Operation device and mobile robot

Abstract

To provide a control device capable of controlling a mobile robot and making the state of the mobile robot visible from the surroundings.SOLUTION: A control device disclosed herein comprises a control unit for receiving operations including directional operations on a mobile robot 100, and a light-emitting unit 12 configured to emit light in luminous patterns indicative of the state of the mobile robot 100.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an operation device and a mobile robot. [Background technology]

[0002] Patent Document 1 discloses an autonomous moving body that can switch between an autonomous driving mode and a manual driving mode. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6171541 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have studied a configuration in which a mobile robot can be operated using an operating device such as a joystick. However, such a configuration has a problem in that the state of the mobile robot cannot be visually confirmed by those around it when using the operating device. Note that the technology described in Patent Document 1 allows manual operation in manual driving mode, but does not allow those around it to visually confirm the state of the autonomous mobile robot, and therefore does not solve the above problem.

[0005] The present disclosure has been made to solve such problems, and provides an operating device that can operate a mobile robot and make the status of the mobile robot visible to those around it, as well as a mobile robot equipped with the operating device. [Means for solving the problem]

[0006] The present disclosure provides an operating device that includes an operating unit that accepts operations, including directional operations, for a mobile robot, and a light-emitting unit that emits light in a light pattern that indicates the state of the mobile robot. This configuration of the operating device allows the mobile robot to be operated and the state of the mobile robot to be visually recognized by those around it. The mobile robot can also be controlled to move autonomously, and the autonomous movement control can use a learning model obtained by machine learning to cause the mobile robot to move autonomously.

[0007] The light emitting unit may be provided in a periphery surrounding the operation unit. With this configuration, the operation device allows the operator to easily visually recognize the state of the mobile robot.

[0008] The operating device may be a joystick device having a stick member as at least a part of the operating section. With this configuration, the operating device can easily operate the mobile robot and can visually confirm the state of the mobile robot to those around it.

[0009] The light emitting unit may be provided at the tip of the stick member. With this configuration, the joystick device allows the operator to easily visually recognize the state of the mobile robot.

[0010] The operation device may be provided on the mobile robot. With this configuration, even when the operation device is provided on the mobile robot, the state of the mobile robot can be visually confirmed by those around it.

[0011] The mobile robot according to the present disclosure is a mobile robot equipped with the operation device, and the operation unit accepts operations to move the mobile robot. With this configuration, the mobile robot is equipped with an operation device that accepts operations to move the mobile robot, and the operation device allows those around it to visually confirm the state of the mobile robot. [Effects of the Invention]

[0012] According to the present disclosure, it is possible to provide an operating device that can operate a mobile robot and make the state of the mobile robot visible to those around it, as well as a mobile robot equipped with the operating device. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view showing an example of the overall configuration of a mobile robot according to an embodiment; [Figure 2] FIG. 2 is a perspective view showing an example of the overall configuration of a wagon transported by the mobile robot of FIG. 1. [Figure 3] 3 is a perspective view showing the mobile robot of FIG. 1 transporting the wagon of FIG. 2. FIG. [Figure 4] 2 is a flow chart for explaining an example of a light emission process executed by the mobile robot of FIG. 1. FIG. [Figure 5] 2 is a diagram showing an example of a light emission pattern that can be executed by the mobile robot of FIG. 1. FIG. [Figure 6] 1. FIG. 6 is a flowchart for explaining another example of the light emission process executed by the mobile robot of FIG. [Figure 7] 1. FIG. 4 is a diagram showing another example of a light emission pattern that can be executed by the mobile robot of FIG. [Figure 8] 1 is a schematic diagram illustrating an example of the overall configuration of a system including a mobile robot according to an embodiment; [Figure 9] 9 is a flowchart illustrating an example of processing in the upper management device in the system of FIG. 8. [Figure 10] FIG. 10 is a perspective view showing another example of the configuration of the operating device capable of operating the mobile robot according to the embodiment. [Figure 11] FIG. 2 illustrates an example of a hardware configuration of the apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0014] 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.

[0015] (Embodiment) The operating device according to this embodiment is an operating device used to operate a mobile robot, and includes an operating unit that accepts operations including directional operations for the mobile robot. This mobile robot may be an autonomously mobile robot, and such an example will be given, but it does not have to be autonomously mobile as long as it is configured to be at least operable by this operating device.

[0016] Using a joystick device as an example of an operating device according to this embodiment, and using a system including this autonomously mobile robot as an example, the configuration of the joystick device and the operation of the mobile robot using the joystick device will be described. This system includes a control system that executes system control for controlling the system. Furthermore, this mobile robot can be configured to be capable of transporting objects, and the following description will use such an example, but it may also be configured in a way that does not allow it to transport objects. If the mobile robot is configured to transport objects, it can also be called a transport robot, and the above system can be called a transport system.

[0017] An example of the configuration of a mobile robot according to this embodiment will be described below with reference to Figures 1 and 2. Figure 1 is a perspective view showing an example of the overall configuration of a mobile robot according to this embodiment, and Figure 2 is a perspective view showing an example of the overall configuration of a wagon transported by the mobile robot of Figure 1.

[0018] The above-mentioned systems, such as the above-mentioned transport system, may include a mobile robot such as the mobile robot 100 shown in Fig. 1, but may also include other devices such as a host management device. However, for simplicity of explanation, an example in which the transport system is mainly composed of the mobile robot 100 will be described first. In this example, the control system may refer to the mobile robot 100 itself or the components of the control system provided in the mobile robot 100.

[0019] In the following explanation, an XYZ Cartesian coordinate system will be used where appropriate. The X direction is the front-to-back direction of the mobile 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 mobile robot 100, and the -X direction is defined as the rear direction of the mobile robot 100. The +Y direction is the left direction of the mobile robot 100, and the +Z direction is the vertical up direction.

[0020] The mobile robot 100 can move both forward and backward. That is, when the wheels are rotated forward, the mobile robot 100 moves forward, and when the wheels are rotated backward, the mobile robot 100 moves backward. By changing the rotation speed of the left and right wheels, the mobile robot 100 can turn left and right.

[0021] 1, the mobile 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.

[0022] The chassis 110 holds wheels 111 in a rotatable manner. In the example of FIG. 1, 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 direction and speed of rotation of the wheels 111 are controlled independently, allowing the mobile robot 100 to move 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, additional driven wheels may be provided between the front and rear wheels 111, for example.

[0023] Furthermore, at least one of the chassis 110, the operating unit 130, and the stand 120 may be provided with various sensors such as a camera, a distance sensor, etc., for example, to prevent contact with obstacles or to confirm the route.

[0024] FIG. 1 shows an example in which the sensor includes a camera 104 facing the +X side on a stand 120 and a sensor 105 provided at the front of the chassis 110. A bumper is provided at the front of the chassis 110, and the sensor 105 can be disposed on the bumper to detect contact of an object with the bumper. When the sensor 105 detects contact of an object, i.e., an obstacle, with the mobile robot 100, the mobile robot 100 can be controlled to stop the mobile robot 100. Therefore, the sensor 105 can be referred to as a stop sensor. However, the sensor 105 is not limited to being located at the front, and can also be a sensor that detects contact of an object with a bumper provided on part or all of the outer periphery of the mobile robot 100. The sensor 105 can also be configured to detect the position at which the object contacts the bumper.

[0025] The mobile robot 100 is an autonomous mobile robot, but it has the ability to move by user operation, i.e., it is a mobile robot that can switch between an autonomous movement mode and a user-operated mode. By controlling the autonomous movement, the mobile robot 100 can move autonomously based on a route determined according to a set destination or a set route. In controlling the autonomous movement, the mobile robot 100 can also move autonomously by using a learning model obtained by machine learning to determine a route and avoid collisions.

[0026] 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.

[0027] 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.

[0028] The user may also be an employee of the facility where the mobile robot 100 is operated, and if the facility is a hospital, the user may be a hospital employee.

[0029] 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 mobile robot 100. The control computer 101 can be called a control unit.

[0030] The control computer 101 controls the autonomous movement of the mobile robot 100 to move toward a predetermined destination or along a predetermined route, based on pre-stored map data and information acquired by various sensors such as the camera 104. This autonomous movement control may include control of loading and unloading the wagon 500 shown in FIG. 2. The wagon 500 will be described later. The control computer 101 may be equipped with a movement control unit that performs this autonomous movement control.

[0031] In order to load and unload transported objects such as the wagon 500, the chassis 110 may be equipped with an elevator mechanism 140 for loading and unloading the transported objects. 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 objects are placed exposed. The elevator mechanism 140 is an elevator stage that can be raised and lowered, and can be raised and lowered under control of the control computer 101. The chassis 110 is equipped with an elevator motor and a guide mechanism. The upper surface of the elevator mechanism 140 serves as a loading surface on which the wagon 500 as the transported object is placed. The wagon 500 is not limited to the configuration shown in FIG. 2, and may be any wagon of a predetermined size, shape, and weight that can be placed on the elevator mechanism 140 for transport. 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 .

[0032] The chassis 110 may also include a first light-emitting unit 11 at a position surrounding the lifting mechanism 140. The first light-emitting unit 11 may be configured to emit light, and may be configured, for example, with one or more LEDs (Light-Emitting Diodes), organic electroluminescence, or the like, and the light emission may be controlled by the control computer 101. The position, shape, and size of the first light-emitting unit 11 are not limited to those shown in the figure. The mobile robot 100 may also include the first light-emitting unit 11 even if the lifting mechanism 140 is not provided. The prefixes "first" and "second" are added to the first light-emitting unit 11 and the second light-emitting unit 12 described below merely to distinguish them.

[0033] 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 mobile 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.

[0034] Furthermore, the stand 120 may be provided on its upper surface with a stick portion (stick member) 131 as a component of the joystick device according to this embodiment. In the user operation mode, this joystick device is a device for performing operations to move the mobile robot 100 in a direction intended by the user, and this movement operation can be received by the stick portion 131. The stick portion 131 can be called a grip portion because it can be held by the user's hand. The shape and size of the stick portion 131 are not limited to those shown in the figure, and for example, the stick portion 131 may have a shape that is longer in the Z-axis direction. Of course, the shape and size of the joystick device including the stick portion 131 are not limited to those shown in the figure.

[0035] The user can accept a directional operation by tilting the stick unit 131 in the direction of movement desired. The joystick device can also be controlled so that a switching operation for switching between the autonomous movement mode and the user operation mode is performed by pressing the stick unit 131 downward. Alternatively, the joystick device can also be controlled so that a decision operation is performed by pressing the stick unit 131 downward. The stick unit 131 can also be configured to function as an emergency stop button for bringing the mobile robot 100 to an emergency stop by pressing it downward for a predetermined period of time. When the joystick device is configured to be able to accept multiple operations from the switching operation, the decision operation, and the emergency stop operation, the predetermined period can be set to be different for each operation.

[0036] The stand 120 may also be provided with a second light-emitting unit 12 at a position surrounding the stick unit 131. The second light-emitting unit 12 may be configured to emit light, and may be composed of, for example, one or more LEDs, organic electroluminescence, or the like, and the light emission may be controlled by the control computer 101. The position, shape, and size of the second light-emitting unit 12 are not limited to those shown in the drawings. Note that the mobile robot 100 may be provided with the second light-emitting unit 12 even when the stand 120 is not provided, or when the mobile robot 100 is provided with the stand 120 but not the stick unit 131.

[0037] 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 the user to operate. In other words, the stand 120 extends to a height that is easy for the user to operate while standing, and the stick unit 131 is also disposed at a height that is easy for the user to operate. The operation unit 130 extends from the stand 120 to the +Y side. From the perspective of ease of operation, the operation unit 130 can be disposed in the center of the chassis 110 in the left-right direction.

[0038] 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 for holding 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 information to the user, such as information related to the transported object, the transported object, and the object to be transported, as well as its destination. Of course, the mobile robot 100 may be configured without the operation unit 130. However, even in this case, it can be operated in a user operation mode using a joystick device. The mobile robot 100 can also be connected to a remote control device for remote control, and this remote control device can also be a joystick device.

[0039] Furthermore, as shown in the figure, the operation unit 130 and the stick unit 131 can be disposed at least at the same height so that the operation can be performed intuitively. This allows the user to perform operations in an intuitive flow, even when a pressing operation on the stick unit 131 is assigned to an operation for deciding on the operation content displayed on the operation unit 130.

[0040] Furthermore, an IC card reader may be provided at a position on the stand 120 at about the same height as the operation unit 130, or inside the operation unit 130, to allow the user to perform user authentication using an IC (Integrated Circuit) card or the like. The mobile robot 100 does not need to have a user authentication function, but providing such a function can prevent operation by third parties through mischief, etc. The user authentication function is not limited to one using an IC card, and a method of inputting user information and a password from the operation unit 130 may also be adopted. However, a method using various short-range wireless communication technologies that enable contactless authentication can reduce the user's effort and prevent infection.

[0041] A user can place an object in the wagon 500 placed on the mobile robot 100 and request transportation of the object using the mobile robot 100. In the following description, the wagon 500 itself can also be referred to as the object, and for convenience, the object stored in the wagon 500 will be referred to as an article. The mobile robot 100 autonomously moves to a set destination and transports the wagon 500. In other words, the mobile robot 100 executes a transportation 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.

[0042] For example, let us assume that the mobile robot 100 moves within a general hospital with multiple medical departments. The mobile robot 100 transports items such as supplies, consumables, and medical instruments between the multiple medical departments. For example, the mobile robot 100 delivers items from the nurse's station of one medical department to the nurse's station of another medical department. Alternatively, the mobile robot 100 delivers items from a storage room for supplies and medical instruments to the nurse's station of a medical department. Furthermore, the mobile robot 100 delivers medicine dispensed in a pharmacy department to the medical department or patient that will use the medicine.

[0043] 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. Food such as hospital food and test meals may also be delivered. Furthermore, the mobile robot 100 may deliver used equipment, used tableware, and other items. If the delivery destination is on a different floor, the mobile robot 100 may travel using an elevator or other means.

[0044] 2 and 3, details of the wagon 500 and an example of how the mobile robot 100 holds the wagon 500 will be described. Fig. 3 is a perspective view showing how the mobile robot 100 is transporting the wagon 500.

[0045] 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).

[0046] As described above, the wagon 500 can be held by the lifting mechanism 140 in the mobile 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 of the chassis 110. By providing the lifting mechanism 140, the mobile robot 100 can easily transport the wagon 500 automatically.

[0047] As shown in FIG. 3, the mobile 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 can enter is the space S formed below the wagon 500 shown in FIG. 2, and this space S is the space into which the chassis 110 can enter. In other words, the chassis 110 can enter the space S directly below the wagon 500. When the chassis 110 is to mount the wagon 500, the mobile 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 mounted without the stand 120 interfering with the wagon 500. In other words, the stand 120 can be attached near a corner of the chassis 110 so as not to interfere with the wagon 500.

[0048] 1, the contact portion of the lifting mechanism 140 that comes into contact with the bottom surface of the wagon 500 by coupling or connection when the wagon 500 is transported with the lifting mechanism 140 loaded thereon can be provided with a recess 141. This contact portion can be the upper surface of the lifting mechanism 140. On the other hand, a protrusion (not shown) can 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 mobile robot 100.

[0049] Although the wagon 500 is shown as a dolly with 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 mobile robot 100.

[0050] The operation of the mobile robot 100 to load the wagon 500, transport it to the destination, and unload it will be described. First, with regard to loading the wagon 500, the mobile robot 100 may be a mobile robot that is preset as a target to transport the wagon 500 and searches for the wagon 500 or moves to a known location. For example, the mobile robot 100 may be designated as a target or search target for the wagon 500 whose location has been specified by the user, and may autonomously move to transport the wagon 500. Alternatively, the mobile robot 100 may automatically transport the wagon 500 to the destination when it finds the wagon 500 on a return route after completing a transport task to transport another wagon or an item. Note that these examples are not limiting and various methods can be applied as a method for transporting the wagon 500 by the mobile robot 100.

[0051] The mobile robot 100 moves to the position of the wagon 500, and the control computer 101 recognizes the wagon 500 based on information acquired by the camera 104 or other sensors, and controls the lifting mechanism 140 to stack the wagon 500. This stacking control can also be called pickup control.

[0052] In the pickup control, first, the chassis 110 is caused to enter the space S directly below the wagon 500, and once the entry is complete, the lifting mechanism 140 is raised. As a result, the lifting stage, which is the upper surface of the lifting mechanism 140, comes into contact with the wagon 500, and the lifting mechanism 140 can lift the wagon 500. In other words, when the lifting mechanism 140 is raised, the wheels 502 lift off, and the wagon 500 is loaded onto the chassis 110. As a result, the mobile robot 100 docks with the wagon 500 and is ready to head to the destination. Next, the control computer 101 controls the drive of the wheels 111, etc. so that the wagon 500 moves autonomously along a set route, thereby transporting the wagon 500 to the destination.

[0053] The mobile robot 100 moves to the destination of the wagon 500, and the control computer 101 controls the lifting mechanism 140 to lower the wagon 500. In this control, the lifting mechanism 140 is lowered to lower the wagon 500 from the chassis 110. 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 then be lowered from the chassis 110.

[0054] In the above examples, the mobile robot 100 has been described assuming that it transports a wagon such as the wagon 500 as the transported object. However, even if the mobile robot 100 is configured to transport a wagon, it may transport individual items (baggage) as the transported object during operation. In this case, it is recommended to attach a storage box or shelf to the mobile robot 100 to prevent the items from falling while moving.

[0055] Furthermore, in operation, there may be a situation where the mobile 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 mobile robot 100 can transport the wagon or individual items by moving autonomously to a set destination or by moving according to user operation.

[0056] Next, an example of the main features of this embodiment will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a flow chart for explaining an example of a light emission process executed by the mobile robot 100. Fig. 5 is a diagram showing an example of a light emission pattern that can be executed by the mobile robot 100.

[0057] A main feature of this embodiment is that the mobile robot 100 can be equipped with a joystick device. The joystick device includes a stick section (stick member) 131 that receives operations including directional operations for the mobile robot 100, as described above, and a second light-emitting section 12. The second light-emitting section 12 is an example of a light-emitting section that is equipped in the joystick device and emits light in a light-emitting pattern that indicates the state of the mobile robot 100.

[0058] Note that directional control also includes an operation to move the mobile robot 100. Also, although an example in which the mobile robot 100 is equipped with a joystick device has been described, the mobile robot 100 may not be equipped with a joystick device, and the direction of the mobile robot 100 may be controlled from a joystick device provided outside the mobile robot 100.

[0059] In addition, although the example in which the second light-emitting unit 12 is provided around the stick member 131 has been given, the present invention is not limited to this and the second light-emitting unit 12 may be provided at the tip of the stick member 131. In either case, the joystick device allows the operator to easily visually recognize the state of the mobile robot 100.

[0060] As part of the above-described system control, the control computer 101 executes light emission control to cause the second light emitting unit 12 to emit light in a light emission pattern that indicates the state of the mobile robot 100. The light emission pattern can also be referred to as a light emission form.

[0061] The state of the mobile robot 100 may be, for example, at least one of a traveling state related to the traveling environment of the mobile robot 100 and an operating state of the mobile robot 100. The traveling state may refer to whether or not the mobile robot 100 has encountered a traveling abnormality related to the traveling environment, such as contact with a wall. For convenience, the operating state will be described as referring to a state other than the traveling mode state of the mobile robot 100, whether the mobile robot 100 is in an autonomous traveling mode or a user-operated mode. The operating state will be described as indicating whether or not some kind of operating abnormality has occurred, or indicating the content of the operating abnormality. Here, the operating abnormality is an abnormality other than an abnormality in the traveling state related to the traveling environment of the mobile robot 100, and may refer to various abnormalities of the mobile robot 100, such as a dead battery, an abnormality in the drive unit, or an abnormality in the wheels.

[0062] The light emission control can be, for example, a control to emit light with different light emission patterns corresponding to a plurality of predetermined conditions mainly related to the state of the mobile robot 100. Here, the predetermined conditions need only include conditions related to at least the state of the mobile robot 100, and can include, for example, at least one of a condition related to the running state of the mobile robot 100 and a condition related to the operating state of the mobile robot 100. The mobile robot 100 can also be configured to detect the occurrence of earthquakes, fires, etc. through external communication or by a sensor provided in the mobile robot 100. In such a configuration, the predetermined conditions can include whether or not an earthquake or a fire has occurred. The correspondence between the predetermined conditions and the light emission patterns can be stored, for example, as a table in an internal memory of the control computer 101, and can be referenced as needed.

[0063] The above-described light emission control can also be a control for causing the second light-emitting unit 12 and the first light-emitting unit 11 to emit light in different light-emitting patterns corresponding to each of the plurality of predetermined conditions. In the following, an example will be described in which the mobile robot 100 is provided with light-emitting units in these two locations, and these units express different light-emitting patterns. However, it is sufficient for the mobile robot 100 to be provided with at least a light-emitting unit, such as the second light-emitting unit 12, provided in the joystick device, and different light-emitting patterns can also be expressed by the second light-emitting unit 12 alone.

[0064] The mobile robot 100 may be provided with a light-emitting unit as exemplified by the second light-emitting unit 12, and may be provided with light-emitting units in three or more locations in total, and the positions, shapes, and sizes of the light-emitting units are not limited to those exemplified. However, from the viewpoint of visibility from the surroundings, it is preferable to provide the light-emitting units in multiple locations spaced apart from each other, as exemplified by the positional relationship between the second light-emitting unit 12 and the first light-emitting unit 11.

[0065] Furthermore, as part of the above-described system control, the control computer 101 can execute mode switching control for switching between the autonomous movement mode and the user-operated mode as described above. Here, when accepting a movement operation from the operation unit 130, a user interface for accepting the operation can be displayed on the screen using software. Furthermore, although an example in which the operation unit provided on the mobile robot 100 includes a joystick device and the operation unit 130, it is sufficient that at least a joystick device that accepts an operation for moving the mobile robot 100 is provided. However, if either the joystick device or the operation unit 130 can accept an operation for switching between the autonomous movement mode and the user-operated mode, such a switching operation can be performed at the user's fingertips on the mobile robot 100.

[0066] Furthermore, as at least part of the above-mentioned light emission control, the control computer 101 can also perform control to emit light in a different light emission pattern depending on whether the mode is autonomous movement mode or user operation mode for at least one of the above-mentioned plurality of predetermined conditions.

[0067] In the joystick device according to this embodiment, as described above, the second light emitter 12 emits light in a light emission pattern that corresponds to the state of the mobile robot 100. Therefore, this joystick device makes it possible to control the mobile robot 100 and to make the state of the mobile robot 100 visible to those around it. In addition, the surrounding area can include an operator (user) who operates the joystick device, and the user can easily see the state of the mobile robot 100 at hand, making it easier for them to operate it.

[0068] Furthermore, as illustrated in FIG. 1, the mobile robot 100 is provided with a joystick device, and by accepting operations to move the mobile robot 100 with the stick member 131, the state of the mobile robot 100 can be visually confirmed by those around it on the joystick device.

[0069] For such control, the control computer 101 first determines the running state of the mobile robot 100 based on the detection results of sensors such as the sensor 105, and also determines the operating state indicating whether or not there is an operational abnormality in the mobile robot 100 (step S11). The order of determining the running state and the operating state does not matter. Here, with regard to the operating state, it determines whether or not there is an operational abnormality, and which part, for example, the battery, drive unit, or wheel, is the abnormal part. This determination can be made, for example, by the control computer 101 based on the results detected by various sensors provided on the mobile robot 100.

[0070] Here, the description will be given on the assumption that the determination of the driving state can be performed by the control computer 101 performing information processing, image processing, etc. based on the detection results from sensors such as sensor 105, and that the determination is performed in this manner. However, the sensor can also perform detection such that the detection results indicate the determination result of the driving state itself, or can have the function of determining the driving state by performing information processing, image processing, etc. based on the sensing results. In this case, the sensor will transmit the determination result to the control computer 101, and the control computer 101 can use the content received from the sensor as the determination result of the driving state. Note that the determination of the driving state can also be performed by a determination unit provided separately from the control computer 101 that controls the light emission.

[0071] As with the determination of the driving state, the determination of the operating state can be performed by the control computer 101 performing information processing, image processing, etc. based on the detection results from various sensors, and the description is based on the assumption that the determination is performed in this manner. However, the sensors can also perform detection such that the detection results themselves indicate the determination result of the operating state, or can have the function of determining the operating state by performing information processing, image processing, etc. based on the sensing results. In this case, the sensors will transmit the determination result of the operating state to the control computer 101, and the control computer 101 can use the content received from the sensors as the determination result of the operating state. Note that the determination of the operating state can also be performed by a determination unit provided separately from the control computer 101 that controls light emission.

[0072] The mobile robot 100 may also be provided with a storage unit (not shown) for storing the information indicating the running state and operating state thus acquired, for example, within the control computer 101. The control computer 101 may also determine the running state and operating state based on the most recently stored information indicating the running state and operating state, respectively.

[0073] Following step S11, the control computer 101 determines whether a first predetermined condition is met based on the determined running state and operating state (step S12). For convenience, the description will be given on the assumption that the first predetermined condition is a condition in which neither the running state nor the operating state is abnormal and normal.

[0074] If the control computer 101 is normal, it controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern, such as that illustrated in the "first predetermined condition" in Figure 5 (step S13), and then terminates the processing.

[0075] On the other hand, if the state is not normal, that is, if there is some abnormality in the traveling state or the operating state, the control computer 101 determines whether a second predetermined condition is satisfied (step S14). For convenience, the second predetermined condition will be described as a condition in which, if traveling is continued in either one or both of the traveling state and the operating state, a state will occur in which it can be said that some action is required. If the second predetermined condition is satisfied, the control computer 101 determines whether the current mode is autonomous traveling mode or user-operated mode (step S15). Information indicating whether the current mode is autonomous traveling mode or user-operated mode can be obtained by referring to the current traveling mode of the control computer 101.

[0076] When the control computer 101 is in the autonomous movement mode, it controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a second light-emitting pattern, for example, as exemplified in "second predetermined condition (autonomous movement mode)" in FIG. 5 (step S16), and ends the process. On the other hand, when the control computer 101 is in the user operation mode, it controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a third light-emitting pattern, for example, as exemplified in "second predetermined condition (user operation mode)" in FIG. 5 (step S17), and ends the process. Of course, such processing can be repeated, for example, at predetermined determination intervals for the running state or the operating state, or whenever there is a change in the detection results of the sensors used to determine the running state or the operating state.

[0077] In addition, the first to third light emission patterns in this example can be, for example, the first light emission pattern being the least noticeable light emission pattern, the second light emission pattern being the light emission pattern that is most likely to attract the attention of people in the vicinity, and the third light emission pattern being the light emission pattern that is most likely to attract the attention of the operator. Furthermore, the light emission patterns performed in the light emission control can also include a pattern in which both the first light emission unit 11 and the second light emission unit 12 are turned off, for example, by setting the first light emission pattern to a pattern in which both the first light emission unit 11 and the second light emission unit 12 are turned off. As described above, the light emission patterns to be employed, such as the first to third light emission patterns and other light emission patterns described below, can be stored in the control computer 101 as a table or the like, and can be referenced during light emission control.

[0078] Here, the same light emission pattern is used in the autonomous movement mode and the user operation mode for the first light emission pattern, but the light emission pattern may be different depending on these modes even if the answer is YES in step S12. Also, here, an example has been given in which processing is performed using only two predetermined conditions, i.e., the first predetermined condition and the second predetermined condition, but it is also possible to use three or more predetermined conditions, further subdivide the conditions, and present different light emission patterns depending on each predetermined condition.

[0079] When either the traveling state or the operating state of the mobile robot 100 indicates an abnormality, the mobile robot 100 is often stopped, i.e., in standby mode. Therefore, by controlling light emission according to the autonomous traveling mode and the user-operated mode as described above, the mobile robot 100 allows people around the mobile robot 100 to easily determine which mode it is stopped in. That is, when the mobile robot 100 is in standby mode, the mobile robot 100 allows people around the mobile robot 100 to easily determine whether it is in standby mode in the autonomous traveling mode or the user-operated mode by visually confirming this. Here, the surroundings may include not only people in the vicinity but also a surveillance camera (described later as an environmental camera), and it can be said that the traveling state can be captured by the surveillance camera in an easily understandable manner. As can be seen from the above description, the first light-emitting unit 11 and the second light-emitting unit 12 can function as indicators indicating whether the mobile robot 100 is in the autonomous traveling mode or the user-operated mode.

[0080] As described above, the first light-emitting unit 11 is a light-emitting unit disposed around a contact portion that may come into contact with an object when the object is loaded and transported. That is, the mobile robot 100 positions the light-emitting unit in consideration of the location where the object is loaded, as illustrated by the positional relationship between the first light-emitting unit 11 and the lifting stage. This contact portion may also be referred to as a mounting surface. The first light-emitting unit 11 is also provided on the main body of the mobile robot 100 around the contact portion. Note that this contact portion is a portion that comes into contact with the object when the object is loaded and transported; for example, a portion that comes into contact with the object only before and during loading can be excluded. The contact portion may be a portion that comes into contact with the bottom surface of the object, and therefore, a portion that comes into contact with the side surface of the object can be excluded. Of course, various objects can be loaded depending on their size and shape, but the contact portion that may come into contact with the object can refer to a portion that may come into contact with the object when the object is being transported, such as the top surface of the lifting mechanism 140. Therefore, when the wagon 500 or other load is loaded and being transported, the light emitted from the first light emitter 11 can be seen, for example, at least from diagonally above or to the side of the mobile robot 100. This makes the mobile robot 100 easily visible from the surroundings even when a load is loaded, and even more so when no load is loaded, making it possible to clearly inform those around the mobile robot 100 of which predetermined condition it is in, whether it is in the autonomous movement mode or the user-operated mode, etc. Furthermore, when illuminating the area around the contact point as in this example and when the wagon 500 is used for transportation, making the underside of the wagon 500 a mirror surface can make the mobile robot 100 more visible to those around it.

[0081] As described above, the second light-emitting unit 12 is a joystick device for operating the mobile robot 100 or a light-emitting unit provided around the joystick device. The mobile robot 100 is placed in a high position that is easily visible to the operator at the operating position and the surrounding area, as exemplified by the second light-emitting unit 12. This allows the mobile robot 100 to clearly notify those around it of the state it is in, which predetermined condition it is in, whether it is in the autonomous movement mode or the user-operated mode, etc., even from a direction where the position of the object being transported, such as the wagon 500, may be difficult to see.

[0082] As described above, the mobile robot 100 can be equipped with a sensor 105 that detects contact of an object with the periphery of the mobile robot 100. In this case, the travel state is determined as follows. That is, the control computer 101 determines that the travel state is abnormal when the sensor 105 detects that an object is in contact with the mobile robot 100, and determines that the travel state is not abnormal when the sensor 105 does not detect that an object is in contact with the mobile robot 100. If a condition that such contact has occurred is added to at least one of the predetermined conditions, the occurrence of contact can be indicated by a light emission pattern that is different from other light emission patterns.

[0083] With this configuration, the mobile robot 100 can easily notify those around it that it is in contact with an object, and can also easily notify those around it when the contact is released. Furthermore, by providing the mobile robot 100 with a sensor such as sensor 105 that detects contact of an object with a bumper provided on the outer periphery of the mobile robot 100, the bumper can protect the main body of the mobile robot 100 and the object that it has come into contact with. Furthermore, the determination of an abnormal state is not limited to the sensor 105, and can also be made based on information from other sensors, such as a camera 104 mounted on the mobile robot 100.

[0084] Furthermore, the control of differentiating light emission patterns, such as the first light emission pattern and the second light emission pattern, can include control of differentiating at least one of the luminance, hue, saturation, and brightness of the light emitted by the light-emitting units exemplified as first light-emitting unit 11 and second light-emitting unit 12. Furthermore, in an example in which light-emitting units are arranged at multiple positions spaced apart from each other, as exemplified as first light-emitting unit 11 and second light-emitting unit 12, the control of differentiating light emission patterns can also include control of differentiating light-emitting parameters between first light-emitting unit 11 and second light-emitting unit 12. Here, the light-emitting parameter can be at least one of the luminance, hue, saturation, and brightness described above.

[0085] Furthermore, in an example in which light-emitting units are arranged at multiple positions spaced apart from each other, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12, the control of different light-emitting patterns can include changing the positions at which light is emitted. In one light-emitting pattern, light can be emitted at all positions, and in another light-emitting pattern, light can be turned off at all positions. For example, the control of different light-emitting patterns can include control such that one of the first light-emitting unit 11 and the second light-emitting unit 12 is turned off and only the other is lit, that is, control of light emission on and off.

[0086] In addition, in an example in which light-emitting units are arranged at multiple positions spaced apart from each other, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12, varying the light-emitting pattern may include varying the multiple positions at which light is emitted synchronously. With this configuration, the mobile robot 100 can inform those around the mobile robot 100 of its status in a more easily understandable manner.

[0087] Examples of such light emission patterns are as follows: In one light emission pattern, only the first light-emitting unit 11 emits light, in another light emission pattern, only the second light-emitting unit 12 emits light, and in yet another light emission pattern, the first light-emitting unit 11 and the second light-emitting unit 12 emit light in synchronization. Examples of synchronously emitting light include the "first predetermined condition" and "second predetermined condition (user operation mode)" examples in FIG. 5. In an example in which the mobile robot 100 has light-emitting units in three or more locations, a light emission pattern can be selected from many light emission patterns obtained by various combinations of the three or more provided light-emitting units.

[0088] Conversely, an example of a case in which the first and second light-emitting units 11 and 12 are illuminated without synchronization is the example of "second predetermined condition (autonomous movement mode)" in FIG. 5. In the example of "second predetermined condition (autonomous movement mode)" in FIG. 5, the first light-emitting unit 11 and the second light-emitting unit 12 are illustrated with opposite hatching, but this is for convenience and indicates that only the phases are different. However, this example can also be considered as an example in which the lighting timing of the first light-emitting unit 11 and the lighting timing of the second light-emitting unit 12 are synchronized when the first light-emitting unit 11 and the second light-emitting unit 12 are illuminated alternately. In this way, the control computer 101 can control the light emission of both the first light-emitting unit 11 and the second light-emitting unit 12 so that the light emission timings of the first light-emitting unit 11 and the second light-emitting unit 12 are interchanged, i.e., so that the light emission of the two units is interchanged, as a certain light-emitting pattern.

[0089] In addition to switching the light emission timing in this way, the control computer 101 can also cause the first light-emitting unit 11 and the second light-emitting unit 12 to emit light at different phases as a certain light emission pattern, thereby presenting light emission with various rhythms to the surrounding area.

[0090] Furthermore, the multiple positions that emit light synchronously can be illuminated in illumination patterns that are complementary to each other. An illumination pattern that is complementary to each other can be a pattern in which the first light-emitting unit 11 and the second light-emitting unit 12 emit light in colors that are easy to see as a set, such as a pattern in which the first light-emitting unit 11 and the second light-emitting unit 12 emit light in colors that are complementary to each other.

[0091] The second light-emitting unit 12 may also include a plurality of individual light-emitting units arranged to surround the stick unit 131 at positions that are different distances from the horizontal center position of the stick unit 131. In other words, the second light-emitting unit 12 may include individual light-emitting units arranged in double or triple layers to surround the stick unit 131. This allows the second light-emitting unit 12 alone to present a variety of light-emitting patterns. In particular, in situations where an operation is being prompted, the light-emitting locations may be moved in order from the inner individual light-emitting unit to the outer individual light-emitting unit. Similarly, the first light-emitting unit 11 may also include a plurality of individual light-emitting units.

[0092] By using the various light emission patterns described above, the mobile robot 100 can more clearly notify those around the mobile robot 100 of which predetermined condition it is in, whether it is in an autonomous movement mode or a user-operated mode, etc. Also, for example, the control computer 101 can reduce light emission to save power when there is no abnormality, or can make light emission more conspicuous when there is an abnormality, so as to more clearly notify those around the mobile robot 100 of the occurrence of an abnormality in its running.

[0093] Furthermore, the above-described system control may include control to stop the movement of the mobile robot 100 when it is determined that the running state is abnormal. This allows the movement of the mobile robot 100 to be stopped when the running state is abnormal, thereby preventing the worst-case scenario from occurring.

[0094] Next, another example of the light emission process that can be employed in this embodiment will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a flow chart for explaining another example of the light emission process executed by the mobile robot 100. Fig. 7 is a diagram showing another example of the light emission pattern that can be executed by the mobile robot 100.

[0095] At least one of the multiple predetermined conditions to be adopted can be a predetermined condition for recommending a directional operation by the user (hereinafter simply referred to as a movement operation). Hereinafter, such a predetermined condition will be referred to as a recommendation condition in the following description. A recommendation condition refers to a condition that requires the user to be encouraged to perform a movement operation. For example, a recommendation condition can refer to a condition in which the mobile robot 100 is in a state where it cannot move due to a running abnormality such as hitting a wall, even though there is no operational abnormality. The movement operation here can be received, for example, from either or both of the operation unit 130 and the joystick device, but can also be received from an operation unit not provided on the mobile robot 100.

[0096] By setting such conditions, the mobile robot 100 can make a notification recommending a movement operation by the user visible to people around the mobile robot 100. In addition, the plurality of predetermined conditions to be adopted may include a plurality of recommended conditions that recommend different operation contents, and thus the recommended contents can also be presented to people around the mobile robot 100 by different light emission patterns.

[0097] The recommendation conditions may also include conditions for recommending an operation to switch from the autonomous movement mode to the user operation mode, i.e., a condition for recommending an operation that enables the mobile robot 100 to accept a movement operation via an operation unit. This condition may be, for example, a condition that the traveling state is such that there are many people around and traveling in the autonomous movement mode would result in a situation where an appropriate measure is required. In this way, the mobile robot 100 can make a notification recommending switching to the user operation mode visible to people around the mobile robot 100, and if there is a staff member among them who is capable of operating the mobile robot, the mobile robot 100 can be prompted to switch to the user operation mode.

[0098] The recommended conditions may also include a condition for recommending an operation to move the mobile robot 100 in a predetermined direction. For example, this condition may be a condition in which there are many people around the mobile robot 100, making it necessary to take a detour. It is preferable to indicate a detour route as the predetermined direction, which is particularly useful in the user operation mode.

[0099] In particular, when the recommendation conditions for recommending an operation to move in the predetermined direction are met, the control computer 101 may control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light to indicate the predetermined direction. For example, the light-emitting position may be changed depending on the predetermined direction. In this case, controlling a light-emitting unit near an operation unit, such as the second light-emitting unit 12, around the joystick device to indicate the predetermined direction makes it easier for the operator to recognize the predetermined direction. Note that in this example, the light is emitted to indicate the actual recommended movement direction, i.e., the recommended orientation, and therefore the light-emitting position also changes depending on the current orientation of the mobile robot 100, i.e., the current orientation.

[0100] An example of the above-mentioned control will be described. The control computer 101 determines the running state and operating state of the mobile robot 100 (step S21), similar to step S11 in Fig. 4. Next, the control computer 101 determines whether any of a plurality of predetermined conditions employed is satisfied based on the determined running state and operating state (step S22), and if the result of the determination indicates NO, i.e., if NO in step S23, the process ends.

[0101] On the other hand, if the answer is YES in step S23, the control computer 101 determines whether the current mode is the autonomous movement mode or the user operation mode (step S24). In step S24, information indicating whether the operating state is the autonomous movement mode or the user operation mode can be obtained by referring to the current movement mode of the control computer 101.

[0102] Next, the control computer 101 selects a light-emitting pattern corresponding to the satisfied predetermined condition and the current travel mode (step S25). Then, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in the selected light-emitting pattern (step S26), and ends the process. This process can be repeated, for example, every time there is a change in the detection result of the sensor used to determine the traveling state or operating state, or at predetermined intervals.

[0103] In steps S25 and S26, the control computer 101 can select a light emission pattern and control light emission based on the correspondence between the states and light emission patterns illustrated in FIG.

[0104] 7 illustrates examples of light emission patterns defined by the light color and lighting pattern of the first light-emitting unit 11 and the second light-emitting unit 12 for each of the following cases: "autonomous movement mode and normal," "user operation mode and normal," and "abnormal" for either the traveling state or the operating state. Note that "normal" here means that both the traveling state and the operating state are normal. As can be seen from the examples of light emission patterns in FIG. 7, the second light-emitting unit 12, which is closer to the operation unit 130 and the stick unit 131, mainly represents the normal mode and abnormality of the mobile robot 100, while the first light-emitting unit 11 also represents the detailed state of the mobile robot 100 in the autonomous movement mode.

[0105] As detailed operational states in the autonomous movement mode, FIG. 7 shows the following four cases of "autonomous movement mode and normal." Specifically, FIG. 7 illustrates examples of illumination patterns for the following cases: "autonomously traveling," which indicates a state in which the robot is moving autonomously; "standby," which indicates a state in which the robot is performing autonomous movement control but is stopped and waiting; "operation prompt," which indicates a situation in which the robot is prompting the user to perform some operation; and "attention prompt," which indicates a situation in which the robot is prompting the user or those around it to pay some attention. In this example, the "standby" case can refer to, for example, when the mobile robot 100 is charging in a charger or waiting for an elevator. The "operation prompt" case can refer to, for example, when the mobile robot 100 has arrived at its destination. The "attention prompt" case can refer to, for example, when the lifting mechanism 140 is being raised or lowered or when the mobile robot 100 is passing through an intersection. The "autonomously traveling" case refers to other autonomous traveling situations.

[0106] 7 also includes examples of lighting patterns including a "breathing rhythm" that changes the light emission brightness in a rhythm similar to human breathing, and a "flow of lighting points" that moves the lighting points. Examples of moving the lighting points include, for example, lighting the first light-emitting unit 11 so that the lighting points rotate around the lifting mechanism 140, and lighting the second light-emitting unit 12 so that the lighting points rotate around the stick unit 131.

[0107] It should be noted that the examples of colors and lighting patterns illustrated in FIG. 7 can naturally be applied to the processing examples described with reference to FIGS.

[0108] 7, the light emitting pattern associated with the recommended condition can be emitted by at least the second light emitting unit 12. With this configuration, a notification recommending a movement operation by the user can be displayed at a position that is easily visible from the operation position and its surroundings, and can be seen by people around the mobile robot, such as the operator.

[0109] In addition, in the example of Figure 7, one light emission pattern is used when an abnormality occurs, but even when an abnormality occurs, the light emission pattern can be changed depending on whether the abnormality occurs in the autonomous movement mode or the user operation mode.

[0110] 7, the first light-emitting unit 11 may emit light in a light-emitting pattern associated with a condition other than the recommended condition among the plurality of predetermined conditions to be adopted. With this configuration, a notification other than a recommendation for a movement operation by the user is visible to people around the mobile robot at a position different from the operation position or its surroundings, and the people can easily determine that the notification is not a recommendation for an operation.

[0111] In the above explanation, an example was given in which the transport system is mainly composed of the mobile robot 100 equipped with a joystick device. However, the control system to which the joystick device is applied may be any system that executes system control for controlling a system including a mobile robot, such as the transport system described above. This system may also include a server that can be connected to the mobile robot 100 via wireless communication. This server provides the mobile robot 100 with information for autonomous movement. This server may also be called a host management device, and may not necessarily be configured as a single device, but may also be configured as a system with its functions distributed across multiple devices.

[0112] An example of this transport system including the mobile robot 100 and a host management device will be described below with reference to Fig. 8. Fig. 8 is a schematic diagram showing an example of the overall configuration of a transport system including the mobile robot 100.

[0113] 8, the transport system 1 includes a mobile robot 100, a host management device 2, a network 3, a communication unit 4, an environmental camera 5, and a user terminal device 300. The transport system 1 is a system that transports an object using the mobile robot 100, and includes the control system in this configuration example. In this example, the control system can refer to the mobile robot 100 and the host management device 2, or can refer to the components of the control system provided in the mobile robot 100 and the host management device 2.

[0114] The mobile robot 100 and the user terminal device 300 are 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 mobile 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.

[0115] The host management device 2 is a device that can be connected to the mobile robots 100 via wireless communication, is a management system that manages multiple mobile 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.

[0116] The transport system 1 can efficiently control multiple mobile robots 100 within a specific facility, either by moving the mobile robots 100 autonomously in an autonomous movement mode or by moving the mobile 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 complexes.

[0117] To achieve such efficient control, multiple environmental cameras 5 can be installed within a facility. The environmental cameras 5 capture images of the area in which people and the mobile robot 100 move and output image data representing the images. This image data can be still image data or moving image data. If still image data is used, still image data is obtained at each capture interval. In the transport system 1, the images captured by the environmental cameras 5 and information based thereon are collected by the host management device 2. Images used to control the mobile robot 100 can be transmitted directly to the mobile robot 100, or in the user operation mode, can be transmitted to the user terminal device 300 via the host management device 2 or directly. The environmental cameras 5 can be installed as surveillance cameras in the corridors and entrances of the facility.

[0118] For each transport request, the upper management device 2 can determine the mobile robot 100 that will execute the transport task and send an operation command to the determined mobile robot 100 to execute the transport task. The mobile robot 100 can autonomously move from the transport source to the transport destination according to the operation command. Note that the method of determining the transport route at this time is not limited.

[0119] For example, the host management device 2 assigns a transport task to a mobile robot 100 at or near the transport source. Alternatively, the host management device 2 assigns a transport task to a mobile robot 100 heading toward or near the transport source. The mobile robot 100 assigned the task will go to the transport source to pick up the transported item.

[0120] The user terminal device 300 is an example of the remote control device described above that remotely controls the mobile robot 100 in the user operation mode, either directly or via the host management device 2, and may be equipped with a communication function for this purpose and a display unit 304. When the user terminal device 300 is a device that remotely controls the mobile robot 100 via the host management device 2, the user terminal device 300 can also be considered to correspond to the remote control device of the host management device 2. Various types of terminal devices, such as tablet computers and smartphones, can be used as the user terminal device 300. The user terminal device 300 can also accept a switching operation between the user operation mode and the autonomous movement mode, and when this switching operation is performed, the mode of the mobile robot 100 can be switched via the host management device 2.

[0121] In the configuration example of FIG. 1, a joystick device is provided in the mobile robot 100, and the state of the mobile robot 100 is visually recognized by those around it. In contrast, the joystick device can also be provided in the user terminal device 300. That is, the user terminal device 300 can be provided with, in addition to the main body 31, a stick unit 302 and a button 303 as part of the joystick device. In the user operation mode, this joystick device is a device for operating the mobile robot 100 to move it in the direction intended by the user. Directional operation can be received by tilting the stick unit 302 in the desired direction of movement.

[0122] The joystick device can also be controlled so that pressing the button 303 downward performs a switching operation to switch between the autonomous movement mode and the user operation mode. Alternatively, the joystick device can be controlled so that pressing the button 303 downward performs a confirmation operation. The button 303 can also be configured to function as an emergency stop button when pressed downward for a predetermined period of time. When the button 303 is configured to be able to accept multiple operations from among the switching operation, confirmation operation, and emergency stop operation, that is, when multiple operations are assigned to the button 303, it is sufficient to set a predetermined period of time corresponding to each operation.

[0123] Furthermore, if the user terminal device 300 is equipped with a joystick device, the user can perform the same operation as with the joystick device even if the mobile robot 100 does not have a joystick device. Furthermore, if the user terminal device 300 is equipped with a joystick device, a light-emitting unit such as the second light-emitting unit 12 (hereinafter referred to as the terminal-side second light-emitting unit 312) can be provided on or around the joystick device to perform light-emitting control similar to that of the second light-emitting unit 12. In FIG. 8, the terminal-side second light-emitting unit 312 is provided on the upper surface of the stick unit 302 so as to have a light-emitting area around the button 303, but this is not a limitation and the terminal-side second light-emitting unit 312 may be provided on or around the joystick device. Furthermore, the shape of the light-emitting area of ​​the terminal-side second light-emitting unit 312 is not limited to that shown in the figure. For example, the terminal-side second light-emitting unit 312 can display a light-emitting pattern as a display image using the display unit 304. Note that the mobile robot 100 can also be provided with a button such as the button 303 on the upper surface of the stick unit 131, for example. In addition, in a configuration in which the transport system 1 manages a plurality of mobile robots 100, in the user operation mode, the mobile robot 100 to be remotely controlled can be selected from the user terminal device 300.

[0124] 8, the joystick device may be provided on both the mobile robot 100 and the user terminal device 300. In this case, the second light-emitting unit may be provided on or around one of the joystick devices, or the second light-emitting unit may be provided on or around both of the joystick devices.

[0125] The display unit 304 can display an image represented by image data received from the camera 104 in the mobile robot 100 and an image represented by image data received from the environmental camera 5 located around the mobile robot 100. This allows the user to operate the mobile robot 100 using the stick unit 302 and the button 303.

[0126] The user terminal device 300 can also function as a device for issuing a transport request to the higher-level management device 2. This transport request can also include information indicating the item to be transported.

[0127] In the transport system 1 configured as described above, whether the joystick device is provided in the mobile robot 100, the user terminal device 300, or both, the host management device 2 may output a control signal for light emission control. When the host management device 2 outputs this control signal, it can be output by the control unit 2a. In this case, the control computer 101 may determine whether or not a predetermined condition for light emission control is met and pass the result to the host management device 2, or a control unit provided in the joystick device may determine the condition and pass the result to the host management device 2.

[0128] Alternatively, the conveyance system 1 can be configured such that a control unit (not shown) provided in the joystick device outputs a control signal for controlling light emission. Here, if a joystick device is provided in either the mobile robot 100 or the user terminal device 300, the control unit of that joystick device can output a control signal, and if a joystick device is provided in both, the control unit of either joystick device can output a control signal, or the control units of both joystick devices can output control signals to a light-emitting unit provided in the own device or in the vicinity of the own device.

[0129] Alternatively, the transport system 1 configured as described above can be configured such that a control unit (exemplified by the control computer 101) provided in the mobile robot 100 outputs a control signal for light emission control. In this case, the control computer 101 may determine whether or not a predetermined condition for light emission control is met, but the determination may also be made by the control unit 2a of the host management device 2 or a control unit provided in the joystick device and passed to the mobile robot 100. Alternatively, instead of the transport system 1, a transport system can be configured without the host management device 2. In such a configuration, the control unit of the mobile robot 100, exemplified by the control computer 101, can determine whether or not a predetermined condition is met and output a control signal for light emission control, but for example, a control unit provided in the joystick device can also output a control signal for determining whether or not a predetermined condition is met and for light emission control.

[0130] Furthermore, the control system in the transport system 1 can perform the following control at least when the host management device 2 cannot communicate with the mobile robot 100 or when the host management device 2 does not acquire the status of the mobile robot 100 through communication. That is, when communication is not possible or when the host management device 2 does not acquire the status of the mobile robot 100 through communication, the control system can determine the status and movement mode of the mobile robot 100 from the light emission pattern shown in an image of the mobile robot 100 captured by the environmental camera 5. The movement mode here refers to whether the mobile robot 100 is in an autonomous movement mode or a user-operated mode. Note that this image can be captured by a camera of another mobile robot provided in the transport system 1 instead of or in addition to the image captured by the environmental camera 5. Although the description of the terminal-side second light-emitting unit 312 has been omitted here, the control system can also determine the status and movement mode of the mobile robot 100 by referring to the light emission pattern of the terminal-side second light-emitting unit 312. In this case, the control system will also refer to an image of the user terminal device 300 captured by a camera such as the environmental camera 5 to make the determination.

[0131] The mobile robot 100, or the mobile robot 100 and the user terminal device 300 operating it, can present various light emission patterns depending on whether predetermined conditions are met, as illustrated in Figures 5 and 7, and the host management device 2 can determine the current state and mode of the mobile robot 100 from the currently presented light emission pattern. Note that in the example of Figure 7, one light emission pattern is used in the event of an abnormality, but even in the event of an abnormality, by changing the light emission pattern depending on whether the abnormality occurs in the autonomous movement mode or the user operation mode, the host management device 2 can determine whether the mode is the autonomous movement mode or the user operation mode, even in the event of an abnormality.

[0132] With this configuration, the control system of the transport system 1 allows the upper management device 2 to determine whether the mobile robot 100 is in a state that satisfies specified conditions and its movement mode, even when communication between the mobile robot 100 and the upper management device 2 is not possible, or when the upper management device 2 is configured not to obtain the state of the mobile robot 100 through communication.

[0133] As a result, for example, when the mobile robot 100 that cannot communicate satisfies a certain predetermined condition and is in the autonomous movement mode, the host management device 2 can instruct a user to manually move, retrieve, or inspect the mobile robot 100. The user can then perform the task in accordance with the instruction. Also, for example, when the mobile robot 100 that cannot communicate satisfies a certain predetermined condition that puts the robot 100 in standby mode and is in the user operation mode, the operator leaves the mobile robot 100 alone. Therefore, in such a case, the host management device 2 can notify the operator to return to the location of the mobile robot 100. Similar effects can be achieved even in a configuration in which the host management device 2 does not acquire the status of the mobile robot 100 through communication.

[0134] Here, a method for determining whether the mobile robot 100 is running abnormally will be described. In the transport system 1, the mobile robot 100 can also determine whether the mobile robot 100 is running abnormally by the method described with reference to FIG.

[0135] As another determination method, the mobile robot 100 can determine whether a driving abnormality has occurred from an image captured by the environmental camera 5 and transmitted to the mobile robot 100 directly or via the host management device 2. Here, an image captured by a camera of another mobile robot can be used for the determination instead of the environmental camera 5. That is, the control computer 101 can determine whether a driving abnormality has occurred based on an image captured by a camera installed in the facility where the mobile robot 100 is operated, such as the environmental camera 5 or a camera of another mobile robot. The control unit 2a of the host management device 2 can also perform such a determination. In this case, it is advisable to transmit information indicating the driving state to the mobile robot 100 in advance in preparation for a disruption of wireless communication with the host management device 2.

[0136] Even in a configuration in which the mobile robot 100 acquires information indicating the traveling state from the host management device 2, the mobile robot 100 can acquire this information before communication with the host management device 2 is interrupted. Therefore, the mobile robot 100 can control light emission according to the information acquired before communication is interrupted.

[0137] Next, a processing example in the upper management device 2 in the transport system 1 will be described with reference to Fig. 9. Fig. 9 is a flow chart for explaining a processing example in the upper management device 2 in the transport system 1 of Fig. 8.

[0138] First, the control unit 2a of the upper management device 2 monitors the communication unit (not shown) to check the communication status with the mobile robot 100 (step S31) and determines whether communication is possible (step S32). If the control unit 2a determines that communication with the mobile robot 100 is possible, it returns to step S31 and continues monitoring. If the control unit 2a determines that communication with the mobile robot 100 is impossible, it acquires an image from a camera (step S33). This camera can be the environmental camera 5, or a camera provided on another mobile robot traveling in the vicinity where communication with the mobile robot 100 has been interrupted, or both.

[0139] Next, the control unit 2a analyzes the light emission pattern of the mobile robot 100 or the light emission pattern of at least one of the mobile robot 100 and the user terminal device 300 operating it based on the acquired image, determines the state and movement mode of the mobile robot 100 (step S34), and ends the process. Of course, step S34 can also include determining which predetermined conditions are satisfied. The control unit 2a can also be configured to obtain the state and movement mode of the mobile robot 100 from the image using a learning model obtained by machine learning when analyzing the light emission pattern and making a determination on the mobile robot 100.

[0140] In this way, even when communication between the mobile robot 100 and the upper management device 2 is not possible, the control system of the transport system 1 allows the upper management device 2 to determine whether the mobile robot 100 is in autonomous movement mode or user operation mode, as indicated by the light emission pattern of the mobile robot 100 or the mobile robot 100 and the user terminal device 300 operating it, and which specified conditions are met.

[0141] Furthermore, in a configuration in which the mobile robot 100 and the user terminal device 300 can express their operating state by light emission patterns, that is, in a configuration in which conditions related to the operating state are included in the predetermined conditions, this system control can include control to determine the operating state of the mobile robot 100 from the light emission pattern shown in the image. As a result, for example, if the mobile robot 100 that cannot communicate is in an abnormal operating state, instructions can be given to the user to retrieve or inspect the mobile robot 100, and the user can perform the work in accordance with the instructions.

[0142] Incidentally, even in a configuration that does not include the host management device 2, the transport system can be provided with an environmental camera 5 that can wirelessly communicate with the mobile robot 100, and even in such a configuration example, the state and movement mode of the mobile robot 100 can be determined from images obtained from the environmental camera 5. Of course, if the mobile robot 100 can communicate with other mobile robots, the state and movement mode of the mobile robot 100 can also be determined based on images obtained by a camera mounted on the other mobile robot.

[0143] As described above, the joystick device is not limited to being provided in the mobile robot 100, but may also be provided in a remote control device that remotely controls the mobile robot 100, as exemplified by the user terminal device 300.

[0144] Furthermore, although an example in which the operating device according to this embodiment is a joystick device has been given, the operating device according to this embodiment is not limited to a joystick device, and may be any operating device that includes an operating unit that accepts operations, including directional operations, for the mobile robot, and a light-emitting unit. An example of such an operating device will be described with reference to Fig. 10. Fig. 10 is a perspective view showing another example of the configuration of an operating device that can operate the mobile robot 100 according to this embodiment.

[0145] The operating device 600 shown in FIG. 10 can have a main body 601 and an operating unit 602, and can be provided in the user terminal device 300 instead of a joystick device provided in the user terminal device 300 as a stick unit 302 or the like, or can be used as a substitute for the user terminal device 300.

[0146] The operation unit 602 may be a touch sensor or may be equipped with a touch sensor. As illustrated in FIG. 10 , the touch sensor may be provided with arrows 602U, 602D, 602L, and 602R indicating the operation directions (up, down, left, right, etc.), or with a mark 602M indicating a touch position for performing a mode switching operation or the like. Although not shown in FIG. 10 , by also displaying text information such as up, down, left, and right, the user can know the movement direction regardless of the direction in which the user faces the operation device 600. The operation unit 602 can accept a movement operation of the mobile robot 100 when the user slides their finger on the touch sensor.

[0147] Furthermore, operating device 600 can include second light-emitting unit 612, which can be controlled to emit light in the same way as second light-emitting unit 12 and terminal-side second light-emitting unit 312, in main body 601 located around operating unit 602. Second light-emitting unit 612 can also be provided at the edge of the outer periphery of operating unit 602, and like second light-emitting unit 12 and terminal-side second light-emitting unit 312, the shape, size, and position of second light-emitting unit 612 are not important.

[0148] The operating device 600 described here can also be provided in place of a joystick device configured with the stick unit 131 and the like provided on the mobile robot 100.

[0149] In the above-described embodiment, the explanation is based on the premise that the operation device, such as a joystick device, is a device for operating a mobile robot. However, this embodiment can also be implemented as a control method for performing the various controls described above or as a program for performing such control. Furthermore, this embodiment is not limited to mobile robots and can be applied to other types of operation target devices, in which case it has the effect of enabling the position of the operation target device to be visually recognized by those around it.

[0150] That is, an operating device such as a joystick device can include an operating unit that accepts operations including directional operations for an operation target device, and a light emitting unit provided around the operating unit. Such an operating device can clearly notify those around it of its location, and, for example, when an operation is required, the operating device can be used immediately.

[0151] Furthermore, the various examples described for operating a mobile robot with an operating device such as a joystick device can also be applied to operating target devices other than mobile robots. For example, the light-emitting unit can emit light in a light-emitting pattern that indicates the state of the operating target device, thereby allowing the state of the operating target device to be visually recognized by those around. The light-emitting unit can include multiple individual light-emitting units arranged to surround the operating unit at different distances from the horizontal center position of the operating unit. The light-emitting unit can emit light in a light-emitting pattern that indicates the content of an operation accepted by the operating device. The light-emitting unit can emit light in a light-emitting pattern that indicates the content of a recommended operation from among the operations that can be accepted by the operating device. The light-emitting unit can emit light in a light-emitting pattern that indicates the state of the operating target device. The operating device can also include a button that accepts a press operation to switch the operating mode of the operating target device. When the operating device is a joystick device, the button can be provided at the tip of the stick member or at a position that is pressed by pushing the stick member. Furthermore, when the operation target device is capable of both autonomous operation and user-operated operation, this button can also be a button that accepts a press operation to switch between an autonomous operation mode in which the operation target device performs autonomous operation and a user operation mode in which operation via the operation unit is accepted. Furthermore, the operation device can be provided in the operation target device, or can be provided as a remote operation device for the operation target device.

[0152] Furthermore, any of the various devices described above, such as the control computer 101 of the mobile robot 100 according to the above-described embodiment, the upper management device 2, the user terminal device 300, and the operation target device, can have the following hardware configuration, for example. Alternatively, an operation device provided in the mobile robot 100, the user terminal device 300, or the operation target device can have the following hardware configuration. Fig. 11 is a diagram showing an example of the hardware configuration of the device.

[0153] 11 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.

[0154] 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.

[0155] 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.

[0156] 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]

[0157] 1. Transport system 2 Upper management device 3 Network 4 Communication Unit 5. Environmental Camera 11 First light-emitting part 12 Second light-emitting unit (light-emitting unit) 100 Mobile Robots 101 Control Computer 104 Camera 110 chassis 111 Wheels 120 Stand 130 Operation section 131 Stick part (stick member) 140 Lifting mechanism 141 recess 300 User terminal device 500 Wagon 501 Cover 502 wheels 600 Operating device

Claims

1. an operation unit that receives operations including directional operations for the mobile robot; a light emitting unit that emits light in a light emitting pattern that indicates the state of the mobile robot; Equipped with The light emitting unit is disposed so as to surround the operation unit. Operating device.

2. A control unit that controls the light emission pattern of the light emitting unit, and when the mobile robot is operating in a user operation mode in which the mobile robot moves in accordance with the directional operation and there is no operational abnormality in the mobile robot but there are many people around the mobile robot, the control unit controls the light emitting unit to emit light in a first light emitting pattern that prompts a user to move the mobile robot to a route that bypasses the people. The operating device according to claim 1 .

3. The first light-emitting pattern is a light-emitting pattern that causes the light-emitting unit to emit light so as to indicate the direction of movement indicated by the route. The operating device according to claim 2 .

4. A control unit that controls the light emission pattern of the light emitting unit, When the mobile robot is operating in an autonomous movement mode in which the mobile robot moves autonomously and there is no operational abnormality in the mobile robot but there are many people around the mobile robot, the control unit controls the light emitting unit to emit light in a second light emitting pattern that prompts an operation to switch to a user operation mode in which the mobile robot moves according to the directional operation. The operating device according to claim 1 .

5. The operation device is a joystick device having a stick member as at least a part of the operation unit. The operating device according to any one of claims 1 to 4.

6. The operation device is provided on the mobile robot. The operating device according to any one of claims 1 to 4.

7. A mobile robot equipped with the operating device according to any one of claims 1 to 4, receiving an operation to move the mobile robot by the operation unit; Mobile robot.

Images