Control system, operating device, control method, and program

Abstract

To provide a control system capable of suppressing an unintended movement of a mobile robot which can switch a mode between an autonomous movement mode and a user operation mode due to input of an unnecessary operation when a user performs a mode switching operation using an operation device for the mobile robot.SOLUTION: A control system comprises an operation device and a control unit 11. The operation device comprises a movement operation unit which accepts a movement operation for moving a mobile robot 1, and a switching operation unit which accepts a switching operation for switching an autonomous movement mode and a user operation mode. The control unit 11 switches acceptance availability of the movement operation by the movement operation unit on the basis of whether the mode is the autonomous movement mode or the user operation mode and a change in a switching signal according to the switching operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control system, an operating device, a control method, and a program.

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventor has considered a case where a user operates a mobile robot capable of switching modes between an autonomous movement mode and a user operation mode using an operating device. When the user performs such a mode switching operation using the operating device, if there is an unnecessary operation input during the operation, the mobile robot may move unintentionally due to the unnecessary input.

[0005] The present disclosure has been made to solve such problems, and for a mobile robot capable of switching modes between an autonomous movement mode and a user operation mode, when the user performs a mode switching operation using an operating device, even if there is an unnecessary operation input during the operation, it is possible to suppress the mobile robot from moving unintentionally due to the unnecessary input. A control system, an operating device, a control method, and a program are provided.

Means for Solving the Problems

[0006] The control system according to this disclosure is a control system for controlling a mobile robot that can switch between an autonomous movement mode and a user operation mode in which it moves based on user operation, and comprises an operating device that includes a movement operation unit that receives movement operations for moving the mobile robot, and a switching operation unit that receives a mode switching operation for switching between the autonomous movement mode and the user operation mode, and a control unit that switches whether or not to accept the movement operation by the movement operation unit based on which mode is being used (autonomous movement mode or user operation mode) and a signal change of the switching signal corresponding to the switching operation. With this control system, when a user performs a mode switching operation using the operating device, even if there is an unnecessary input during that operation, it is possible to suppress the mobile robot from moving unintended due to that unnecessary input.

[0007] The control unit may, when the mobile robot is in the autonomous movement mode, switch to the user operation mode when it detects the falling edge of the switching signal corresponding to the switching operation. By performing such a switch, the control system can suppress unintended movement of the mobile robot due to unnecessary input when switching from the autonomous movement mode to the user operation mode.

[0008] The control unit may, when the mobile robot is in the autonomous movement mode, stop or decelerate the mobile robot when it detects the falling edge of the switching signal corresponding to the switching operation, and then switch to the user operation mode after a predetermined period of time has elapsed. By performing such a switch, the control system can suppress unintended movement of the mobile robot due to unnecessary inputs when switching from autonomous movement mode to user operation mode for a longer period of time.

[0009] The control unit may, when the mobile robot is in the user operation mode, switch to the autonomous movement mode when it detects the rising edge of the switching signal corresponding to the switching operation. By performing such a switch, the control system can suppress unintended movement of the mobile robot due to unnecessary inputs when switching from the user operation mode to the autonomous movement mode.

[0010] The operating device may be a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. With such a configuration, the control system can suppress unintended movement of the mobile robot due to unnecessary operation inputs during mode switching operations, even with a joystick device that allows for intuitive movement operations.

[0011] The operating device according to this disclosure is an operating device for operating a mobile robot that can switch between an autonomous movement mode and a user operation mode in which it moves based on user operation, and comprises: a movement operation unit that receives movement operations for moving the mobile robot; a switching operation unit that receives a mode switching operation for switching between the autonomous movement mode and the user operation mode; a receiving unit that receives a signal indicating whether the mobile robot is in the autonomous movement mode or the user operation mode; and an output unit that outputs a mode switching signal to the mobile robot so as to switch whether or not the movement operation unit will accept the movement operation based on the signal received by the receiving unit and the signal change of the switching signal corresponding to the switching operation. With this configuration, when a user performs a mode switching operation using the operating device, even if there is an unnecessary input during that operation, it is possible to suppress the mobile robot from moving unintended due to that unnecessary input.

[0012] The output unit may, when the mobile robot is in the autonomous movement mode, output a signal to the mobile robot to switch to the user operation mode as the mode switching signal when it detects the falling edge of the switching signal corresponding to the switching operation. With this configuration, it is possible to suppress unintended movement of the mobile robot due to unnecessary input when switching from autonomous movement mode to user operation mode.

[0013] The output unit may, when the mobile robot is in autonomous movement mode, output a control signal to stop or decelerate the mobile robot when it detects the falling edge of the switching signal corresponding to the switching operation, and after a predetermined period of time has elapsed, output a signal to the mobile robot to switch to the user operation mode as the mode switching signal. By performing such a switch, the operating device can suppress unintended movement of the mobile robot due to unnecessary inputs when switching from autonomous movement mode to user operation mode for a longer period of time.

[0014] The output unit may, when the mobile robot is in user operation mode, output a signal to the mobile robot to switch to autonomous movement mode as the mode switching signal when it detects the rising edge of the switching signal corresponding to the switching operation. With this configuration, it is possible to suppress unintended movement of the mobile robot due to unnecessary input when switching from user operation mode to autonomous movement mode.

[0015] The operating device may be a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. With such a configuration, even a joystick device that allows for intuitive movement operations can suppress unintended movements of the mobile robot caused by unnecessary operation inputs during mode switching operations.

[0016] The control method relating to this disclosure is a control method for controlling a mobile robot that can switch between an autonomous movement mode and a user operation mode that moves based on user operation using an operating device, wherein the operating device comprises a movement operation unit that receives movement operations for moving the mobile robot, and a switching operation unit that receives a mode switching operation between the autonomous movement mode and the user operation mode, and the control method switches whether or not to accept the movement operation by the movement operation unit based on which mode is being used (autonomous movement mode or user operation mode) and a change in the switching signal corresponding to the switching operation. With this control method, when a user performs a mode switching operation using an operating device, even if there is an unnecessary operation input at that time, it is possible to suppress the mobile robot from moving unintended due to that unnecessary input.

[0017] If the mobile robot is in the autonomous movement mode, the control method may be configured to switch to the user operation mode when it detects the falling edge of the switching signal corresponding to the switching operation. By performing such a switch, the control method can suppress unintended movement of the mobile robot due to unnecessary input when switching from the autonomous movement mode to the user operation mode.

[0018] When the mobile robot is in the autonomous movement mode, the control method may stop or decelerate the mobile robot when it detects the falling edge of the switching signal corresponding to the switching operation, and then switch to the user operation mode after a predetermined period of time has elapsed. By performing such a switch, the control method can suppress unintended movement of the mobile robot due to unnecessary inputs when switching from autonomous movement mode to user operation mode for a longer period of time.

[0019] The control method, which switches to the autonomous movement mode when it detects the rising edge of the switching signal corresponding to the switching operation while the mobile robot is in the user operation mode, can suppress unintended movement of the mobile robot due to unnecessary inputs when switching from the user operation mode to the autonomous movement mode by performing such a switch.

[0020] The operating device may be a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. The control method can also suppress unintended movement of the mobile robot due to unnecessary operation inputs during mode switching operations, even when a joystick device that allows for intuitive movement operations is used as the operating device.

[0021] The program relating to this disclosure is a program for controlling a mobile robot that can switch between an autonomous movement mode and a user operation mode that moves based on user operation using an operating device, wherein the operating device comprises a movement operation unit that receives movement operations for moving the mobile robot, and a switching operation unit that receives a mode switching operation to switch between the autonomous movement mode and the user operation mode, and the program is a program that causes a control computer provided in or connected to the mobile robot to execute a mode switching process, wherein the mode switching process is a process that switches whether or not the movement operation unit can accept the movement operation based on which mode is being used (autonomous movement mode or user operation mode) and a change in the switching signal corresponding to the switching operation. With this configuration, when a user performs a mode switching operation using an operating device, even if there is an unnecessary operation input at that time, it is possible to suppress the mobile robot from moving unintended due to that unnecessary input.

[0022] When the mobile robot is in the autonomous movement mode, the mode switching process may include a process of switching to the user operation mode when a falling edge of a switching signal corresponding to the switching operation is detected. By performing such a switch, the program can suppress an unintended movement of the mobile robot due to an unnecessary input when switching from the autonomous movement mode to the user operation mode.

[0023] When the mobile robot is in the autonomous movement mode, the mode switching process may include a process of stopping or decelerating the mobile robot when a falling edge of a switching signal corresponding to the switching operation is detected, and switching to the user operation mode after a predetermined period has elapsed. By performing such a switch, the program can suppress an unintended movement of the mobile robot due to an unnecessary input for a longer period when switching from the autonomous movement mode to the user operation mode.

[0024] When the mobile robot is in the user operation mode, the mode switching process may include a process of switching to the autonomous movement mode when a rising edge of a switching signal corresponding to the switching operation is detected. By performing such a switch, the program can suppress an unintended movement of the mobile robot due to an unnecessary input when switching from the user operation mode to the autonomous movement mode.

[0025] The operating device may be a joystick device including a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. Even when the program adopts a joystick device that enables intuitive movement operations as the operating device, it can suppress an unintended movement of the mobile robot due to an unnecessary operation input during a mode switching operation.

Advantages of the Invention

[0026] According to the present disclosure, there are provided a control system, an operating device, a control method, and a program capable of suppressing a situation where a mobile robot that can switch modes between an autonomous movement mode and a user operation mode makes an unintended movement due to an unnecessary input even when there is an unnecessary operation input during the operation when the user performs a mode switching operation using the operating device.

Brief Description of Drawings

[0027] [Figure 1] It is a schematic perspective view showing an example of a mobile robot as a control system according to an embodiment. [Figure 2] It is a top view showing an example of a joystick device mounted on the mobile robot of FIG. 1. [Figure 3] It is a timing chart showing an example of a response to an operation by a button and a stick member in a mobile robot according to a first comparative example. [Figure 4] It is a timing chart showing an example of a response to an operation by a button and a stick member in a mobile robot according to a second comparative example. [Figure 5] It is a timing chart showing an example of a response to an operation by a button and a stick member in the mobile robot of FIG. 1. [Figure 6] It is a flowchart for explaining an example of a control method in the mobile robot of FIG. 1. [Figure 7] It is a timing chart showing another example of a response to an operation by a button and a stick member in the mobile robot of FIG. 1. [Figure 8] It is a flowchart for explaining another example of a control method in the mobile robot of FIG. 1. [Figure 9] It is a schematic diagram showing a configuration example of a conveyance system including a control system according to an embodiment. [Figure 10] It is a flowchart for explaining an example of a control method of a mobile robot in the conveyance system of FIG. 9. [Figure 11]This is a perspective view showing an example of a joystick device for operating a mobile robot included in an alternative control system. [Figure 12] This is a top view showing an example of an operating device for controlling a mobile robot included in an alternative control system. [Figure 13] This is a top view showing another example of an operating device for controlling a mobile robot included in the control system of the alternative example. [Figure 14] This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0028] The present invention will be described below through embodiments of the invention, but the invention as claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem.

[0029] (Embodiment) The control system according to this embodiment is a system for controlling a mobile robot that can switch between an autonomous movement mode and a user-operated mode where the robot moves based on user input. The system comprises an operating device and a control unit that switches between these modes. Hereinafter, a joystick device will be used as an example of the operating device. The user-operated mode may also be referred to as manual mode.

[0030] This control unit can be distributed across multiple devices in the control system described above, and this joystick device can also be provided separately from the mobile robot. However, first, with reference to Figures 1 to 8, an example configuration in which the joystick device and control unit are mounted on the mobile robot, and the control system according to this embodiment is mainly composed of the mobile robot, will be described.

[0031] The mobile robot in this configuration example will be described with reference to Figures 1 and 2. Figure 1 is a schematic perspective view showing an example of a mobile robot as a control system according to this embodiment, and Figure 2 is a top view showing an example of a joystick device mounted on the mobile robot in Figure 1.

[0032] The mobile robot 1 shown in Figure 1 is configured to autonomously transport items stored in a storage compartment to a destination instructed by a user terminal device or a higher-level management device (not shown), and to transport items according to user operations received via a joystick device. However, the control system according to this embodiment may also be configured without a user terminal device or a higher-level management device, in which case the above instructions can be received from the display unit 16 and operation interface 16a of the mobile robot 1, which will be described later. In this embodiment, the method of controlling the mobile robot 1 to move autonomously and the method of controlling it to move according to user operations are not specified, and it is sufficient that the switching between these methods is controlled as described below.

[0033] As shown in Figure 1, the mobile robot 1 may comprise a main body 10, a trolley 20, and a joystick device 30. In Figure 1, the x-direction represents the forward and backward directions of the mobile robot 1, the y-direction represents the left and right directions of the mobile robot 1, and the z-direction represents the height direction of the mobile robot 1. Of course, the mobile robot 1 shown in Figure 1 is merely one example of a mobile robot according to this configuration example, and its shape and other functions are not limited as long as it is equipped with the above-mentioned joystick device and control unit and is configured to allow the above-mentioned mode switching.

[0034] The main body 10 is mounted on the trolley 20. The main body 10 can have a roughly rectangular prism-shaped housing, and the various components are mounted inside this housing. The main body 10 also has a door 15 and an internal storage compartment which is a sealed storage space by the door 15. The storage compartment has, for example, multiple shelves, and the availability of each shelf can be managed. For example, the availability can be updated by placing various sensors such as weight sensors on each shelf. The door 15 may be lockable with an electronic key or the like. For example, when the delivery arrives at the destination, the recipient can unlock the door 15 with an electronic key, or the door 15 may be automatically unlocked when the delivery arrives at the destination.

[0035] Furthermore, the main unit 10 can house the control unit 11, which is an example of the control unit described above, as a control box or the like. Below, we will explain an example in which the control unit 11 controls the autonomously moving trolley unit 20, specifically the drive unit 21 which will be described later.

[0036] The control unit 11 can be implemented, for example, by an integrated circuit, and can be implemented by a processor such as an MPU (Micro Processor Unit) or CPU (Central Processing Unit), working memory, and a non-volatile storage device. A control program executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby performing the functions of the control unit 11. The control unit 11 can be referred to as a control computer.

[0037] A camera 12 is installed on the front of the main unit 10 to capture images of the area in front of the mobile robot 1 in the direction of travel. As shown in the figure, the mobile robot 1 considers the side with the camera 12 installed as its front. That is, during normal movement, the front of the robot is the direction of travel, as indicated by the arrow. Here, the two cameras 12 function as a stereo camera. In other words, two cameras 12 with the same field of view are positioned horizontally apart from each other. Images captured by each camera 12 are output as image data. This image data may be still image data or moving image data; if it is still image data, still image data will be obtained at each imaging interval. Based on the image data from the two cameras 12, it is possible to calculate the distance to the subject and the size of the subject. The control unit 11 can detect people, obstacles, etc., in the direction of travel by analyzing the images from the cameras 12. If there are people or obstacles in the direction of travel, the mobile robot 1 will move along the path while avoiding them. If the control system is a system equipped with a higher-level management device, the image data from the cameras 12 can be transmitted to the higher-level management device.

[0038] Furthermore, the mobile robot 1 may be equipped with a group of distance sensors for measuring the distance to surrounding objects. As an example of this group of distance sensors, as shown in Figure 1, a front-to-back distance sensor 13 and a left-to-right distance sensor 14 may be provided on the exterior of the main body 10. The mobile robot 1 can measure the distance to surrounding objects in the front-to-back direction using the front-to-back distance sensor 13, and measure the distance to surrounding objects in the left-to-right direction using the left-to-right distance sensor 14.

[0039] For example, the front-to-rear distance sensors 13 are positioned on the front and rear surfaces of the housing of the main unit 10, respectively. The left-to-right distance sensors 14 are positioned on the left and right surfaces of the housing of the main unit 10, respectively. The front-to-rear distance sensors 13 and the left-to-right distance sensors 14 are, for example, ultrasonic distance sensors or laser rangefinders that detect the distance to surrounding objects. When the distance to surrounding objects detected by the front-to-rear distance sensors 13 or the left-to-right distance sensors 14 falls below a distance threshold, the mobile robot 1 can be controlled to decelerate or stop.

[0040] The mobile robot 1 can recognize surrounding objects and identify its own position by analyzing image data output by the camera 12 and detection signals output by the front-to-back distance sensor 13 and the left-to-right distance sensor 14.

[0041] Furthermore, the main body 10 of the mobile robot 1 may be equipped with a display unit 16 and an operation interface 16a on its upper surface. The display unit 16 displays a GUI (Graphical User Interface) image, which is an operation image as part of the operation interface 16a. The robot can accept user input by touching the operation image displayed on the display unit 16 using a touch panel provided on the display unit 16 as part of the operation interface 16a.

[0042] The display unit 16 is, for example, a liquid crystal panel or an organic electroluminescent display, and can display a character's face as an illustration or present information about the mobile robot 1 as text or icons. If a character's face is displayed on the display unit 16, it can give the impression to observers that the display unit 16 is a simulated face. It is also possible to use the display unit 16 mounted on the mobile robot 1 as the user terminal device described above.

[0043] The trolley unit 20 can have a roughly rectangular prism-shaped housing, and each component is mounted inside this housing. For example, the drive unit 21 is housed inside the trolley unit 20. The drive unit 21 is equipped with drive wheels 22 and casters 23. The drive wheels 22 are wheels that move the mobile robot 1 forward, backward, left, and right. The casters 23 are driven wheels that do not receive a driving force and roll in accordance with the drive wheels 22. The drive unit 21 is equipped with a drive motor (not shown) that drives the drive wheels 22.

[0044] For example, the drive unit 21 supports two drive wheels 22 and two casters 23 within its housing, each of which contacts the running surface. The two drive wheels 22 are arranged so that their axis of rotation coincides with each other. Each drive wheel 22 is independently driven by a motor (not shown). The drive wheels 22 rotate according to control commands from the control unit 11. The casters 23 are driven wheels, and are provided with a pivot axis extending vertically from the drive unit 21, away from the wheel's axis of rotation, to support the wheel, and they follow the direction of movement of the drive unit 21.

[0045] The mobile robot 1 will move in a straight line if its two drive wheels 22 rotate in the same direction at the same speed, and will turn around a vertical axis passing approximately in the center of the two drive wheels 22 if they rotate in opposite directions at the same speed. Furthermore, by rotating the two drive wheels 22 in the same direction but at different speeds, it can move while turning left or right. For example, by making the rotation speed of the left drive wheel 22 higher than that of the right drive wheel 22, it can turn right. Conversely, by making the rotation speed of the right drive wheel 22 higher than that of the left drive wheel 22, it can turn left. In other words, the mobile robot 1 can move in any direction, turn, and make left or right turns by controlling the rotation direction and rotation speed of the two drive wheels 22.

[0046] The joystick device 30 may comprise a main body 31, a stick member 32, and a button 33. The joystick device 30 is mounted on top of the main body 10. However, the joystick device 30 only needs to have at least the stick member 32 and the button 33 positioned so that they can be operated by the user, and part or all of the main body 31 may be embedded in the main body 10 or otherwise incorporated into the main body 10.

[0047] The stick member 32 is a member that receives movement commands such as left, right, forward, and backward to move the mobile robot, and its shape is not limited, but it can be a rod-shaped member. These movement commands can refer to movements such as left, right, forward, and backward, and will be hereinafter referred to as joystick operation.

[0048] Button 33 is located at the tip of the stick member 32 and accepts a press operation to switch between autonomous movement mode and user operation mode. This press operation can also be called a mode switching operation or simply a switching operation. Button 33 is for accepting press operations and can also be called a button switch or push-button switch. Button 33 is not limited to a mechanical button, but may also be a touch-type button such as a capacitive button, and the method of detecting the press operation and the shape of the button are not limited. Button 33 can be an auto-return type, meaning that when pressed, the output signal rises to turn ON, and the output signal falls to turn OFF the moment the finger is released or the pressing is stopped, but it is not limited to this. For example, button 33 may be a button that raises the output signal when pressed and falls when the rise is finished, or it may be a button that outputs a constant signal for a certain period between the rise and fall. Furthermore, although the example of button 33 being located at the tip of the stick member 32 is given, it may also be located on the side of the stick member 32, that is, on the side that the user grips.

[0049] The main body 31, although not shown, may include a detection unit that detects and accepts joystick operations and button presses by the stick member 32 and button 33, respectively, and an interface or communication unit that transmits the detection results from the detection unit to the control unit 11. Furthermore, arrows 31U, 31D, 31L, and 31R indicating the up / down (forward / backward) and left / right operation directions of the stick member 32 may be marked on the surface of the main body 31, as illustrated in Figure 2. Of course, the stick member 32 is not limited to accepting joystick operations in only four directions (up, down, left, and right), i.e., angle specifications in 90-degree increments; it can also be configured to accept joystick operations with more precise angle specifications. Additionally, the detection unit can be configured to detect the tilt angle (elevation angle) of the stick member 32 even when the stick member 32 is tilted in a certain direction. In this case, the control unit 11 can control the speed or acceleration of the mobile robot 1 according to the detected tilt angle.

[0050] In autonomous movement mode, the mobile robot 1 is controlled to move autonomously. On the other hand, in user operation mode, joystick operation by the stick member 32 is accepted, and the mobile robot 1 is controlled to move according to that joystick operation. In either mode, the button 33 can be pressed, and this press operation switches the mode from the current mode to the other mode. If the control system is a system equipped with a higher-level management device, in autonomous movement mode the mobile robot 1 moves autonomously under control from the higher-level management device, and in user operation mode the mobile robot 1 moves according to operation by the joystick device 30. Furthermore, if the control system is a system equipped with a higher-level management device, the switching between these modes can also be done by the higher-level management device.

[0051] In this embodiment, the following control is performed when switching between autonomous movement mode and user operation mode. Specifically, when the mobile robot 1 is in autonomous movement mode, the control unit 11 switches to user operation mode when it detects the falling edge of the press signal corresponding to the press operation. Also, when the mobile robot 1 is in user operation mode, the control unit 11 switches to autonomous movement mode when it detects the rising edge of the press signal corresponding to the press operation.

[0052] Next, the effectiveness of such control will be explained with reference to Figures 3 to 5. Figure 3 is a timing chart showing an example of the response to operation by a button and a stick member in the mobile robot according to the first comparative example, and Figure 4 is a timing chart showing an example of the response to operation by a button and a stick member in the mobile robot according to the second comparative example. Figure 5 is a timing chart showing an example of the response to operation by a button 33 and a stick member 32 in the mobile robot 1 of Figure 1.

[0053] In both the first and second comparative examples, the configuration is the same as the joystick device 30 with buttons 33 and stick members 32 described in Figures 1 and 2, and is a mobile robot equipped with a joystick device with buttons and stick members. However, in both comparative examples, the control unit performs different control than the control unit 11 in this embodiment.

[0054] In the first comparative example, the control unit (hereinafter referred to as the first control unit) receives a button press operation (ON operation), as shown in Figure 3 as an example of response to an operation, and controls the mobile robot to switch from autonomous movement mode to user operation mode on the rising edge of the press signal indicating the press operation. However, the press operation may be performed by holding the stick member, and at the same time, an incorrect joystick operation may be accepted, causing the mobile robot to move in an unintended direction. Specifically, if an incorrect joystick operation is performed after the button is turned ON and the rising edge of the press signal is detected, but before the next button is turned ON and the rising edge of the press signal is detected, the first control unit inputs an instruction value that is valid as an instruction value in user operation mode to the mobile robot, and controls the mobile robot to move in the direction indicated by that joystick operation, regardless of the user's intention.

[0055] In the second comparative example, the control unit (hereinafter referred to as the second control unit) receives a button press operation (ON operation) as shown in Figure 4, and controls the mobile robot to switch from autonomous movement mode to user operation mode on the falling edge of the press signal indicating the press operation. However, the press operation may be performed by holding the stick member, and at the same time, an incorrect joystick operation may be accepted, causing the mobile robot to move in an unintended direction. Specifically, if an incorrect joystick operation is performed after the button is turned ON and the falling edge of the press signal is detected, but before the next button is turned ON and the falling edge of the press signal is detected, the second control unit inputs an instruction value that is valid as an instruction value in user operation mode to the mobile robot, and controls the mobile robot to move in the direction indicated by that joystick operation, regardless of the user's intention.

[0056] In contrast to these comparative examples, the control unit 11 controls the joystick operation so that the instruction value for such an incorrect joystick operation is either nonexistent or zero, as shown in Figure 5 for an example of the response to the operation.

[0057] Specifically, as shown in Figure 5, when the mobile robot 1 is in autonomous movement mode, the control unit 11 switches to user operation mode when it detects the falling edge of the press signal corresponding to the button press operation of button 33. As a result, joystick operations performed before the detection of the falling edge, such as the joystick operation shown in E1, will be controlled in autonomous movement mode and will not be reflected. Also, as shown in Figure 5, when the mobile robot 1 is in user operation mode, the control unit 11 switches to autonomous movement mode when it detects the rising edge of the press signal corresponding to the button press operation of button 33. As a result, joystick operations performed after the detection of the rising edge, such as the joystick operation shown in E2, will be controlled in autonomous movement mode and will not be reflected. The timing of detection of both the falling edge and the rising edge can be predetermined based on the performance of the detection unit, etc.

[0058] By performing this type of control, in this embodiment, even if the user accidentally operates the joystick at the same time as pressing the button, it is possible to prevent that joystick operation from being reflected in the movement control of the mobile robot 1 for a longer period of time compared to the first and second comparative examples, and the delay in the time it takes for the mode switching to be reflected in response to the press signal can also be minimized.

[0059] As described above, in the control system according to this embodiment, when a user switches modes using the joystick device 30 to a mobile robot 1 that can switch between autonomous movement mode and user operation mode, even if there is an unnecessary input during that operation, it is possible to suppress the mobile robot from moving unintentionally due to that unnecessary input. Therefore, according to this embodiment, it is possible to limit the unintentional movement of the mobile robot due to unnecessary input and suppress the occurrence of situations that endanger the surroundings. In addition, since there is no need to provide an emergency stop button on the main body 10, for example, it is possible to prevent the emergency stop button from being pressed by someone other than the user as a prank.

[0060] Furthermore, as described above, when the mobile robot 1 is in autonomous movement mode, the control unit 11 switches to user operation mode when it detects the falling edge of the press signal corresponding to the press operation. Also, when the mobile robot 1 is in user operation mode, the control unit 11 switches to autonomous movement mode when it detects the rising edge of the press signal corresponding to the press operation. However, even if the control unit 11 is configured to be capable of controlling only one of these modes, it will still be effective in the mode switching situation for one of the modes.

[0061] Furthermore, the control unit 11 can perform control other than the control examples described above. The control unit 11 only needs to perform control to switch whether or not to accept movement operations by the stick member 32 based on whether the mode is autonomous movement mode or user operation mode, and the change in the press signal in response to the press operation by the button 33. Here, the information of which mode is being performed is information indicating the mode at the time the press signal is detected, and can be information from a time when no switching has been performed based on the press signal, but it can be said that the information at the above time can also be obtained even if it is information indicating the mode to be switched to. Also, the change in the press signal in response to the press operation by the button 33 refers to the signal change of the switching signal in response to the mode switching operation by the button 33. Note that if there is no switching signal and the mode is user operation mode, the control unit 11 can simply accept the movement operation signal and perform control to move the mobile robot 1 based on the movement operation signal.

[0062] The control unit 11 can, in this manner, switch whether or not to accept a movement operation signal corresponding to the movement operation by the stick member 32, that is, whether or not to accept the movement operation signal, based on the signal change of the switching signal and the mode before the detection of the switching signal. The signal change of the switching signal may be the signal change of the switching signal itself, or it may be the signal change shown as a result of predicting subsequent signal changes from the signal change. Furthermore, the control that switches whether or not to accept the movement operation signal can be said to be a control that decides whether or not to perform a mode switch according to the switching signal, or a control that decides whether to accept or ignore the movement operation signal according to the switching signal.

[0063] For example, the control unit 11 can determine whether a predetermined time has elapsed since the switching signal began to rise, that is, since the button 33 was pressed, and if so, it can accept the movement operation signal. To clarify, this example of making such a determination differs from the example of detecting the rising or falling edge of the switching signal, as it requires managing the elapsed time since the switching signal was detected.

[0064] The predetermined time in user operation mode can be set to be shorter than the predetermined time in autonomous movement mode. The reason for this is the same as the reason given for detecting the rising edge of the switching signal in user operation mode and the falling edge of the switching signal in autonomous movement mode. This allows the time during which movement operations by the stick member 32 are not accepted to be shorter in user operation mode than in autonomous movement mode, enabling immediate mode switching, i.e., switching to autonomous movement mode. This is because autonomous movement mode is a mode in which movement operations by the stick member 32 are not accepted in the first place, so there are no erroneous operations regarding movement.

[0065] Also, for similar reasons, the above determination may be limited to, for example, the autonomous movement mode, and the determination may be based on whether a predetermined time has elapsed since the switching signal started to rise, that is, since button 33 was pressed. In that case, the control unit 11 should only accept the movement operation signal after the predetermined time has elapsed.

[0066] In Figure 1, an example is shown where the joystick device 30 is mounted on the mobile robot 1. However, it may be mounted in a detachable manner, and in that case, if it is removed, control as described later, referring to Figures 9 and 10, should be performed. When the joystick device 30 is removed, communication between the joystick device 30 and the mobile robot 1 can be switched from wired communication to wireless communication, or it can remain wireless communication as it was before it was removed.

[0067] Next, an example of the control method described above for the mobile robot 1 will be explained with reference to Figure 6. Figure 6 is a flowchart illustrating an example of the control method for the mobile robot 1.

[0068] In this control method, first, the control unit 11 acquires mode information indicating which mode is in operation (step S1). Next, the control unit 11 determines whether or not the press operation has been accepted (step S2). If it has not been accepted (NO), it holds the mode information and waits until it is accepted (until it becomes YES).

[0069] Next, the control unit 11 determines whether the mode information acquired in step S1 indicates autonomous movement mode (i.e., user operation mode) (step S3). If YES, it controls the system to switch to user operation mode when the push signal falls (step S4), and then terminates the process. On the other hand, if NO is determined in step S3, it controls the system to switch to autonomous movement mode when the push signal rises (step S5), and then terminates the process. Note that the processing in step S1 can also be performed when YES is determined in step S2.

[0070] As described above, the control method according to this embodiment may include the following mode switching process. This mode switching process may include a process to switch to user operation mode when the pressing signal corresponding to a pressing operation falls, when the mobile robot 1 is in autonomous movement mode, and a process to switch to autonomous movement mode when the pressing signal corresponding to a pressing operation falls, when the mobile robot 1 is in user operation mode.

[0071] Furthermore, the program incorporated into the control unit 11 can be a program that causes the control computer acting as the control unit 11, or more specifically, the processor of the control unit 11, to execute the mode switching process. In a configuration where the control system includes a higher-level management device, the program that executes the mode switching process can be incorporated into the control computer acting as the control unit connected to the mobile robot 1.

[0072] Next, other control examples will be described with reference to Figure 7. Figure 7 is a timing chart showing another example of the response to operations performed by the button 33 and the stick member 32 in the mobile robot 1.

[0073] In this control example, when the mobile robot 1 is in autonomous movement mode, the control unit 11 stops or slows down the mobile robot 1 when the falling edge of the press signal corresponding to the press operation occurs, and switches to user operation mode after a predetermined period of time has elapsed.

[0074] In contrast to the control example illustrated in Figure 5, this control example allows for the absence of any impact from incorrect joystick operation, even if the mobile robot 1 is stopped or decelerated, as shown in Figure 7, which illustrates an example of the response to an operation.

[0075] For example, as shown in Figure 7, when the mobile robot 1 is in autonomous movement mode, the control unit 11 stops the mobile robot 1 when it detects the falling edge of the press signal corresponding to the press operation of button 33, and switches to user operation mode after a predetermined period D has elapsed. As a result, even if a joystick operation is performed after the detection of the falling edge, joystick operations performed before the predetermined period D has elapsed, such as the one shown in E3 in Figure 7, will be controlled during the stop period and will not be reflected. In this control example, the control to switch the mobile robot 1 from user operation mode to autonomous movement mode is the same as the control example illustrated in Figure 5.

[0076] By performing such control, in this embodiment, unintended movement of the mobile robot 1 due to unnecessary input when switching from autonomous movement mode to user operation mode can be suppressed for a longer period than the predetermined period, i.e., a longer period than the control example illustrated in Figure 5. Here, by stopping the mobile robot 1, unintended movement of the mobile robot 1 can be eliminated for a longer period than the predetermined period. On the other hand, by decelerating the mobile robot 1, unintended movement of the mobile robot 1 can be suppressed (reduced) for a longer period than the predetermined period without requiring power to move it again, i.e., with low power consumption. In either case, unintended movement of the mobile robot due to unnecessary input can be further restricted than in the control example illustrated in Figure 5, and the occurrence of situations that endanger the surroundings can be suppressed.

[0077] Next, we will explain other examples of control methods for the mobile robot 1, with reference to Figure 8. Figure 8 is a flowchart illustrating other examples of control methods for the mobile robot 1.

[0078] In this control method, the same processing as steps S1 to S3 and S5 in the control method of Figure 6 is performed (steps S11 to S13 and S17, respectively). In the determination in step S13, if the result in step S13 is YES, the control unit 11 stops the mobile robot 1 when the pressing signal falls (step S14). Here, deceleration can be used instead of stopping. Then, the control unit 11 determines whether a predetermined period has elapsed (step S15), and if it has, controls the robot to switch to user operation mode (step S16), and terminates the process. On the other hand, if the result in step S13 is NO, the robot controls the robot to switch to autonomous movement mode when the pressing signal falls (step S17), and terminates the process.

[0079] The program described above, which is incorporated into the control unit 11 or the control computer connected to the mobile robot 1 as a control unit, will be a program that includes the processing exemplified in steps S14 and S15.

[0080] Next, referring to Figures 9 and 10, we will briefly describe a configuration example in which the joystick device 30 is not mounted on the mobile robot 1, and the joystick device is operated from a position separated from the mobile robot. In the configuration example described below, we will also give an example in which the autonomous movement of the mobile robot is controlled by a higher-level management device, but this control of autonomous movement can also be applied similarly to the configuration example described in Figure 1, etc.

[0081] Figure 9 is a schematic diagram showing one example configuration of a transport system including the control system according to this embodiment. As shown in Figure 9, the transport system 50 comprises a mobile robot 1a with the joystick device 30 removed, a higher-level management device 2, a network 3, a communication unit 4, an environmental camera 5, and a joystick device 30a. The transport system 50 is a system that performs transport using the mobile robot 1a and includes the control system in this configuration example. The transport system 50 may also be equipped with a user terminal device (not shown) such as a tablet computer or smartphone for making transport requests to the higher-level management device 2.

[0082] The mobile robot 1a and joystick device 30a are connected to the higher-level management device 2 via a communication unit 4 and network 3. Network 3 is a wired or wireless LAN (Local Area Network) or WAN (Wide Area Network). Furthermore, the higher-level management device 2 and environmental camera 5 are connected to network 3 via wired or wireless connections. The communication unit 4 is, for example, a wireless LAN unit installed in each environment. The communication unit 4 may also be a general-purpose communication device such as a WiFi® router.

[0083] The higher-level management device 2 is a management system for managing multiple mobile robots 1a, and may include a control unit 2a that controls them. The control unit 2a can be implemented, for example, by an integrated circuit, and may include a processor such as an MPU or CPU, working memory, and a non-volatile storage device. A control program executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby performing the functions of the control unit 2a. The control unit 2a may be referred to as a control computer.

[0084] The transport system 50 efficiently controls multiple mobile robots 1a while autonomously moving them within a designated facility in autonomous movement mode. The facility can refer to various types of facilities, including medical and welfare facilities such as hospitals, rehabilitation centers, nursing homes, and elderly care facilities; hotels, restaurants, office buildings, event venues, shopping malls and other commercial facilities; and other complex facilities.

[0085] To achieve such efficient control, multiple environmental cameras 5 can be installed within the facility. The environmental cameras 5 acquire images of the area in which people or mobile robots 1a move and output image data representing those images. This image data may be static or dynamic; if it is static, static image data will be obtained at each imaging interval. In the transport system 50, the images acquired by the environmental cameras 5 and the information based thereon are collected by the higher-level management device 2. For images used to control the mobile robot 1a, the images acquired by the environmental cameras 5 may be transmitted directly to the mobile robot 1a, or in user operation mode, they may be transmitted to the joystick device 30a via the higher-level management device 2 or directly. The environmental cameras 5 can be installed as surveillance cameras in passageways and entrances within the facility.

[0086] The higher-level management device 2 can determine which mobile robot 1a will perform the transport task for each transport request, and can send an operation command to the determined mobile robot 1a to perform the transport task. The mobile robot 1a can autonomously move from the transport source to the transport destination according to the operation command. The method for determining the transport route in this case is not specified.

[0087] For example, the higher-level control device 2 assigns a transport task to a mobile robot 1a that is at or near the transport source. Alternatively, the higher-level control device 2 assigns a transport task to a mobile robot 1a that is heading towards or near the transport source. The mobile robot 1a that has been assigned the task will then go to the transport source to retrieve the transported item.

[0088] The joystick device 30a is a device for remotely controlling the mobile robot 1a via the higher-level management device 2 or directly, and may be equipped with communication functions and a display unit 34. The other configurations of the joystick device 30a are basically the same as those of the joystick device 30. In a configuration in which the transport system 50 manages multiple mobile robots 1a, in user operation mode, the joystick device 30a can be used to select the mobile robot 1a to be remotely controlled.

[0089] As part of the above communication function, the joystick device 30a may include a receiver and an output unit. The receiver receives a signal from the higher-level management device 2 or the mobile robot 1a indicating whether the mobile robot 1a is in autonomous movement mode or user operation mode. When the mobile robot 1a is in autonomous movement mode, the output unit outputs a mode switching signal to the mobile robot 1a to switch to user operation mode when it detects the falling edge of the press signal corresponding to the press operation. Also, when the mobile robot 1a is in user operation mode, the output unit outputs a mode switching signal to the mobile robot 1a to switch to autonomous movement mode when it detects the rising edge of the press signal corresponding to the press operation. The output unit includes a transmitter that transmits such mode switching signals to the mobile robot 1a via the higher-level management device 2 or directly. The receiver and transmitter shall receive and transmit signals wirelessly, respectively. Upon receiving such a mode switching signal, the control unit within the mobile robot 1a switches between autonomous movement mode and user operation mode according to the signal.

[0090] Of course, in user operation mode, the joystick device 30a transmits a signal indicating joystick operation by the stick member 32 to the mobile robot 1a via the higher-level management device 2 or directly, and the mobile robot 1a moves according to this signal. In addition, in this configuration example, other control examples described in Figures 7 and 8 are also applicable, and when stopping or slowing down the mobile robot 1a, the joystick device 30a outputs a control signal to stop or slow down the mobile robot 1a, and the mobile robot 1a stops or slows down according to that control signal.

[0091] The display unit 34 can display images from image data received from the camera 12 on the mobile robot 1a, and images from image data received from the environmental camera 5 located around the mobile robot 1a. This allows the user to perform joystick operations and mode switching operations on the mobile robot 1a using the stick member 32 and the button 33, respectively.

[0092] Next, an example of the control method described above for the mobile robot 1a will be explained with reference to Figure 10. Figure 10 is a flowchart illustrating an example of the control method for the mobile robot 1a in the transport system 50.

[0093] This control method includes a control method for the joystick device 30a that includes the following mode switching signal output process. In this mode switching signal output process, first, the control unit of the joystick device 30a receives a signal from the mobile robot 1a indicating which mode it is (a signal indicating mode information) (step S21). Next, the control unit determines whether or not a press operation has been accepted (step S22), and if it has not been accepted (if NO), it holds the mode information and waits until it is accepted (until it becomes YES).

[0094] Next, the control unit determines whether the mode information acquired in step S21 indicates autonomous movement mode (i.e., user operation mode) (step S23). If YES, it outputs a mode switching signal to the mobile robot 1a to switch to user operation mode when the push signal falls (step S24), and terminates the process. On the other hand, if NO in step S23, it outputs a mode switching signal to the mobile robot 1a to switch to autonomous movement mode when the push signal rises (step S25), and terminates the process. Note that the process in step S21 can also be performed when YES is determined in step S22.

[0095] As described above, the control method according to this embodiment may include the following mode switching signal output processing performed by the joystick device 30a. This mode switching signal output processing receives a signal indicating whether the mobile robot 1a is in autonomous movement mode or user operation mode. Furthermore, if the mobile robot 1a is in autonomous movement mode, this mode switching signal output processing outputs a mode switching signal to the mobile robot 1a to switch to user operation mode when the falling edge of the press signal corresponding to the press operation occurs. Furthermore, if the mobile robot 1a is in user operation mode, this mode switching signal output processing outputs a mode switching signal to the mobile robot 1a to switch to autonomous movement mode when the rising edge of the press signal corresponding to the press operation occurs. Of course, these signals can be output directly to the mobile robot 1a, but they can also be output via the higher-level management device 2.

[0096] Furthermore, the program incorporated into the control unit of the joystick device 30a can be a program that causes the control computer, which acts as the control unit, or more specifically, the processor of this control computer, to execute the mode switching signal output process described above.

[0097] Furthermore, the output unit described above is not limited to the example explained with reference to Figures 9 and 10, but can also be configured to output in the same way as the control described for the control unit 11, as follows. That is, the output unit should output a mode switching signal to the mobile robot 1a to switch whether or not to accept movement operations by the stick member 32, based on the signal received by the receiving unit and the signal change of the switching signal corresponding to the switching operation.

[0098] As described above with reference to Figures 9 and 10, the same effects as those described with reference to Figures 1 to 8 can be achieved, and furthermore, remote control by the joystick device 30a becomes possible.

[0099] (Alternative example) It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention.

[0100] For example, instead of the joystick device 30 in the embodiment described above, a joystick device can be applied that allows the user to move the device by wrapping their palm around the top and moving their hand in the desired direction, and to switch modes by pressing the top.

[0101] An example of such a joystick device will be described with reference to Figure 11. Figure 11 is a perspective view showing an example of a joystick device for operating a mobile robot included in a control system according to an alternative example. The joystick device 60 shown in Figure 11 may comprise a main body 61, a stick member 62, and a button 63. The stick member 62 may be a member having a mounting surface 62s on top of the stick portion 62p for resting the palm of a person's hand, and is assigned to movement operations. As illustrated in Figure 11, the mounting surface 62s may be marked with arrows 62U, 62D, 62L, and 62R indicating the up / down (front / back) and left / right operation directions of the stick portion 62p, or with a mark 62M indicating the presence or meaning of the button 63. The button 63 may be located on the lower side of the stick portion 62p in the main body 61 and be pressed by the user pressing down on the mounting surface 62s from above, and is assigned to mode switching operations.

[0102] Even with this type of assignment, when a user switches modes using the joystick device 60, unnecessary inputs may occur during that operation. Therefore, by controlling the joystick device 60 as described in the above embodiment, it is possible to suppress the mobile robot from moving unintended due to the aforementioned unnecessary inputs.

[0103] Furthermore, while we have described a joystick device that accepts movement and switching operations with the same hand, it is also possible to use a joystick device that accepts operations with different hands or other types of control devices instead. These joystick devices and other types of control devices may also be referred to as controllers.

[0104] Specifically, the control system can be similarly applied to any control device in which movement operations, which indicate the direction of movement or the direction and amount of movement, and mode switching operations are linked as distinct operations. A control device in which movement operations and mode switching operations are linked as distinct operations refers to a control device in which movement operations and mode switching operations are assigned as separate operations. In this case, the control device will include a movement operation unit that receives movement operations for moving the mobile robot, and a mode switching operation unit that receives mode switching operations for switching between autonomous movement mode and user operation mode. When such operations are assigned, when a user performs a mode switching operation using the control device, unnecessary input may occur during that operation, so the control described in the above embodiment is performed.

[0105] An example of a joystick device that accepts movement and switching operations with different hands will be described with reference to Figure 12. Figure 12 is a top view showing an example of an operating device for operating a mobile robot included in an alternative control system. The operating device 70 shown in Figure 12 may include a main body 71, stick parts 72, 74, buttons 73, 75, a directional pad 76, a group of selection buttons 77, a left side button 78, and a right side button 79. Furthermore, as illustrated in Figure 12, arrows 71LU, 71LD, 71LL, 71LR and 71RU, 71RD, 71RL, 71RR indicating the up / down (forward / backward) and left / right operating directions for the stick parts 72 and 74, respectively, may be marked on the surface of the main body 71. Additionally, buttons 73 and 75 may be located below the stick parts 72 and 74 on the main body 71, and pressed by the user pressing down on the stick parts 72 and 74 from above.

[0106] Furthermore, in the operating device 70, for example, one of the following can be assigned to movement operations: direction operation using the stick member 72, direction operation using the stick member 74, the directional pad 76, or the button group 77. In addition, in the movement device 70, a different member from the one assigned to movement operations can be assigned to mode switching operations. For example, in the operating device 70, one of the following members can be assigned to mode switching operations: one of the buttons 73, 75, or directional pad 76, one of the buttons in the selection button group 77, the left side button 78, or the right side button 79.

[0107] Even in this assignment example, the right and left hands are connected via the operating device 70, and when the user uses the operating device 70 to switch modes, unnecessary inputs may occur during that operation. Therefore, by performing the control described in the above embodiment on the operating device 70, it is possible to suppress the mobile robot from moving unintended due to the aforementioned unnecessary inputs.

[0108] Furthermore, in both cases where the control device accepts movement and switching operations with the same hand, or with different hands, the control system can also apply a control device that accepts operations using software. A control device that accepts operations using software can be a control device comprising a display device and a graphical user interface image displayed on the display device so that the image to be operated on can be selected and moved. This graphical user interface image may include, for example, an image such as an icon for movement operations corresponding to the movement operation unit, and an image such as an icon for switching operations corresponding to the switching operation unit.

[0109] An example of such an operating device will be described with reference to Figure 13. Figure 13 is a top view showing another example of an operating device for operating a mobile robot included in the control system of the alternative example. The operating device 80 shown in Figure 13 displays a graphical user interface image on a display device, and the image may include an operation image 81 and a camera image 85. Of course, the camera image 85 may be omitted if remote control is not considered. The operation image 81 may include a stick member image 82 for movement operation and a button image 83 for mode switching operation.

[0110] Button 83 is a button that accepts switching operations, and information indicating the current mode can also be included in the operation image 81. In addition, the stick member image 82 can be moved up, down, left, right, etc. when touched, and in that case, as illustrated in Figure 13, the original stick member image 82 can remain, and the stick member image 82a at the destination can be displayed along with an image connecting them. Furthermore, the operation image 81 can also include images 81U, 81D, 81L, and 81R of arrows indicating the direction of operation of the stick member image 82 in the up, down (forward, backward), left, and right directions. Note that instead of the stick member image 82, images 81U, 81D, 81L, and 81R can be used as buttons that accept movement operations in the up, down, left, and right directions, respectively.

[0111] Even in such an assignment example, when a user performs a mode switching operation using the operating device 80, unnecessary inputs may occur during that operation. Therefore, by performing the control described in the above embodiment on the operating device 80, it is possible to suppress the mobile robot from moving unintended due to the aforementioned unnecessary inputs.

[0112] Furthermore, the joystick device 60 and the operating devices 70 and 80 may be mounted fixed to the mobile robot, similar to the examples of the joystick device 30 and joystick device 30a, or they may be attached in a way that allows them to be detached from the mobile robot.

[0113] Furthermore, while the embodiments and various alternative examples described above were explained on the premise that the movement operation and the switching operation are received by the same hand or by different hands, this is not the only possible configuration. The embodiments and various alternative examples described above can also be applied to operating devices in which the movement operation and the switching operation are received by different fingers on the same hand, or by different feet.

[0114] Furthermore, in the embodiments and various alternative examples described above, the switching operation was explained on the premise that it was a mode switching operation between autonomous movement mode and user operation mode. However, this user operation mode may also include multiple modes regarding reaction speed, such as a mode that responds to user input with a high reaction speed and a mode that responds with a low reaction speed. Similarly, in operations to switch such reaction speeds, the user may make unnecessary inputs during the operation. Therefore, by performing the control described in the embodiments above, it is possible to suppress the mobile robot from moving at an unintended reaction speed due to these unnecessary inputs.

[0115] Furthermore, the user-operated mode, in which the robot moves based on user input, only needs to involve a relatively higher degree of user intervention compared to the autonomous movement mode. In other words, the user-operated mode does not need to be limited to a mode in which the user controls all of the mobile robot's movements and all autonomous control by the mobile robot is eliminated. 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 input. For example, the user-operated mode and the autonomous movement mode may include the following 1 to 3 examples.

[0116] In the first example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions about stopping and starting, without user intervention. In user-operated mode, the mobile robot moves autonomously, and the user controls stopping and starting. In the second example, in autonomous movement mode, the mobile robot moves autonomously, and the user controls stopping and starting. In user-operated mode, the mobile robot does not move autonomously, and the user controls not only stopping and starting but also movement. In the third example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions about stopping and starting, without user intervention. In user-operated mode, the mobile robot performs autonomous movement such as speed adjustment and collision avoidance, and the user controls the direction of travel and changes the route.

[0117] Furthermore, the joystick and other operating devices described above can also be used as remote controllers or control sticks for operating the aircraft. In other words, the control system according to this embodiment can be applied to an aircraft capable of autonomous movement as a mobile robot. Moreover, the control system according to this embodiment can be applied to various forms of mobile robots, not just aircraft.

[0118] Furthermore, each device provided in the control system and transport system 50 according to the above-described embodiment or various alternative examples may have a hardware configuration such as the following. Figure 14 shows an example of the hardware configuration of the device.

[0119] The device 100 shown in Figure 14 may include a processor 101, memory 102, and interface 103. Interface 103 may include interfaces necessary for the device, such as a communication interface, or interfaces to a drive unit, sensors, input / output devices, etc.

[0120] The processor 101 may be, for example, a CPU, a GPU (Graphics Processing Unit), or an MPU (Micro Processor Unit), also known as a microprocessor. The processor 101 may include multiple processors. The memory 102 is composed of, for example, a combination of volatile memory and non-volatile memory. The functions of each device are realized when the processor 101 reads a program stored in the memory 102 and executes it while exchanging necessary information via the interface 103.

[0121] The various programs described above, when loaded into a computer, include a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The programs may be stored on non-temporary computer-readable media or tangible storage media. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drives (SSDs), or other memory technologies, CD-ROMs, digital versatile discs (DVDs), Blu-ray® discs, or other optical disc storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices. The programs may be transmitted over temporary computer-readable media or communication media. Examples, but not limited to, include electrical, optical, acoustic, or other forms of propagating signals. [Explanation of Symbols]

[0122] 1, 1a Mobile robot 2 Upper management device 2a Control section 3 Network 4. Communication Unit 5. Environmental Cameras 10 Main body 11 Control Unit 12 cameras 13 Front and rear distance sensors 14. Left / Right Distance Sensor 15 Doors 16 Display 16a Operating Interface 20 Bogie section 21 Drive unit 22 drive wheels 23 Caster 30, 30a, 60 Joystick Device 31 Main body 32 Stick component 33 buttons 34 Display section 50 Conveyor Systems 70, 80 operating device

Claims

1. A control system for controlling a mobile robot that can switch between an autonomous movement mode and a user-operated mode that moves based on user input, An operating device comprising: a movement operation unit that receives movement operations for moving the mobile robot; and a switching operation unit that receives a mode switching operation between the autonomous movement mode and the user operation mode, A control unit that switches whether or not to accept the movement operation by the movement operation unit based on whether the mode is the autonomous movement mode or the user operation mode and the signal change of the switching signal corresponding to the switching operation, Equipped with, When the control unit detects a change in the switching signal, it will not reflect the movement operation signal from the movement operation unit for a predetermined period of time. Control system.

2. When the mobile robot is in the autonomous movement mode, the control unit detects the falling edge of the switching signal corresponding to the switching operation and switches to the user operation mode. The control system according to claim 1.

3. When the control unit detects the falling edge of the switching signal corresponding to the switching operation while the mobile robot is in the autonomous movement mode, it stops or slows down the mobile robot, and after the predetermined period of time has elapsed, switches to the user operation mode. The control system according to claim 1.

4. When the mobile robot is in the user operation mode, the control unit detects the rising edge of the switching signal corresponding to the switching operation and switches to the autonomous movement mode. The control system according to claim 1 or 2.

5. The operating device is a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. The control system according to claim 1 or 2.

6. An operating device for a mobile robot that can switch between an autonomous movement mode and a user operation mode that moves based on user input, A movement operation unit that receives movement commands in order to move the aforementioned mobile robot, A switching operation unit that receives a switching operation to switch between the autonomous movement mode and the user operation mode, A receiving unit that receives a signal indicating whether the mobile robot is in autonomous movement mode or user operation mode, An output unit outputs a mode switching signal to the mobile robot to switch whether or not to accept the movement operation by the movement operation unit, based on the signal received by the receiving unit and the signal change of the switching signal corresponding to the switching operation. Equipped with, When the output unit detects a change in the switching signal, it outputs a mode switching signal to the mobile robot that controls the system so that the movement operation signal from the movement operation unit is not reflected for a predetermined period of time. Operating device.

7. When the mobile robot is in the autonomous movement mode, the output unit detects the falling edge of the switching signal corresponding to the switching operation and outputs a signal to the mobile robot to switch to the user operation mode as the mode switching signal. The operating device according to claim 6.

8. The output unit, when the mobile robot is in the autonomous movement mode, outputs a control signal to stop or decelerate the mobile robot when it detects the falling edge of the switching signal corresponding to the switching operation, and after the predetermined period has elapsed, outputs a signal to the mobile robot to switch to the user operation mode as the mode switching signal. The operating device according to claim 6.

9. When the mobile robot is in the user operation mode, the output unit detects the rising edge of the switching signal corresponding to the switching operation and outputs a signal to the mobile robot to switch to the autonomous mobile mode as the mode switching signal. The operating device according to claim 6 or 7.

10. The operating device is a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. The operating device according to claim 6 or 7.

11. A control method for controlling a mobile robot that can switch between an autonomous movement mode and a user operation mode that moves based on user operation using an operating device, The operating device comprises a movement operation unit that receives movement operations for moving the mobile robot, and a switching operation unit that receives switching operations for switching between the autonomous movement mode and the user operation mode. The control method includes the steps of switching whether or not to accept the movement operation by the movement operation unit based on whether the mode is the autonomous movement mode or the user operation mode and the signal change of the switching signal corresponding to the switching operation, and, if a signal change of the switching signal is detected, the step of not reflecting the movement operation signal from the movement operation unit for a predetermined period of time. Control method.

12. When the mobile robot is in the autonomous movement mode, it switches to the user operation mode when it detects the falling edge of the switching signal corresponding to the switching operation. The control method according to claim 11.

13. When the mobile robot is in the autonomous movement mode, upon detecting the falling edge of the switching signal corresponding to the switching operation, the mobile robot is stopped or decelerated, and after the predetermined period has elapsed, it is switched to the user operation mode. The control method according to claim 11.

14. When the mobile robot is in the user operation mode, it switches to the autonomous mobile mode when it detects the rising edge of the switching signal corresponding to the switching operation. The control method according to claim 11 or 12.

15. The operating device is a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. The control method according to claim 11 or 12.

16. A program for controlling a mobile robot that can switch between an autonomous movement mode and a user operation mode that moves based on user operation using an operating device, The operating device comprises a movement operation unit that receives movement operations for moving the mobile robot, and a switching operation unit that receives switching operations for switching between the autonomous movement mode and the user operation mode. The program is a program that causes a control computer installed in or connected to the mobile robot to execute a mode switching process. The mode switching process involves switching whether or not to accept the movement operation by the movement operation unit based on whether the mode is the autonomous movement mode or the user operation mode, and the signal change of the switching signal corresponding to the switching operation. If a signal change of the switching signal is detected, the process involves not reflecting the movement operation signal from the movement operation unit for a predetermined period. program.

17. The mode switching process includes, when the mobile robot is in the autonomous movement mode, a process to switch to the user operation mode when the falling edge of the switching signal corresponding to the switching operation is detected. L as described in claim 16.

18. The mode switching process includes, when the mobile robot is in the autonomous movement mode, stopping or slowing down the mobile robot when the falling edge of the switching signal corresponding to the switching operation is detected, and switching to the user operation mode after the predetermined period has elapsed. L as described in claim 16.

19. The mode switching process includes, when the mobile robot is in the user operation mode, a process to switch to the autonomous mobile mode when the rising edge of the switching signal corresponding to the switching operation is detected. The program according to claim 16 or 17.

20. The operating device is a joystick device comprising a stick member as the movement operation unit and a button provided on the stick member as the switching operation unit. The program according to claim 16 or 17.

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