassis 110 described above is inserted is the space S formed below the chassis 500 as shown in FIG. 6, and this space S is the space into which the chassis 110 enters. In other words, the chassis 110 can enter the space S directly below the chassis 500. When the chassis 110 is to load the wagon 500, the transport robot 100 moves in the -X direction and enters directly below the wagon 500. The chassis 110 enters directly below the wagon 500 from the side in the front-rear direction where the stand 120 is not provided. In this way, the wagon 500 can be loaded without the stand 120 interfering with the wagon 500. In other words, the stand 120 is attached near a corner of the chassis 110 so as not to interfere with the wagon 500.

[0073] Furthermore, the camera 104 can be provided on the -X side of the stand 120 instead of on the +X side of the stand 120 as shown in the figure. In this way, the transport robot 100, assuming that it is transporting the wagon 500, can enter in the above-mentioned entry direction before detecting the destination information, and can detect the destination information printed on the label 600 with the camera 104 during the entry process.

[0074] 1, the mounting surface of the lifting mechanism 140 may be provided with a recess 141. Meanwhile, a protrusion (not shown) may be provided on the underside of the storage section of the wagon 500. Then, by fitting the protrusion into the recess 141, the wagon 500 can be fixed to the transport robot 100.

[0075] Although the wagon 500 is shown as a dolly having wheels 502, the shape and configuration of the wagon 500 are not particularly limited. The specific wagon exemplified by the wagon 500 may have any shape, size, and weight that can be transported by the transport robot 100.

[0076] The loading operation of the wagon 500 will be described. When the chassis 110 enters the space S directly below the wagon 500, the lifting mechanism 140 rises. As a result, the lifting stage, which is the upper surface of the lifting mechanism 140, comes into contact with the wagon 500. The lifting mechanism 140 can lift the wagon 500. In other words, when the lifting mechanism 140 rises, the wheels 502 lift off the ground, and the wagon 500 is loaded onto the chassis 110.

[0077] When the wagon 500 is to be lowered from the chassis 110, the lifting mechanism 140 is lowered. The wheels 502 come into contact with the floor surface, and the upper surface of the lifting mechanism 140 moves away from the wagon 500. The wagon 500 is placed on the floor surface. The wagon 500 can be lowered from the chassis 110. The chassis 110 is provided with four wheels 111. The four wheels 111 are left and right front wheels and left and right rear wheels. The rotation direction and rotation speed of the wheels 111 are independently controlled, so that the transport robot 100 moves along a desired route. Some of the four wheels 111 may be drive wheels, and the rest may be driven wheels. Furthermore, as shown in FIG. 1 etc., additional driven wheels may be provided between the front and rear wheels 111, for example.

[0078] Next, an example of a wagon transport process executed by the transport robot 100 will be described with reference to Fig. 8. Fig. 8 is a flow chart for explaining an example of a wagon transport process executed by the transport robot 100.

[0079] First, the user places the label 600 on the label placement unit 503 and moves the wagon 500 to a predetermined location, or the user goes to the location where the wagon 500 is to be installed and places the label 600 on the label placement unit 503. This allows the user to issue a transport instruction to the transport robot 100, which reads the label 600. Thereafter, as will be described below, the transport robot 100 picks up the wagon 500 and transports it to the destination.

[0080] The transport robot 100 recognizes the wagon 500 using the camera 104 or other sensor, and the camera 104 captures an image of the label 600 attached to the wagon 500 by a user (step S11). Next, the control computer 101 detects destination information from the image data obtained by capturing the image (step S12). This allows the control computer 101 to recognize the destination, i.e., the destination. Next, the control computer 101 sets a route for transporting the wagon 500 to the destination indicated by the destination information (step S13). The setting of step S13 can also be performed in cooperation with a higher-level management device.

[0081] After step S13, the control computer 101 controls the lifting mechanism 140 to stack the wagon 500, i.e., controls the pickup of the wagon 500 (step S14). This allows the transport robot 100 to dock with the wagon 500 and prepare for heading to the destination. If a label 600 is attached to the wagon 500, there is no need for a person to remove or invalidate the label 600 when docking. The control of step S14 can be executed after step S12 and before step S13, or can be executed in parallel with step S13. Next, the control computer 101 controls the drive of the wheels 111, etc. so that the transport robot 100 moves autonomously along the set route, and the transport robot 100 transports the wagon 500 to the destination (step S15), and the process ends.

[0082] Furthermore, with regard to step S11, the transport robot 100 may be a transport robot that is set in advance as a target to transport the wagon 500, and that searches for the wagon 500 or moves to a known location. For example, the transport robot 100 may be designated by a host management device as a target to transport the wagon 500 whose location has been specified, or designated as a search target, and may autonomously move to transport the wagon 500. Alternatively, the transport robot 100 may automatically transport the wagon 500 to its destination when it finds the wagon 500 on a return route after completing a transport task to transport another wagon or an item. The transport robot 100 is not limited to these examples, and various methods can be applied as a method for transporting the wagon 500 by the transport robot 100.

[0083] In the above various examples, the description has been given on the assumption that the transport robot 100 transports a wagon such as the wagon 500 as the transported object. However, the transport robot 100 only needs to be capable of transporting a wagon, and may transport individual items (baggage) as the transported object during operation. In that case, it is advisable to attach a storage box or shelf to the transport robot 100 to prevent the items from falling during movement.

[0084] Furthermore, in operation, there may be a situation where the transport robot 100 needs to transport multiple items to multiple destinations. In this case, the user can unload the items at the destination regardless of whether the transport is using the wagon 500. The transport robot 100 can transport the wagon or individual items by moving autonomously to a set destination or by moving according to user operation.

[0085] However, in the above-mentioned scenario, the destination information should preferably include information indicating multiple destinations, rather than just one. In other words, if multiple items with different destinations are stored in the wagon 500, the destination information should preferably include information indicating all destinations to which all of the stored items will be transported. For example, the label 600 can be written using one or more notation methods, such as a two-dimensional code, a one-dimensional code, special characters, or a special pattern, for the number of destinations that may arise during operation.

[0086] The control computer 101 then autonomously moves the transport robot 100 so as to transport the wagon 500 along a route including multiple destinations indicated by the destination information detected by the camera 104. In this case, the transport robot 100 executes a transport task for the wagon, which is a transport task that passes through multiple destinations to which all of the stored items can be delivered. This route calculation can also be performed by the control computer 101 alone, or can be performed in cooperation with a higher-level management device. With this configuration, the transport robot 100 can transport all of the items in the wagon 500 to the specified destinations even in a situation where there are multiple destinations for transporting all of the items.

[0087] An example of wagon transport processing when there is one transport destination and an example of wagon transport processing when there are multiple transport destinations will be described using Figures 9 and 10. Figure 9 is a schematic diagram showing an example of wagon transport processing executed by the transport robot 100, and Figure 10 is a schematic diagram showing another example of wagon transport processing executed by the transport robot 100.

[0088] FIG. 9 shows an example in which labels 610, 620, and 630 are attached to the wagon 500. When the wagon 500 is provided with the label 610, the transport robot 100 moves from the starting point to the emergency room according to the label 610, which indicates the emergency room as the destination. After that, hospital staff turns the label 610 over to label 610R, allowing the transport robot 100 to return to the starting point. Here, the QR code portion of the label 610R is blank, and FIG. 9 shows an example in which the blank QR code portion is used to recognize that the destination is the starting point. Of course, the entire back side of the label 610 may be blank. The same applies to the labels 620 and 630.

[0089] Similarly, if label 620 is attached to wagon 500, transport robot 100 will follow label 620, which indicates the destination as the integrated intensive care unit, and move from the starting point to the integrated intensive care unit. Thereafter, hospital staff can turn label 620 inside out to label 620R, allowing transport robot 100 to return to the starting point. Similarly, if label 630 is attached to wagon 500, transport robot 100 will follow label 630, which indicates the destination as room C on the sixth floor, and move from the starting point to room C on the sixth floor. Thereafter, hospital staff can turn label 630 inside out to label 630R, allowing transport robot 100 to return to the starting point.

[0090] In addition, when using both sides of label 600 as in this example, in cases where an adhesive substance is applied to label 600 or double-sided tape is attached, it is sufficient that the coating or attachment is done on both sides, not just the back, so that the label can be attached even when turned upside down.

[0091] FIG. 10 shows an example in which labels 610, 620, and 630 are provided on wagon 500 in order from the top so as to be visible from the outside, or in order from the left or right so as to be visible from the outside.

[0092] The transport robot 100 first moves from the starting point to the emergency room, following label 610, which indicates the emergency room as the destination. Then, the transport robot 100 moves from the emergency room to the integrated intensive care unit, following label 620, which indicates the integrated intensive care unit as the destination. Then, the transport robot 100 moves from the integrated intensive care unit to room C on the sixth floor, following label 630, which indicates room C on the sixth floor as the destination. Then, the hospital staff turns label 630 over to label 630R, which allows the transport robot 100 to return to the starting point. Instead of turning label 630 over, a blank label for the starting point can be provided in the next sequential position of label 630 on the wagon 500.

[0093] In this way, the transport robot 100 can transport the cart 500 while going around the hospital wards in order from the starting point, and hospital staff can take out the necessary items from the cart 500 at each destination. For example, the transport robot 100 may determine that the item has been taken out by detecting that the cover 501 has been opened and then closed, or that an operation has been performed to allow the robot to proceed to the next destination, and may then proceed to the next destination. Also, for example, if the same item is being transported along such a route, hospital staff may take out the item at each destination, use it, and return it. Then, the transport robot 100 can proceed to the next destination by detecting that the cover 501 has been opened and then closed, or that an operation has been performed to allow the robot to proceed to the next destination.

[0094] 10 shows an example of a wagon transport process in which a label 600 is prepared for each destination. However, if transport along the same route occurs frequently, multiple pieces of destination information indicating the respective destinations can be written on one label 600. In this case, the multiple pieces of destination information can be written in a predetermined order, such as from top to bottom, on the label 600 so as to indicate the order of the destinations. The transport robot 100 can set the next destination when it arrives at the first destination.

[0095] Furthermore, with regard to the acquisition unit, the transport robot 100 may be provided with a communication unit, instead of the camera 104, that is configured with a communication interface or the like that communicates with a camera that captures an image of the label to obtain image data, in order to acquire the destination information indicated by the label. This camera may be installed at one or more locations in the facility where the transport robot 100 is operated, and may be referred to as an environmental camera. This communication unit may be any unit that can receive image data from an environmental camera connected to the transport robot 100. For example, if this environmental camera is configured to be connected to a host management device, it may receive image data from the host management device. In this case, the transport robot 100 may be configured to analyze the received image data to detect the destination information.

[0096] Alternatively, the transfer robot 100 may be equipped with another type of sensor instead of the camera 104 to acquire the destination information indicated by the label. This sensor may be capable of detecting the destination information from the label. Alternatively, the transfer robot 100 may be equipped with a communication unit, instead of the camera 104, that includes a communication interface or the like for communicating with a sensor that detects the destination information from the label. This sensor may be installed at one or more locations in the facility where the transfer robot 100 is operated and may be referred to as an environmental sensor. This communication unit may be capable of receiving the destination information from the environmental sensor connected to the transfer robot 100. For example, if the environmental sensor is configured to be connected to a host management device, it may receive the destination information from the host management device. This environmental sensor may be an environmental camera. That is, the transfer robot 100 may be equipped with a communication unit, instead of the camera 104, that includes a communication interface or the like for communicating with the environmental camera that detects the destination information. This communication unit needs only to be capable of receiving destination information detected from an environmental camera connected to the transport robot 100; for example, if this environmental camera is configured to be connected to a higher-level management device, it can receive destination information from the higher-level management device.

[0097] The wagon 500 can also be equipped with a display device displaying destination information instead of the label 600. This display device can be a liquid crystal display (LCD) or an organic electroluminescence display (OLED). Therefore, a tablet computer or smartphone equipped with such a display device can also be used. Furthermore, the display device can be a display medium such as electronic paper, which requires little or no power to maintain an image and only a small amount of power for rewriting. Such display media are thin, lightweight, and easy to handle. When a display device is equipped instead of the label 600, the camera 104 can capture an image of the display device, and the control computer 101 can detect the destination information from the image data captured by the camera 104. Other aspects are similar to those in the example using the label 600, and therefore will not be described here. With a transport robot 100 configured in this way, the user can easily issue transport instructions, and the transport robot 100 can receive those instructions. When this display device is employed, the wagon 500 can also be equipped with a display device installation unit equivalent to the label installation unit 503.

[0098] Furthermore, in order to acquire the destination information indicated by the display device, the transport robot 100 may be provided with a communication unit, instead of the camera 104, which is configured with a communication interface or the like that communicates with a camera that captures an image of the display device to obtain image data. This camera may also be installed at one or more locations in the facility where the transport robot 100 is operated, and may be referred to as an environmental camera. This communication unit may be any unit that can receive image data from an environmental camera connected to the transport robot 100. For example, if this environmental camera is configured to be connected to a host management device, it may receive image data from the host management device. In this case, the transport robot 100 may be configured to analyze the received image data to detect the destination information.

[0099] Alternatively, the transfer robot 100 may be equipped with another type of sensor instead of the camera 104 to acquire the destination information displayed on the display device. This sensor may be capable of detecting the destination information from the display device. Alternatively, the transfer robot 100 may be equipped with a communication unit, instead of the camera 104, that includes a communication interface or the like for communicating with a sensor that detects the destination information from the display device. This sensor may also be installed at one or more locations in the facility where the transfer robot 100 is operated and may be referred to as an environmental sensor. This communication unit may be capable of receiving the destination information from the environmental sensor connected to the transfer robot 100. For example, if the environmental sensor is configured to be connected to a host management device, it may receive the destination information from the host management device. This environmental sensor may be an environmental camera. That is, the transfer robot 100 may be equipped with a communication unit, instead of the camera 104, that includes a communication interface or the like for communicating with the environmental camera that detects the destination information. This communication unit needs only to be capable of receiving destination information detected from an environmental camera connected to the transport robot 100; for example, if this environmental camera is configured to be connected to a higher-level management device, it can receive destination information from the higher-level management device.

[0100] Moreover, the wagon 500 can use an RFID tag instead of the label 600. An example of the configuration of a transport robot compatible with RFID tags will be described with reference to Fig. 11. Fig. 11 is a side view showing how destination information is read from an RFID tag mounted on a wagon by a transport robot in another example of the present embodiment.

[0101] The wagon 500a is the wagon 500 equipped with an RFID tag 700 recording destination information instead of the label 600. In this case, the transport robot 100a can be equipped with an RFID reader 105 that reads destination information from the RFID tag 700 as a sensor instead of the camera 104. Since other points are the same as those in the examples of the wagon 500 and the transport robot 100, explanations will be omitted. With the transport robot 100a, the user can give transport instructions in a simple manner, and the transport robot 100a can accurately receive the transport instructions.

[0102] The wagon 500a may also be provided with a tag installation section (not shown) equivalent to the label installation section 503, in which the RFID tag 700 is installed in a replaceable state. This allows the destination information corresponding to the wagon 500a to be associated with the wagon 500a by replacing the RFID tag instead of rewriting the RFID. In this case, however, since the RFID tag 700 is replaced by the user, text information indicating the destination information may be printed on the RFID tag 700 or a sticker indicating the text information may be attached thereto.

[0103] Furthermore, in order to acquire the destination information indicated by the RFID tag 700, the transport robot 100 may be provided with, instead of the RFID reader 105, a communication unit configured with a communication interface or the like that communicates with an RFID reader that reads the destination information from the RFID tag 700. This communication unit may be any unit that can receive the destination information from the RFID reader connected to the transport robot 100, and for example, in a configuration in which the RFID reader is connected to a higher-level management device, it can receive the destination information from the higher-level management device.

[0104] In the above description, an example has been given in which the transport system is mainly configured with the transport robot 100, but the control system according to this embodiment may be any system that controls the transport system as described above. The transport system may also include a server that can be connected to the transport robot 100 via wireless communication. This server provides the transport robot 100 with information for autonomous movement. Since this server manages the transport robot 100, it can also be called a host management device, and it is not limited to being configured as a single device, but can also be configured as a system in which functions are distributed across multiple devices.

[0105] Below, using Figures 12 and 13, we will give an example in which this transport system is equipped with a transport robot 100, a host management device, and a wagon 500, and destination information is obtained by a camera based on the contents of a label 600, but the various application examples mentioned above, including application examples related to wagons and labels and application examples related to multiple items, can also be applied.

[0106] First, an example of the overall configuration of a transfer system will be described with reference to Fig. 12. Fig. 12 is a schematic diagram showing an example of the overall configuration of a transfer system including a transfer robot 100.

[0107] 12, the transport system 1 includes a transport robot 100, a host management device 2, a network 3, a communication unit 4, and an environmental camera 5. The transport system 1 is a system that transports an object using the transport robot 100, and includes the control system in this configuration example. In this example, the control system can refer to, for example, the transport robot 100 and the host management device 2, or the components of the control system provided in the transport robot 100 and the host management device 2.

[0108] The transport robot 100 is connected to a host management device 2 via a communication unit 4 and a network 3. The network 3 is a wired or wireless LAN (Local Area Network) or WAN (Wide Area Network). Furthermore, the host management device 2 and the environmental camera 5 are connected to the network 3 by wire or wireless. As can be seen from this configuration, the transport robot 100, the host management device 2, and the environmental camera 5 all have communication units. The communication unit 4 is, for example, a wireless LAN unit installed in each environment. The communication unit 4 may also be, for example, a general-purpose communication device such as a WiFi (registered trademark) router.

[0109] The host management device 2 is a device that can be connected to the transport robots 100 via wireless communication, is a management system that manages multiple transport robots 100, and can be equipped with a control unit 2a that controls it. The control unit 2a can be realized, for example, by an integrated circuit, and can be realized, for example, by a processor such as an MPU or CPU, a working memory, and a non-volatile storage device. A control program to be executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby fulfilling the functions of the control unit 2a. The control unit 2a can be called a control computer.

[0110] The transport system 1 can efficiently control a plurality of transport robots 100 within a predetermined facility, while moving the transport robots 100 autonomously in an autonomous movement mode or while moving the transport robots 100 based on user operation in a user operation mode. Note that the facility can refer to various types of facilities, such as medical and welfare facilities such as hospitals, rehabilitation centers, nursing homes, and elderly care facilities, hotels, restaurants, office buildings, event venues, commercial facilities such as shopping malls, and other complex facilities.

[0111] To achieve such efficient control, multiple environmental cameras 5 can be installed within the facility. The environmental cameras 5 acquire images of the area in which people and the transport robot 100 move, and output image data representing the images. This image data may be still image data or moving image data. If still image data is used, still image data is obtained at each imaging interval. In the transport system 1, the images acquired by the environmental cameras 5 and information based thereon are collected by the host management device 2. As for images used to control the transport robot 100, the images acquired by the environmental cameras 5 may be transmitted directly to the transport robot 100. The environmental cameras 5 can be installed as surveillance cameras in the corridors and entrances and exits of the facility.

[0112] In the transport system 1, the images acquired by the environmental camera 5 can be used to monitor people and the transport robot 100, but can also be used to read the QR code 606 on the label 600.

[0113] The environmental camera 5 included in the conveyance system 1 may capture an image including the label 600 placed in the label placement unit 503 of the wagon 500. Alternatively, as an operational rule, one or more locations within the facility may be determined in advance as the loading location for the wagon 500, and the environmental camera 5 may be installed at one or more of these locations, thereby making it easier to acquire an image including such a label 600. In particular, as an operational rule, in addition to the loading location, the installation direction of the wagon 500 may also be determined in advance so that it will be within the angle of view of the environmental camera 5, in order to make it easier to capture an image including the label 600 with the environmental camera 5 at the one or more locations.

[0114] When the environmental camera 5 captures an image including the label 600, or in fact an image including at least the QR code 606, it transmits image data of that image to the host management device 2, just like other images. The host management device 2 receives this image data, and the control unit 2a performs image analysis and detects destination information from the QR code. Note that the environmental camera 5 can also perform image analysis, in which case the host management device 2 receives from the environmental camera 5 the destination information obtained by the image analysis by the environmental camera 5.

[0115] Next, an example of control of the transport robot 100 executed by the host management device 2 will be described with reference to Fig. 13. Fig. 13 is a flow chart for explaining an example of control of the transport robot 100 executed by the host management device 2 in the transport system 1 of Fig. 12. Note that, even in this control example, various application examples such as those described with reference to Fig. 8 can be applied.

[0116] First, the user places the label 600 on the label placement unit 503 and moves the wagon 500 to a predetermined location, or the user goes to the location where the wagon 500 is to be installed and places the label 600 on the label placement unit 503. This allows the user to issue a transport instruction to the transport robot 100, which reads the label 600. Thereafter, the transport system 1 transports the wagon 500, as will be described below.

[0117] First, the environmental camera 5 captures an image including the label 600, in practice an image including at least the QR code 606, and transmits image data of that image to the host management device 2. The host management device 2 receives this image data (step S21). Then, the control unit 2a of the host management device 2 performs image analysis on the received image data and detects the delivery destination information indicated by the QR code 606 (step S22). This means that the control unit 2a has recognized the delivery destination, that is, the destination.

[0118] Next, the control unit 2a determines the transport robot 100 that will perform the transport (step S23), and sets a route for transporting the wagon 500 from the position of the wagon 500 to the destination indicated by the destination information (step S24). In step S23, the position of each transport robot 100 in operation is confirmed, and for example, the transport robot 100 that is closest to the current position of the wagon 500 can be determined as the transport robot that will perform the transport, but the method for determining the transport robot that will perform the transport is not limited, and the transport schedule of each transport robot 100 can also be taken into consideration.

[0119] Furthermore, the order of steps S23 and S24 does not matter. However, by determining the transport robot after determining the route, it is possible to select, for example, the transport robot that can complete the transport most quickly. On the other hand, if a transport robot with an open transport schedule is selected as the transport robot that will perform the transport, it is possible to complete the transport most quickly even if the route is set after that. Note that the description has been given on the assumption that the performance of each transport robot 100 in operation is the same, but transport robots with different performance such as maximum speed and running stability can also be operated in the same facility, and in that case, the transport robot that will perform the transport may be determined taking into account the performance of the transport robot.

[0120] Next, the control unit 2a controls the transport robot 100 to autonomously move along the set route by transmitting the set route to the transport robot 100 that will perform the transport (step S25), and the process ends. In step S25, the control unit 2a controls the transport robot 100 so that the transport robot 100 transports the wagon 500 to the destination as described in steps S14 to S15 of FIG.

[0121] The control unit 2a can control the transport robot 100 by instructing the transport robot 100 to perform a series of operations, such as autonomously moving to the location of the wagon 500, loading the wagon 500, autonomously moving to the destination, and unloading the wagon 500. In this case, the control unit 2a can also instruct the transport robot 100 based on image data sequentially captured by the environmental camera 5. Alternatively, the control unit 2a can only perform partial control, such as specifying the route and leaving the subsequent autonomous movement to the transport robot 100. For example, the control computer 101 can receive a set route from the upper management device 2 and, after setting the route, control the drive unit to cause the transport robot 100 to move autonomously and control the lifting mechanism 140 to load the wagon 500 when the transport robot 100 arrives at the location of the wagon 500. The control computer 101 then controls the drive unit to transport the wagon 500 along the set route and controls the lifting mechanism 140 to unload the wagon 500 at the destination.

[0122] Furthermore, the transport system 1 may be configured without including the host management device 2. In this case, the transport system may include at least the transport robot 100 and an environmental camera 5 capable of wireless communication with the transport robot 100. Similarly, in this configuration example, the environmental camera 5 can obtain destination information or data that serves as the basis for the destination information, and the transport robot 100 can obtain the destination information or the data that serves as the basis for the destination information from the environmental camera 5 via wireless communication. Then, the control computer 101 of the transport robot 100 can control the drive unit to autonomously transport the wagon 500 to the destination indicated by the destination information, based on the obtained destination information or the data that serves as the basis for the destination information.

[0123] Furthermore, regardless of whether the transport system is configured to include the host management device 2 or not, the transport system may be equipped with other types of sensors that detect destination information instead of the environmental camera 5. Similarly, in these configuration examples, the other types of sensors can obtain destination information or data that serves as the basis for the destination information. Therefore, the transport robot 100 or the host management device 2 can obtain the destination information obtained in this manner or the data that serves as the basis for the destination information from the other types of sensors. Then, the transport robot 100 can transport the wagon 500 to the destination indicated by the destination information or the destination information detected from the data that serves as the basis for the destination information.

[0124] Furthermore, the control computer 101, the host management device 2, and the sensors such as the environmental camera 5 of the transport robots 100 and 100a according to the above-described embodiments can all have the following hardware configuration, for example. Fig. 14 is a diagram showing an example of the hardware configuration of the device.

[0125] 14 may include a processor 1001, a memory 1002, and an interface 1003. The interface 1003 may include, for example, a communication interface and interfaces with a drive unit, a sensor, an input / output device, etc., as required depending on the device.

[0126] The processor 1001 may be, for example, an MPU, a CPU, or a GPU (Graphics Processing Unit). The processor 1001 may include multiple processors. The memory 1002 is configured, for example, by a combination of volatile memory and non-volatile memory. The functions of each device are realized by the processor 1001 reading a program stored in the memory 1002 and executing it while exchanging necessary information via the interface 1003.

[0127] Furthermore, the above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0128] 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]

[0129] 1. Transport system 2 Upper management device 2a Control section 3 Network 4 Communication Unit 5. Environmental Camera 100, 100a Transport robot 101 Control Computer 104 Camera 105 RFID Reader 110 chassis 111 Wheels 120 Stand 130 Operation section 140 Lifting mechanism 141 recess 500, 500a wagon 501 Cover 502 wheels 503 Label Installation Section 504 Side Panel 505 Support Frame 600, 610, 620, 630 Labels 601 Main body 602 Tab part 603 colors 604 Text Information 605 area 606 QR Code 700 RFID tags

Claims

1. A control system for controlling a transport system including a plurality of transport robots that are autonomously movable and capable of transporting objects, acquiring destination information indicating a destination of the item from a wagon capable of accommodating the item; autonomously moving one of the plurality of transport robots so as to transport the wagon to the destination indicated by the destination information; the destination information includes information indicating a plurality of destinations, each of which corresponds to a different item; the control system determines a route and the one transport robot so that the one transport robot transports the wagon along a route including the plurality of destinations indicated by the destination information, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route. Control system.

2. The wagon is provided with a label on which the destination information is printed, the control system includes a sensor that detects the destination information from the label, or a communication unit that receives the destination information from the sensor. The control system of claim 1 .

3. The wagon is provided with a label on which the destination information is printed, the control system includes a camera that captures an image of the label and obtains image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. The control system of claim 1 .

4. The label has the destination information printed on one side, and destination information indicating a destination to which the wagon should be moved after being transported to the destination indicated by the destination information printed on the other side.

4. A control system according to claim 2 or 3.

5. The label has a two-dimensional code or one-dimensional code printed thereon that indicates the destination.

4. A control system according to claim 2 or 3.

6. the label includes a tab portion, and the tab portion is provided with at least one of a position indicating the destination, a color indicating the destination, and a shape indicating the destination.

4. A control system according to claim 2 or 3.

7. The label is a label on which characters indicating the destination are printed, or a label in a color indicating the destination.

4. A control system according to claim 2 or 3.

8. The wagon includes a label installation unit that installs the label in a replaceable state.

4. A control system according to claim 2 or 3.

9. The wagon is provided with a display device that displays the destination information, the control system includes a sensor that detects the destination information from the display device, or a communication unit that receives the destination information from the sensor. The control system of claim 1 .

10. The wagon is provided with a display device that displays the destination information, the control system includes a camera that captures an image of the display device and obtains image data, or a communication unit that receives image data captured by the camera, and detects the delivery destination information from the image data. The control system of claim 1 .

11. The wagon is equipped with an RFID (Radio Frequency Identification) tag that records the destination information, The control system includes an RFID reader that reads the delivery destination information from the RFID tag, or a communication unit that receives the delivery destination information read by the RFID reader. The control system of claim 1 .

12. The control system determines the route, determines the one transport robot that will transport the wagon along the determined route based on the transport schedule of the multiple transport robots, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route. The control system according to any one of claims 1 to 3 and 9 to 11.

13. The control system determines the one transport robot for the destination information based on the transport schedule of the multiple transport robots, determines a route for the one determined transport robot as the route, and autonomously moves the one determined transport robot so as to transport the wagon along the determined route. The control system according to any one of claims 1 to 3 and 9 to 11.

14. a control system for controlling a transport system including a plurality of transport robots that are autonomously movable and capable of transporting transported objects, which acquires destination information indicating a destination of the objects from a wagon that can accommodate the objects; the control system executes movement control to autonomously move one of the plurality of transport robots so as to transport the wagon to the destination indicated by the destination information; the destination information includes information indicating a plurality of destinations, each of which corresponds to a different item; the movement control determines a route and the one transport robot so that the one transport robot transports the wagon along a route including the plurality of destinations indicated by the destination information, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route; Control method.

15. The wagon is provided with a label on which the destination information is printed, the control system includes a sensor that detects the destination information from the label, or a communication unit that receives the destination information from the sensor. The control method according to claim 14.

16. The wagon is provided with a label on which the destination information is printed, the control system includes a camera that captures an image of the label and obtains image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data. The control method according to claim 14.

17. The wagon is provided with a display device that displays the destination information, the control system includes a sensor that detects the destination information from the display device, or a communication unit that receives the destination information from the sensor. The control method according to claim 14.

18. The wagon is provided with a display device that displays the destination information, the control system includes a camera that captures an image of the display device and obtains image data, or a communication unit that receives image data captured by the camera, and detects the delivery destination information from the image data. The control method according to claim 14.

19. The wagon is equipped with an RFID (Radio Frequency Identification) tag that records the destination information, The control system includes an RFID reader that reads the delivery destination information from the RFID tag, or a communication unit that receives the delivery destination information read by the RFID reader. The control method according to claim 14.

20. The movement control determines the route, determines the one transport robot that will transport the wagon along the determined route based on the transport schedule of the multiple transport robots, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route. The control method according to any one of claims 14 to 19.

21. A computer provided in a control system that controls a transport system including a plurality of transport robots that are autonomously movable and capable of transporting transported objects, inputting destination information indicating the destination of the item acquired from a wagon capable of accommodating the item; executes movement control to autonomously move one of the plurality of transport robots so as to transport the wagon to the destination indicated by the input destination information; A process comprising: the destination information includes information indicating a plurality of destinations, each of which corresponds to a different item; the movement control determines a route and the one transport robot so that the one transport robot transports the wagon along a route including the plurality of destinations indicated by the destination information, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route; A program that executes a process.

22. The wagon is provided with a label on which the destination information is printed, the control system includes a sensor that detects the destination information from the label, or a communication unit that receives the destination information from the sensor.

22. The program of claim 21.

23. The wagon is provided with a label on which the destination information is printed, the control system includes a camera that captures an image of the label and obtains image data, or a communication unit that receives image data captured by the camera, and detects the destination information from the image data.

22. The program of claim 21.

24. The wagon is provided with a display device that displays the destination information, the control system includes a sensor that detects the destination information from the display device, or a communication unit that receives the destination information from the sensor.

22. The program of claim 21.

25. The wagon is provided with a display device that displays the destination information, the control system includes a camera that captures an image of the display device and obtains image data, or a communication unit that receives image data captured by the camera, and detects the delivery destination information from the image data.

22. The program of claim 21.

26. The wagon is equipped with an RFID (Radio Frequency Identification) tag that records the destination information, The control system includes an RFID reader that reads the delivery destination information from the RFID tag, or a communication unit that receives the delivery destination information read by the RFID reader.

22. The program of claim 21.

27. ​​The movement control determines the route, determines the one transport robot that will transport the wagon along the determined route based on the transport schedule of the multiple transport robots, and autonomously moves the determined one transport robot so as to transport the wagon along the determined route. The program according to any one of claims 21 to 26.

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