Control system, control method, and program

Abstract

To provide a control system capable of intelligibly notifying people around a mobile robot capable of conveying a conveyed object in an autonomously-movable manner of whether the mobile robot is in the course of conveying the conveyed object.SOLUTION: A control system controls a system including a mobile robot 100 capable of conveying a conveyed object in an autonomously-movable manner. The mobile robot 100 includes light emission parts 11, 12. The control system makes light emission patterns at the light emission parts 11, 12 different according to conveyance object information indicating whether the mobile robot 100 is in the course of conveying the conveyed object.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a mobile robot that can move autonomously and carry a conveyed object.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, with the mobile robot described in Patent Document 1, it is not possible to clearly inform whether or not the mobile robot is carrying a conveyed object to the surroundings of the mobile robot.

[0005] The present disclosure has been made to solve such problems, and provides a control system, a control method, and a program capable of clearly informing whether or not a mobile robot that can move autonomously and carry a conveyed object is carrying a conveyed object to the surroundings of the mobile robot.

Means for Solving the Problems

[0006] The control system according to this disclosure is a control system for a system including a mobile robot that is capable of autonomous movement and transporting objects, wherein the mobile robot is equipped with a light-emitting unit, and the control system causes the light-emitting unit to emit different patterns according to transport information indicating whether or not the mobile robot is transporting objects. With this control system, the mobile robot that is capable of autonomous movement and transporting objects can clearly indicate to those around it whether or not it is transporting objects. In addition, in the control of autonomous movement, the mobile robot can also be made to move autonomously using a learning model obtained by machine learning.

[0007] The transported object information may include information indicating the transported object being transported by the mobile robot when the mobile robot is transporting an object. With this configuration, the control system can make it easy to see the transported object being transported by the mobile robot and its surroundings.

[0008] The mobile robot transports the transported object using a transport box containing the transported object, and the transported object information may include information indicating the type of transport box being transported by the mobile robot when the mobile robot is transporting the object. With this configuration, the control system can clearly inform those around the mobile robot of the type of transport box being transported.

[0009] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the positions from which the light is emitted. With this configuration, the control system can more clearly indicate to the surroundings whether or not the mobile robot is transporting an object.

[0010] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the multiple positions that emit light synchronously. With this configuration, the control system can more clearly indicate to the surroundings whether or not the mobile robot is transporting an object.

[0011] In the aforementioned multiple locations where light is emitted synchronously, the light emission patterns may be mutually complementary. With this configuration, the control system can more clearly inform those around the mobile robot whether or not it is currently transporting an object.

[0012] The mobile robot may be equipped with a contact portion that comes into contact with the transported object when transporting the object, and the light-emitting portion may include a first light-emitting portion arranged around the contact portion. With this configuration, the control system can clearly indicate to those around the mobile robot whether or not the transported object is being transported, even when the transported object is mounted on the contact portion.

[0013] The mobile robot may be equipped with an operating interface for operating the mobile robot, and the light-emitting unit may include a second light-emitting unit provided on or around the operating interface. With this configuration, the control system can indicate whether or not the mobile robot is transporting an object at a location easily visible to the operator at the operating position and the surrounding area.

[0014] The variation in the light emission pattern may include varying at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit. With this configuration, the control system can more clearly indicate to those around the mobile robot whether or not it is currently transporting an object.

[0015] The system may include a server that can connect to the mobile robot wirelessly, and the control system may determine the transported object information from the light emission pattern shown in an image of the mobile robot captured by a camera, at least when the server is unable to communicate with the mobile robot. With this configuration, the server can determine whether the mobile robot is transporting an object even when communication between the mobile robot and the server is impossible.

[0016] The control method relating to this disclosure is a control method for controlling a system including a mobile robot that is autonomously mobile and capable of transporting objects, wherein the mobile robot is equipped with a light-emitting unit, and the control method causes the light-emitting unit to emit different patterns according to transport information indicating whether or not the mobile robot is transporting objects. With this control method, the configuration makes it possible to clearly indicate to those around the mobile robot whether or not it is transporting objects, in a mobile robot that is autonomously mobile and capable of transporting objects.

[0017] The transported object information may include information indicating the transported object being transported by the mobile robot when the mobile robot is transporting an object. With this configuration, the control method can make it easy for the mobile robot to understand the transported object being transported.

[0018] The mobile robot transports the transported object using a transport box that contains the transported object, and the transported object information may include information indicating the type of transport box the mobile robot is transporting when the mobile robot is transporting the object. With this configuration, the control method can make it easy to understand the type of transport box being transported by the mobile robot to be seen by those around it.

[0019] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the positions from which the light is emitted. With this configuration, the control method can more clearly indicate to the surroundings of a mobile robot whether or not it is currently transporting an object.

[0020] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the multiple positions that emit light synchronously. With this configuration, the control method can more clearly indicate to the surroundings of a mobile robot whether or not it is currently transporting an object.

[0021] In the aforementioned multiple locations where light is emitted synchronously, the light emission patterns may be mutually complementary. With this configuration, the control method can more clearly inform those around the mobile robot whether or not it is currently transporting an object.

[0022] The mobile robot may be equipped with a contact portion that comes into contact with the transported object when transporting the object, and the light-emitting portion may include a first light-emitting portion arranged around the contact portion. With this configuration, the control method can clearly indicate to those around the mobile robot whether or not it is transporting an object, even when the transported object is mounted on the contact portion.

[0023] The mobile robot may be equipped with an operating interface for operating the mobile robot, and the light-emitting unit may include a second light-emitting unit provided on or around the operating interface. With this configuration, the control method can indicate whether or not the mobile robot is transporting an object at a location easily visible to the operator at the operating position and the surrounding area.

[0024] Varying the light emission pattern may include varying at least one of the luminance, hue, saturation, and lightness of the light emission by the light emitting unit. With such a configuration, the control method can more clearly inform whether an object is being transported or not around the mobile robot during the transportation of the object in the mobile robot.

[0025] The system includes a server that can be connected to the mobile robot by wireless communication. The control method may be such that at least when communication between the server and the mobile robot is impossible, the transport object information is determined from the light emission pattern shown in the image obtained by imaging the mobile robot with a camera. With such a configuration, the control method enables the server to determine whether the mobile robot is transporting an object even when communication between the mobile robot and the server is impossible.

[0026] The program according to the present disclosure is a program for causing a computer to execute a process of controlling a system including a mobile robot capable of autonomous movement and capable of transporting an object. The mobile robot includes a light emitting unit, and the process includes a process of varying the light emission pattern of the light emitting unit according to transport object information indicating whether the mobile robot is transporting an object. According to the program, with such a configuration, in a mobile robot capable of autonomous movement and capable of transporting an object, it is possible to more clearly inform whether the mobile robot is transporting an object or not to the surroundings of the mobile robot.

[0027] The transport object information may include information indicating the object being transported by the mobile robot when the mobile robot is transporting an object. With such a configuration, the program can more clearly inform the object being transported around the mobile robot in the mobile robot.

[0028] The mobile robot transports the transported object using a transport box containing the transported object, and the transported object information may include information indicating the type of transport box the mobile robot is transporting when the mobile robot is transporting the object. With this configuration, the program can clearly inform those around the mobile robot of the type of transport box it is transporting.

[0029] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the positions from which the light is emitted. With this configuration, the program can more clearly indicate to the surrounding area whether or not the mobile robot is transporting an object.

[0030] The light-emitting units are arranged at multiple positions spaced apart from each other, and differentiating the light-emitting patterns may include differentiating the multiple positions that emit light synchronously. With this configuration, the program can more clearly indicate to the surrounding area whether or not the mobile robot is transporting an object.

[0031] In the aforementioned multiple locations where light is emitted synchronously, the light emission patterns may be mutually complementary. With this configuration, the program can more clearly inform those around the mobile robot whether or not it is currently transporting an object.

[0032] The mobile robot may be equipped with a contact portion that comes into contact with the transported object when transporting the object, and the light-emitting portion may include a first light-emitting portion arranged around the contact portion. With this configuration, the program can clearly indicate to those around the mobile robot whether or not it is transporting an object, even when the object is mounted on the contact portion.

[0033] The mobile robot may be equipped with an operating interface for operating the mobile robot, and the light-emitting unit may include a second light-emitting unit provided on or around the operating interface. With this configuration, the program can indicate whether or not the mobile robot is transporting an object at a location easily visible to the operator at the operating position and the surrounding area.

[0034] The variation in the light emission pattern may include varying at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit. With this configuration, the program can more clearly inform those around the mobile robot whether or not it is currently transporting an object.

[0035] Other programs relating to this disclosure are programs that cause a computer on a server that can be wirelessly connected to a mobile robot capable of autonomous movement and transporting transported objects to execute a determination process, wherein the mobile robot is equipped with a light-emitting unit that emits light with different light-emitting patterns according to transported object information indicating whether or not the mobile robot is transporting transported objects, the determination process is equipped with a server that can be wirelessly connected to the mobile robot, and the system control includes a process that determines the transported object information from the light-emitting pattern shown in an image of the mobile robot taken by a camera, at least when the server is unable to communicate with the mobile robot. With this configuration, the program allows the server to determine whether or not the mobile robot is transporting transported objects even when communication between the mobile robot and the server is impossible. [Effects of the Invention]

[0036] According to this disclosure, a control system, control method, and program can be provided for a mobile robot that is autonomously mobile and capable of transporting objects, which can clearly indicate to those around the mobile robot whether or not it is transporting an object. [Brief explanation of the drawing]

[0037] [Figure 1] This is a perspective view showing an example of the overall configuration of a mobile robot according to an embodiment. [Figure 2] Figure 1 is a perspective view showing an example of the overall configuration of a wagon transported by a mobile robot. [Figure 3] This is a perspective view showing the mobile robot in Figure 1 transporting the wagon in Figure 2. [Figure 4] Figure 1 is a flowchart illustrating an example of the light emission process performed by the mobile robot. [Figure 5] This figure shows an example of a luminescence pattern that can be performed on the mobile robot in Figure 1. [Figure 6] This is a flowchart illustrating another example of the light emission process performed by the mobile robot in Figure 1. [Figure 7] This is a flowchart illustrating another example of the light emission process performed by the mobile robot in Figure 1. [Figure 8] This figure shows another example of a luminescence pattern that can be performed on the mobile robot in Figure 1. [Figure 9] This figure shows another example of a luminescence pattern that can be performed on the mobile robot in Figure 1. [Figure 10] This is a schematic diagram showing an example of the overall configuration of a system including a mobile robot according to an embodiment. [Figure 11] This is a flowchart illustrating an example of processing at the higher-level management device in the system shown in Figure 10. [Figure 12] This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0038] 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 for solving the problem.

[0039] (Embodiment) The control system according to this embodiment performs system control for a system including a mobile robot that is autonomously mobile and capable of transporting transported objects (hereinafter referred to as the transport system). This mobile robot can also be called a transport robot because it is capable of transporting transported objects. Below, an example of the configuration of the mobile robot according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing an example of the overall configuration of the 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 in Figure 1.

[0040] The above transport system only needs to include a mobile robot such as the mobile robot 100 shown in Figure 1, and may also include other devices such as a higher-level management system. However, for the sake of simplicity, we will first describe an example in which the transport system is composed solely of the mobile robot 100 and explain its main features. In this example, the control system can refer to the mobile robot 100 itself, or the components of the control system provided on the mobile robot 100.

[0041] In the following explanation, the XYZ Cartesian coordinate system will be used as appropriate. The X direction is the front-to-back direction of the mobile robot 100 as shown in Figure 1, the Y direction is the left-to-right direction, and the Z direction is the vertical up-and-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. The +Z direction is the vertical up direction, and the -Z direction is the vertical down direction.

[0042] Furthermore, the mobile robot 100 can move in both the forward and backward directions. That is, when the wheels rotate forward, the mobile robot 100 moves forward, and when they rotate 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 or right.

[0043] As shown in Figure 1, the mobile robot 100 may include a chassis 110 for carrying objects, a stand 120, and an operating unit 130. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer 101, a drive motor, etc. The explanation assumes that the control computer 101 is mounted in the position shown on the chassis 110, but it is not limited to this position and may be mounted in other locations on the chassis 110, or part or all of it may be mounted on at least one of the stand 120 and the operating unit 130.

[0044] The chassis 110 rotatably holds the wheels 111. In the example shown in Figure 1, the chassis 110 is equipped with four wheels 111. These four wheels 111 are the left and right front wheels and the left and right rear wheels. By independently controlling the rotation direction and rotation speed of the wheels 111, the mobile robot 100 moves along a desired route. Some of the four wheels 111 may be drive wheels, and the rest may be driven wheels. Furthermore, as shown in Figure 1, additional driven wheels can be provided between the front and rear wheels 111, for example.

[0045] Furthermore, at least one of the chassis 110, the operating unit 130, and the stand 120 may be equipped with various sensors, such as a camera and a distance measuring sensor, for purposes such as preventing contact with obstacles and confirming the route.

[0046] Figure 1 shows an example where the sensor consists of a camera 104 mounted on a stand 120 facing the +X side and a sensor 105 mounted on the front of the chassis 110. The sensor 105 can be mounted on a bumper provided at the front of the chassis 110 and detects when an object comes into contact with the bumper. If the mobile robot 100 detects contact with an object, i.e., an obstacle, via the sensor 105, it can be controlled to stop the mobile robot 100. Therefore, the sensor 105 can be called a stop sensor. However, the sensor 105 is not limited to the front; it can also be a sensor that detects contact of objects with bumpers provided on the outer circumference of the mobile robot 100.

[0047] The mobile robot 100 is an autonomous mobile robot, but it may also be equipped with the ability to move according to user operation, that is, it may be a mobile robot that can switch between autonomous movement mode and user operation mode. Through the above autonomous movement control, the mobile robot 100 can move autonomously along a route determined according to a set transport destination or based on a set route. In the above autonomous movement control, the mobile robot 100 can also move autonomously by using a learning model obtained by machine learning to determine the route and avoid collisions.

[0048] Here, the user-operated mode, in which the robot moves based on user input, is a mode in which the degree of user involvement is relatively higher than that of 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, 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 input. For example, the user-operated mode and the autonomous movement mode may include the following 1 to 3 examples.

[0049] In the first example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions to stop and start moving without user intervention. In user-operated mode, the mobile robot moves autonomously, and the user controls the stopping and starting of movement. In the second example, in autonomous movement mode, the mobile robot moves autonomously, and the user controls the stopping and starting of movement. In user-operated mode, the mobile robot does not move autonomously, and the user controls not only the stopping and starting of movement but also the movement itself. In the third example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions to stop and start moving 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.

[0050] Furthermore, the user can be an employee at the facility where the mobile robot 100 is operated, and if the facility is a hospital, the user can be a hospital employee.

[0051] The control computer 101 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. The 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 function of controlling the mobile robot 100. The control computer 101 can also be called a control unit.

[0052] The control computer 101 autonomously controls the mobile robot 100 to move toward a pre-set destination or along a pre-set transport route, based on pre-stored map data and information acquired by various sensors as exemplified by the camera 104. This autonomous movement control can also include control for loading the wagon 500 shown in Figure 2 and control for unloading the wagon 500. The wagon 500 will be described later. The control computer 101 can be equipped with a movement control unit that performs such autonomous movement control.

[0053] For loading and unloading transported items such as wagons 500, the chassis 110 can be equipped with a lifting mechanism 140 for loading and unloading the transported items. Part of the lifting mechanism 140 can be housed inside the chassis 110, and it can also be positioned on the upper side of the chassis 110 with a mounting surface for placing the transported items exposed. The lifting mechanism 140 is a lifting stage that is provided to be able to move up and down, and can move up and down according to control from the control computer 101. The chassis 110 is equipped with a motor and guide mechanism for lifting. The upper surface of the lifting mechanism 140 becomes the mounting surface on which the wagon 500 as transported items is placed. The wagon 500 is not limited to the configuration shown in Figure 2, but can be any wagon of a predetermined size, shape, and weight that can be placed on the lifting mechanism 140 and transported. The lifting mechanism 140 has a lift mechanism for lifting the wagon 500. The space above the lifting mechanism 140 becomes the mounting space for loading the transported items. Furthermore, if the operation is limited to the user loading the wagon 500, the chassis 110 does not need to be equipped with the lifting mechanism 140.

[0054] Furthermore, the chassis 110 may be equipped with a first light-emitting unit 11 in a position surrounding the lifting mechanism 140. The first light-emitting unit 11 can be any configuration capable of emitting light, and can be composed of, for example, one or more LEDs (Light-Emitting Diodes), organic electroluminescence, etc., and its light emission can 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 figures. Note that even if the lifting mechanism 140 is not provided, the mobile robot 100 may still be equipped with the first light-emitting unit 11.

[0055] 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 Z direction as its longitudinal direction, but of course, its shape is not limited, and the mobile robot 100 may be configured without the stand 120. The longitudinal direction of the stand 120 is provided parallel to the Z direction. The stand 120 is positioned outside the lifting mechanism 140. In other words, the stand 120 is positioned so as not to interfere with the lifting operation of the lifting mechanism 140. The stand 120 is positioned on one end of the chassis 110 in the Y direction (left-right direction). The stand 120 is attached near the right front 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 -Y side.

[0056] Furthermore, the stand 120 can be equipped on its upper surface with, for example, the stick portion 131 of a joystick device, or an emergency stop button for emergency stopping the mobile robot 100. This joystick device is a device that, in user operation mode, allows the user to move the mobile robot 100 in the direction they intend. Directional control can be accepted by tilting the stick portion 131 in the direction of movement. The joystick device can also be controlled to perform a confirmation operation by pressing the stick portion 131 downwards. The stick portion 131 can also be configured to function as an emergency stop button when pressed downwards for a predetermined period of time, and if it is also configured to accept confirmation operations, this predetermined period should be different from the period for confirmation operations.

[0057] Furthermore, the stand 120 may be equipped with a second light-emitting unit 12 in a position surrounding the stick portion 131. The second light-emitting unit 12 can be any configuration capable of emitting light, and can be composed of, for example, one or more LEDs, organic electroluminescent devices, etc., and its light emission can be controlled by the control computer 101. Also, the position, shape, and size of the second light-emitting unit 12 are not limited to those shown in the figures. Note that even if the stand 120 is not provided, or if the stand 120 is provided but the stick portion 131 is not, the mobile robot 100 may still be equipped with the second light-emitting unit 12.

[0058] The stand 120 supports the control unit 130. The control unit 130 is mounted near the upper end of the stand 120. This allows the control unit 130 to be positioned 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 a standing user to operate, and the stick portion 131 is also positioned at a height that is easy for the user to operate. The control unit 130 extends from the stand 120 to the +Y side. From the viewpoint of ease of operation, the control unit 130 can be positioned in the center of the chassis 110 in the left-right direction.

[0059] The control unit 130 may be equipped with a touch panel monitor or the like to receive user input. Of course, the control unit 130 may also be equipped with a microphone for voice input. The monitor of the control unit 130 faces away from the chassis 110. In other words, the display surface (operation surface) of the control unit 130 is the +X side. The control unit 130 may be detachably mounted from the stand 120. In other words, the stand 120 may have a holder for holding the touch panel attached to it. By operating the control 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 control unit 130 can display information to the user such as the contents of the transported object, the transported object, the transported object scheduled for transport, and their destination. Of course, the mobile robot 100 may be configured without the control unit 130.

[0060] Furthermore, as shown in the figure, the control unit 130 and the stick unit 131 can be arranged at at least the same height to allow for intuitive operation. This allows the user to perform operations in an intuitive manner, even when the pressing operation on the stick unit 131 is assigned to an operation that makes a decision regarding the operation content displayed on the control unit 130.

[0061] Furthermore, an IC card reader can be provided at a position at approximately the same height as the control unit 130 on the stand 120, or inside the control unit 130, for user authentication using an IC (Integrated Circuit) card or the like. The mobile robot 100 does not necessarily need to have a user authentication function, but providing one can prevent operation by third parties through tampering. The user authentication function is not limited to using an IC card; a method of inputting user information and a password from the control unit 130 may also be adopted. However, using a method that utilizes various short-range wireless communication technologies that enable contactless authentication can reduce the burden on the user and prevent infection.

[0062] In the mobile robot 100 described above, a user can place items to be transported into a wagon 500 mounted on the mobile robot 100 and request its transport. Hereafter, since the wagon 500 itself can also be referred to as the transported item, for convenience, the items to be transported contained in the wagon 500 will be distinguished and explained as "items." The mobile robot 100 autonomously moves to a set destination and transports the wagon 500. In other words, the mobile robot 100 performs the task of transporting the wagon 500. In the following explanation, the place where the wagon 500 is loaded will be referred to as the transport source or loading location, and the place where the wagon 500 is delivered will be referred to as the transport destination or destination.

[0063] For example, suppose a mobile robot 100 moves around within a general hospital with multiple medical departments. The mobile robot 100 transports items such as supplies, consumables, and medical equipment between multiple medical departments. For instance, the mobile robot 100 delivers items from one medical department's nurse station to another medical department's nurse station. Alternatively, the mobile robot 100 delivers items from a storage room for supplies and medical equipment to a medical department's nurse station. Furthermore, the mobile robot 100 delivers medications dispensed in the pharmacy to the medical department or patient where they are to be used.

[0064] Examples of items include consumables such as medicines and bandages, specimens, testing equipment, medical devices, hospital meals, stationery, and other supplies. Examples of medical devices include blood pressure monitors, transfusion pumps, syringe pumps, foot pumps, nurse call systems, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, suction devices, nebulizers, pulse oximeters, blood pressure monitors, resuscitation devices, sterile equipment, and ultrasound devices. Meals such as hospital meals and test meals may also be transported. Furthermore, the mobile robot 100 may transport used equipment, used dishes, etc. If the destination is on a different floor, the mobile robot 100 may use an elevator or the like to move between floors.

[0065] Next, Figures 2 and 3 will be used to describe the details of the wagon 500 and an example of how the mobile robot 100 holds the wagon 500. Figure 3 is a perspective view showing the mobile robot 100 transporting the wagon 500.

[0066] The wagon 500 comprises a storage compartment for storing goods and a support section that supports the storage compartment, forming a space below the storage compartment into which at least a portion of the chassis 110 can enter. The storage compartment can be configured to include side panels 504 on both sides of the wagon 500 and an openable and closable cover 501, as shown in Figure 2. By opening the cover 501, the user can load and unload goods stored inside the wagon 500. The support section can be configured to include a support frame 505 that supports the storage compartment and wheels 502 attached to the underside of the support frame 505, as shown in Figure 2. The wheels 502 may also be equipped with covers, which are not shown.

[0067] As described above, the wagon 500 can be held by the lifting mechanism 140 on the mobile robot 100. The lifting mechanism 140 is a mechanism for loading and unloading the wagon 500 as transported material, located on at least a portion of the upper surface of the chassis 110. By equipping the mobile robot 100 with the lifting mechanism 140, the wagon 500 can be easily transported automatically.

[0068] As shown in Figure 3, the mobile robot 100 can hold the wagon 500 using the lifting mechanism 140. The space into which at least a part of the chassis 110 enters is the space S formed on the underside of the wagon 500 as shown in Figure 2, and this space S is the space into which the chassis 110 enters. In other words, the chassis 110 can enter the space S directly below the wagon 500. When the chassis 110 mounts 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 where the stand 120 is not provided in the front-rear direction. 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 the corner of the chassis 110 so as not to interfere with the wagon 500.

[0069] Furthermore, the contact portion of the lifting mechanism 140 that comes into contact with the bottom surface of the wagon 500 when transporting the wagon 500 loaded with the wagon 500, by connection or other means, can be provided with a recess 141, as shown in Figure 1. 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 lower side of the storage portion of the wagon 500. The wagon 500 can then be fixed to the mobile robot 100 by fitting the protrusion into the recess 141.

[0070] Although the wagon 500 is shown as a trolley equipped with wheels 502, the shape and configuration of the wagon 500 are not particularly limited. The specified wagon exemplified by the wagon 500 only needs to have a shape, size, and weight that can be transported by the mobile robot 100.

[0071] This section describes the operation of a mobile robot 100 loading a wagon 500, transporting it to a destination, and unloading the wagon 500. First, regarding the loading of the wagon 500, the mobile robot 100 can be pre-configured as a target for transporting the wagon 500, and can search for the wagon 500 or move to a known location. For example, the mobile robot 100 can be designated by the user as a transport target or a search target for the wagon 500, and can autonomously move to transport the wagon 500. Alternatively, the mobile robot 100 may be configured to automatically transport the wagon 500 to its destination if it finds it on its return route after completing a transport task transporting other wagons or goods. It should be noted that various methods can be applied to the operation of transporting the wagon 500 by the mobile robot 100, and these are not the only examples.

[0072] The mobile robot 100 moves to the location 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.

[0073] In the pickup control, the chassis 110 is first moved into the space S directly beneath the wagon 500, and once the entry is complete, the lifting mechanism 140 is raised. This causes the lifting stage, which is the upper surface of the lifting mechanism 140, to come into contact with the wagon 500, allowing the lifting mechanism 140 to lift the wagon 500. In other words, when the lifting mechanism 140 rises, the wheels 502 lift off the ground, and the wagon 500 is loaded onto the chassis 110. This prepares the mobile robot 100 to dock with the wagon 500 and proceed to the destination. Next, the control computer 101 controls the drive of the wheels 111 and other components to autonomously move along the set route, thereby transporting the wagon 500 to the destination.

[0074] 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 in order to lower the wagon 500 from the chassis 110. The wheels 502 make contact with the floor surface, and the upper surface of the lifting mechanism 140 separates from the wagon 500. The wagon 500 is placed on the floor surface. The wagon 500 can then be lowered from the chassis 110.

[0075] In the various examples described above, it was assumed that the mobile robot 100 transports a wagon, such as the wagon 500, as the transported object. However, even if the mobile robot 100 is configured to transport wagons, it may transport individual items (luggage) as the transported object during operation. In that case, it is advisable to attach a storage box or shelf to the mobile robot 100 to prevent the items from falling during transport.

[0076] Furthermore, in operation, there may be situations where the mobile robot 100 transports multiple items and needs to transport them to multiple destinations. In this case, regardless of whether the transport is using the wagon 500 or not, the user can unload the items at the destination. The mobile robot 100 can autonomously move to a set destination or move according to user commands to transport the wagon or individual items.

[0077] Next, an example of the main features of this embodiment will be explained using Figures 4 and 5. Figure 4 is a flowchart illustrating an example of a light emission process performed by the mobile robot 100. Figure 5 is a diagram showing an example of a light emission pattern that can be executed by the mobile robot 100.

[0078] A key feature of this embodiment is that the mobile robot 100 is equipped with light-emitting units as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12. Here, an example is given in which the mobile robot 100 is equipped with light-emitting units at these two locations, but it may be equipped with one unit or three or more units, and the position, shape, and size of the light-emitting units are not limited to those exemplified. However, from the viewpoint of visibility from the surroundings, it is preferable to arrange the light-emitting units at multiple positions spaced apart from each other, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12.

[0079] Furthermore, as part of the system control described above, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to change their light-emitting patterns according to the transported object information indicating whether or not the mobile robot 100 is transporting an object. The light-emitting pattern can also be referred to as the light-emitting mode.

[0080] For this type of control, the control computer 101 acquires information about the transported object (step S11).

[0081] The control computer 101 can determine or acquire whether, for example, a wagon 500 is loaded, based on information regarding the loading and unloading control of the wagon 500, or based on detection results from weight sensors installed at other locations on the lifting mechanism 140 or the chassis 110. If weight sensors are installed, the control computer 101 can register the weight of each type of transported object and calculate how many of each type of transported object are loaded based on the combinations of these weights.

[0082] Alternatively, the control computer 101 can determine or acquire whether, for example, a wagon 500 is mounted, based on an image captured by a camera positioned to include the lifting stage in its imaging range. Alternatively, the control computer 101 can determine or acquire whether or not a transported object is being transported, based on information indicating the transported object set from the operation unit 130, the set or determined transport route, and the current position information obtained from a position sensor installed on the mobile robot 100. The method for acquiring transported object information is not limited to these methods.

[0083] Furthermore, the mobile robot 100 may be equipped with a storage unit (not shown) that stores the transported object information acquired in this manner, for example, within the control computer 101. The control computer 101 can also determine whether or not an object is being transported based on the stored transported object information.

[0084] Following step S11, the control computer 101 determines whether the mobile robot 100 is currently transporting an object based on the acquired transport information (step S12).

[0085] Then, if the transported object is being transported, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern, as exemplified in "Transported object present" in Figure 5 (step S13), and terminates the process. On the other hand, if the transported object is not being transported, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a second light-emitting pattern different from the first light-emitting pattern, as exemplified in "No transported object" in Figure 5 (step S14), and terminates the process. Of course, such processing can be repeated, for example, when the transported object information is changed or at predetermined intervals.

[0086] Furthermore, as shown in the examples of "with transported object" and "without transported object" in Figure 5, multiple light emission patterns, such as the first and second light emission patterns, can be performed in the same light emission area. In Figure 5, an example is given where the same light emission area is in both the first light emission unit 11 and the second light emission unit 12, but it may be either one or the other. This makes it easier for the user to notice an abnormality when a place that is normally emitting light is showing a different light emission state, and also makes it easier to notice and resolve the abnormality.

[0087] Furthermore, the light emission patterns to be used, such as the first light emission pattern, the second light emission pattern, and other light emission patterns described later, can be stored in a table in the control computer 101, for example, and referenced during light emission control. Examples of "Priority transported item present" and "Cautionary transported item present" in Figure 5 will be described later.

[0088] The mobile robot 100 can clearly indicate to those around it whether or not it is currently transporting an object by performing light emission control according to the transported object information as described above.

[0089] As mentioned above, the first light-emitting unit 11 is a light-emitting unit arranged around a contact area that may come into contact with the transported object when the transported object is loaded and transported. In other words, the mobile robot 100 arranges the light-emitting unit considering the loading location of the transported object, as illustrated by the positional relationship between the first light-emitting unit 11 and the lifting stage. This contact area can also be called the loading surface. The first light-emitting unit 11 is located around the contact area and is provided on the main body of the mobile robot 100. This contact area is the part that comes into contact with the transported object when the transported object is loaded and transported, and for example, parts that come into contact with the transported object only before transport and during loading can be excluded. Also, the contact area can be, for example, the contact area that comes into contact with the bottom surface of the transported object, and therefore parts that come into contact with the side surface of the transported object can be excluded. Of course, various transported objects can be envisioned depending on their size and shape, but the contact area that may come into contact with the transported object can refer to a part that may come into contact with the transported object during transport, such as the top surface of the lifting mechanism 140. Therefore, when the mobile robot 100 is carrying a wagon 500 or other transported items, the light emitted from the first light-emitting unit 11 can be seen, for example, from at least diagonally above or to the side of the mobile robot 100. As a result, the mobile robot 100 is easily visible to those around it when it is carrying transported items, and even more so when it is not, thus clearly indicating to those around the mobile robot 100 whether or not it is transporting transported items. Furthermore, when the area around the contact part is illuminated as in this example and the wagon 500 is used for transport, the underside of the wagon 500 can be made mirrored to make the mobile robot 100 even more visible to those around it.

[0090] Furthermore, as described above, the second light-emitting unit 12 is a light-emitting unit provided on or around the joystick device used to operate the mobile robot 100. The mobile robot 100 is positioned at a high location that is easily visible to the operator and those around it, particularly as illustrated by the second light-emitting unit 12. This allows the mobile robot 100 to clearly indicate to those around it whether or not it is transporting an object, even from directions where the loading position of the object, such as a wagon 500, may be difficult to see.

[0091] Furthermore, especially when transporting using the wagon 500, the inside of the wagon 500 is not visible to the operator. Therefore, the control computer 101 may perform control that indicates the presence or absence of transported items inside the wagon 500 by changing the light emission pattern, thereby providing useful information to the operator. In such control, the control computer 101 may change the light emission pattern based only on the presence or absence of contents inside the wagon 500, without changing the light emission pattern for the presence or absence of the wagon 500 itself. Alternatively, the control computer 101 may change the light emission pattern based on the presence or absence of the wagon 500, and if the wagon 500 is mounted, based on the presence or absence of contents inside it.

[0092] Furthermore, the control for differentiating the light emission patterns may include controlling at least one of the luminance, hue, saturation, and brightness parameters emitted by the light-emitting units exemplified by the first light-emitting unit 11 and the second light-emitting unit 12. In addition, in examples where multiple light-emitting units are arranged at spaced-apart positions, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12, the control for differentiating the light emission patterns may also include controlling the light emission parameters of the first light-emitting unit 11 and the second light-emitting unit 12 to be different from each other. Here, the light emission parameter can be at least one of the luminance, hue, saturation, and brightness parameters mentioned above.

[0093] Furthermore, in examples where light-emitting units are arranged at multiple positions spaced apart from each other, as illustrated by the first light-emitting unit 11 and the second light-emitting unit 12, the control for differentiating the light-emitting patterns may include differentiating the positions at which the lights are emitted. In one light-emitting pattern, the lights may be emitted at all positions, while in another light-emitting pattern, the lights may be kept off at all positions. For example, the control for differentiating the light-emitting patterns may include a control that turns off one of the first light-emitting unit 11 and the second light-emitting unit 12 and emits light only on the other, that is, an on / off control of the light emission.

[0094] By using the various light emission patterns described above, the mobile robot 100 can more clearly indicate to those around it whether or not it is transporting an object. Furthermore, for example, the control computer 101 can reduce power consumption by suppressing light emission when an object is present, or make the light emission more conspicuous when an object is present to reduce the deterioration of visibility caused by the presence of the object.

[0095] In the processing example in Figure 4, the contents of the transported object are not distinguished, and whether or not transporting is in progress is determined by whether or not some kind of transported object is being transported, and the light emission pattern of the mobile robot 100 is changed accordingly. This assumes that the object to be judged is a managed object, but the object to be judged is not limited to this. Whether or not some kind of transported object is being transported can include, for example, (A) equipment mistakenly placed on the mobile robot 100, and (B) cases where something other than the intended transported object is being transported, such as when a child is standing on the placement surface.

[0096] Such a determination can be made by the control computer 101 based on the detection results from a weight sensor installed, for example, in the lifting mechanism 140 or at another location on the chassis 110. When a weight sensor is installed, as described above, the control computer 101 can register the weight of each type of transported object and calculate how many of each type of transported object are loaded from the combination. Therefore, the control computer 101 can make a determination from this calculation result even if equipment has been mistakenly placed on the mobile robot 100, as in the case of (A) above. Furthermore, even if something other than a managed object is loaded, as in the case of (B) above, the control computer 101 can make a determination by detecting that it does not fall under any of these combinations.

[0097] Alternatively, the control computer 101 can determine whether or not any object is being transported, even in the cases of (A) and (B) above, based on the image captured by the camera positioned to include the lifting stage in its imaging range, as described above.

[0098] Furthermore, if the control computer 101 determines that an object should not be transported, even if it is currently transporting an object, as in the cases of (A1) and (B) above, the process in step S14 can be carried out as follows.

[0099] As a first example of processing, the control computer 101 can determine that the transported object is not being transported because it is not an object to be transported, and can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in the second light-emitting pattern. In the first example of processing, the light-emitting pattern is changed only depending on whether or not the transported object, which has been identified as an object to be transported, is being transported. Alternatively, as a second example of processing, the control computer 101 can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in the first light-emitting pattern because, although the object is not an object to be transported, it is still being transported. Alternatively, as a third example of processing, the control computer 101 can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in another light-emitting pattern because, although the object is not an object to be transported, it is still being transported. Here, the other light-emitting pattern can be any light-emitting pattern different from the first and second light-emitting patterns, and can be a light-emitting pattern that can express errors or abnormalities.

[0100] Furthermore, in the various examples described above, the timing of the change in the light emission pattern indicating that transport is in progress can be one of the following timings: (a), (b), or (c). These timings can also be applied to the processing examples described later, referring to Figures 6 and 7.

[0101] The timing in (a) is when the transported object is placed on the mobile robot 100. The timing in (b) is when the transported object is placed on the mobile robot 100 AND the mobile robot 100 starts moving. The timing in (c) is when specific conditions are met during the movement of the mobile robot 100, such as the following conditions (c-1), (c-2), (c-3).

[0102] Condition (c-1) is that the mobile robot 100 is traveling in an area where it is preferable to indicate that it is transporting something. An area is an area where the mobile robot 100 may travel, and the control computer 101 can determine which area the mobile robot 100 is traveling in by comparing map data with the current position of the mobile robot 100. Areas where it is preferable to indicate that it is transporting something include, for example, areas where people are present, areas where people are likely to be present, areas where non-staff stay or are likely to stay, rather than staff-only areas, and areas predetermined to be transport areas. In this case, depending on the type of area the mobile robot 100 is traveling in, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern indicating that it is transporting something, when the mobile robot 100 is traveling in an area where it is preferable to indicate that it is transporting something.

[0103] Condition (c-2) is a condition in which it is better to confirm the presence of a person who should be notified and indicate that the item is being transported. For example, condition (c-2) is when a person is detected based on the detection results of sensors such as sensors mounted on the mobile robot 100 or environmental cameras installed in the area, and it is detected, for example, that the person is a person involved with the transported item, such as the recipient of the transported item, through facial recognition or an ID tag carried by the person. When condition (c-2) is met, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern indicating that the item is being transported.

[0104] Condition (c-3) is a condition in which an input is received via an interface such as a user terminal device instructing the mobile robot 100 to change to a light emission pattern indicating that it is in transport. When condition (c-3) is met, the control computer 101 controls the first light emission unit 11 and the second light emission unit 12 to emit light with the first light emission pattern indicating that it is in transport.

[0105] Next, other examples of light emission processing that can be employed in this embodiment will be described with reference to Figures 5 and 6. Figure 6 is a flowchart illustrating another example of light emission processing performed by the mobile robot 100.

[0106] The transport information used by the control computer 101 for control may include information indicating the transport object being transported by the mobile robot 100 when the mobile robot 100 is transporting an object. In this case, the control computer 101 performs light emission control, which involves differentiating the light emission patterns of the first light emission unit 11 and the second light emission unit 12 according to the transport object indicated by the transport information.

[0107] For this type of control, the control computer 101 acquires transport information that includes information indicating the transported object being transported by the mobile robot 100 (step S21). In this case, the acquisition of transport information can also be performed using one of the methods described above that also allows for the acquisition of information indicating the transported object.

[0108] In other words, the control computer 101 can determine or acquire information indicating the transported object based on the detection results from the weight sensor installed at another location on the lifting mechanism 140 or the chassis 110. Alternatively, the control computer 101 can determine or acquire information indicating the transported object based on images captured by a camera positioned to include the lifting stage in its imaging range, and for transported objects to be stored in the wagon 500, based on images taken while the user is storing the objects. Alternatively, the control computer 101 can determine or acquire transported objects in transit based on information indicating the transported object set from the operation unit 130, the set or determined transport route, and the current position information obtained from a position sensor installed on the mobile robot 100. The method for acquiring information indicating the transported object is not limited to these methods.

[0109] Furthermore, as described above, the mobile robot 100 may be equipped with a storage unit (not shown) that stores the transported object information acquired in this manner, for example, within the control computer 101. The control computer 101 can also determine the transported object being transported based on the stored transported object information. The stored transported object information may also be information indicating the transported object scheduled for transport and the transported object currently being transported.

[0110] Following step S21, the control computer 101 selects a light emission pattern based on the acquired transported object information, not only determining whether the mobile robot 100 is currently transporting an object, but also based on the object being transported (step S22). The control computer 101 then controls the first light emission unit 11 and the second light emission unit 12 to emit light according to the selected light emission pattern (step S23), and terminates the process. Of course, such processing can be repeated, for example, when the transported object information is changed or at predetermined intervals.

[0111] In steps S22 and S23, the control computer 101 can, for example, select a light emission pattern and control the light emission as follows: If no object is being transported, the first light emission unit 11 and the second light emission unit 12 are controlled to emit light in the second light emission pattern, as exemplified in "No object being transported" in Figure 5. If an object is being transported and that object is neither a priority object nor an object requiring special attention as described later, the first light emission unit 11 and the second light emission unit 12 are controlled to emit light in the first light emission pattern, as exemplified in "Object being transported" in Figure 5.

[0112] If an item is being transported and it is a priority item that requires preferential transport, the first light-emitting unit 11 and the second light-emitting unit 12 are controlled to emit light in a third light-emitting pattern that is more conspicuous than the first and second light-emitting patterns, as exemplified in "Priority Item Present" in Figure 5. If an item is being transported and it is a cautionary item that is a chemical or other item requiring special attention, or an item containing such an item, the first light-emitting unit 11 and the second light-emitting unit 12 are controlled to emit light in a fourth light-emitting pattern, as exemplified in "Cautionary Item Present" in Figure 5. The fourth light-emitting pattern can be at least more conspicuous than the first and second light-emitting patterns and even more conspicuous than the third light-emitting pattern.

[0113] While it is possible to establish a one-to-one relationship between the type of transported object and the light emission pattern, too many light emission patterns could confuse those nearby. Therefore, as illustrated in Figure 5 under "Priority Transported Object" and "Priority Transported Object," the relationship between the type of transported object and the light emission pattern does not necessarily have to be one-to-one.

[0114] As illustrated in the examples in Figures 5 and 6, the mobile robot 100 can vary its light emission pattern depending on the object being transported. This allows the mobile robot 100 to clearly communicate to its surroundings whether or not it is transporting an object, and if so, information about that item, and other information related to the transported object.

[0115] Furthermore, in examples where light-emitting units are arranged at multiple positions spaced apart from each other, as illustrated by the first light-emitting unit 11 and the second light-emitting unit 12, differentiating the light-emitting patterns can also include differentiating the multiple positions that emit light synchronously. With such a configuration, the mobile robot 100 can more clearly communicate the contents of the transported object information to its surroundings.

[0116] Examples of such light emission patterns are given below. In one light emission pattern, only the first light-emitting unit 11 is illuminated; in another, only the second light-emitting unit 12 is illuminated; and in yet another, the first light-emitting unit 11 and the second light-emitting unit 12 are illuminated in sync. Examples of syncing the illumination of both include the "no transported object" example and the "with transported object" example in Figure 5. In the example where the mobile robot 100 is equipped with three or more light-emitting units, a light emission pattern can be selected from many light emission patterns obtained from various combinations of the three or more light-emitting units provided.

[0117] Conversely, examples of emitting light without synchronizing the two include the "Priority Transported Item" example and the "Caution Transported Item" example in Figure 5. In the "Priority Transported Item" example in Figure 5, the first light-emitting unit 11 and the second light-emitting unit 12 are shown with opposite hatching, but this is for convenience and indicates that only their phases are different. The same applies to the "Caution Transported Item" example in Figure 5. However, these examples can also be considered as examples where the lighting timing of the first light-emitting unit 11 and the turning-off 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 emitted alternately. In this way, the control computer 101 can control the emission of light from the first light-emitting unit 11 and the second light-emitting unit 12 so that their emission timings are swapped, that is, their emission is reversed, as a certain emission pattern.

[0118] Beyond simply swapping the timing of light emission, 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 at various rhythms to the surroundings.

[0119] Furthermore, at multiple locations where light is emitted synchronously, it is also possible to emit light in mutually complementary light patterns. Mutually complementary light patterns include patterns in which the light emitted from the first light-emitting unit 11 and the light emitted from the second light-emitting unit 12 are complementary colors, or patterns 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.

[0120] Furthermore, as described above, the wagon 500 itself can be treated as the transported object and light emission control can be performed, or the items contained in the wagon 500 can be treated as the transported object and light emission control can be performed. Also, if the wagon 500 is not used, the individual items can be treated as the transported object and light emission control can be performed. For example, the control computer 101 may treat the wagon 500 itself as the transported object and perform light emission control depending on whether the wagon 500 is present or absent, or it may perform light emission control depending on whether or not items are contained in the wagon 500. Also, the control computer 101 may perform light emission control depending on the items or combinations of items contained in the wagon 500, or it may perform light emission control that combines several of the various light emission control methods described above.

[0121] Furthermore, if the mobile robot 100 perceives the wagon 500 itself as the transported object and performs light emission control, the transport system can handle multiple types of transport boxes, as exemplified by the wagon 500, as the transported object. In this case, the transported object information should include information indicating the type of transport box that the mobile robot 100 is transporting when the mobile robot 100 is transporting an object. This allows the control computer 101 to control the first light-emitting unit 11 and the second light-emitting unit 12 to produce different light emission patterns depending on the type of transport box. With this configuration, the mobile robot 100 can clearly indicate the type of transport box it is transporting to those around it.

[0122] Next, further examples of light emission processing that can be employed in this embodiment will be described with reference to Figures 7 to 9. Figure 7 is a flowchart illustrating another example of light emission processing performed on the mobile robot 100. Figures 8 and 9 show other examples of light emission patterns that can be performed on the mobile robot 100.

[0123] The information used by the control computer 101 for light emission control can include information other than transported object information. Here, we give an example of including state information indicating the state of the mobile robot 100. The state information can be, for example, information indicating whether the mobile robot 100 is in autonomous movement mode, user operation mode, or some kind of abnormality. Here, we give an example in which, if there is an abnormality, the same light emission pattern is used regardless of whether it is in autonomous movement mode or user operation mode. However, it is also possible to control the robot with different light emission patterns depending on whether the abnormality is in autonomous movement mode or user operation mode.

[0124] Furthermore, the status information may include at least one of the following: information indicating the running state related to the running environment of the mobile robot 100, and information indicating the operating state of the mobile robot 100. The running state can refer to whether or not a running abnormality related to the running environment, such as contact with a wall, has occurred in the mobile robot 100. For convenience, the operating state will be explained as referring to a state other than the mode state, such as whether the mobile robot 100 is in autonomous running mode or user-operated mode. The operating state will be explained as indicating whether or not there is some kind of operating abnormality, or indicating the content of that operating abnormality. Here, an operating abnormality is an abnormality other than an abnormality in the running state related to the running environment of the mobile robot 100, and can refer to various abnormalities of the mobile robot 100, such as battery depletion, drive unit abnormality, wheel abnormality, etc.

[0125] For this type of control, the control computer 101 acquires transport information (step S31) and status information (step S32), similar to step S21 in Figure 6. The order of steps S31 and S32 does not matter. In step S32, the information indicating whether the system is in autonomous movement mode or user operation mode can be obtained by referring to the current movement mode of the control computer 101.

[0126] Information regarding whether or not a status is abnormal can be obtained, for example, as follows: The control computer 101 first determines the running state of the mobile robot 100 based on the detection results from sensors such as sensor 105, and also determines the operating state, which indicates whether or not the mobile robot 100 is operational. The order in which the running state and operating state are determined does not matter. Here, regarding the operating state, it is determined whether or not there is an operational abnormality, and which part the abnormality is, for example, the battery, drive unit, or wheels. This determination can be performed, for example, by the control computer 101 based on the results detected by various sensors installed on the mobile robot 100.

[0127] Here, 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 this explanation will be based on the premise that the determination is made in this manner. However, the sensor may also have the function of performing detection in which the detection result itself indicates the determination result of the driving state, or the function of determining the driving state by performing information processing, image processing, etc., based on the sensing result. In that case, the sensor will transmit the determination result to the control computer 101, and the control computer 101 can use the received content 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 performs light emission control.

[0128] Similar to the determination of the driving state, the determination of the operating state can be performed by the control computer 101 performing information processing and image processing based on the detection results from various sensors, and this explanation assumes that the determination is made in this manner. However, sensors can also perform detections in which the detection result itself indicates the determination result of the operating state, or they can have the function of determining the operating state by performing information processing and image processing based on the sensing results. In that case, the sensor will transmit the determination result of the operating state to the control computer 101, and the control computer 101 can use the received content from the sensor 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 the light emission.

[0129] The mobile robot 100 may be equipped with a storage unit (not shown) within the control computer 101, for example, to store the state information acquired in this manner. In step S32, the control computer 101 can refer to the stored state information.

[0130] After processing in steps S31 and S32, the control computer 101 selects a light emission pattern based on the acquired transport information and status information (step S33). Then, the control computer 101 controls the first light emission unit 11 and the second light emission unit 12 to emit light according to the selected light emission pattern (step S34), and terminates the process. Such processing can be repeated, for example, when the transport information or status information is changed, or at predetermined intervals.

[0131] In steps S33 and S34, the control computer 101 can, for example, select a light emission pattern and control the light emission as follows. Here, we give an example in which the process in Figure 7 is repeated at predetermined intervals. For example, each time the process is repeated, that is, at predetermined intervals as shown above, the control computer 101 can switch the referenced correspondence between the correspondence between the transported object and the light emission pattern in Figure 8 and the correspondence between the state and the light emission pattern in Figure 9. For example, in steps S33 and S34, the control computer 101 illuminates the first light emission unit 11 and the second light emission unit 12 with a light emission pattern indicating the transported object based on the correspondence between the transported object and the light emission pattern shown in Figure 8. After that predetermined period, in steps S33 and S34, the control computer 101 illuminates the first light emission unit 11 and the second light emission unit 12 with a light emission pattern indicating the state based on the correspondence between the state and the light emission pattern shown in Figure 9.

[0132] Figure 8 illustrates the light emission patterns defined by the light emission color and its lighting pattern for each of the first light emission unit 11 and the second light emission unit 12, for the cases of "no transported items," "transported items," "priority transported items," and "items requiring attention," similar to the example in Figure 5. Here, the lighting pattern is selected from a pattern of constant illumination, a pattern of flashing at short intervals, a pattern of flashing at longer normal intervals, and a pattern of flashing at intervals longer than normal. However, the flashing interval, i.e., the flashing interval, may be in two stages or four or more stages.

[0133] Furthermore, Figure 9 illustrates the light emission patterns defined by the light emission color and its illumination pattern for the first light emission unit 11 and the second light emission unit 12, respectively, for the cases of "autonomous movement mode and normal," "user operation mode and normal," and "abnormal." As can be seen from the examples of light emission patterns in Figure 9, the second light emission unit 12, which is close to the operation unit 130 and the stick unit 131, mainly represents the normal mode and abnormal mode of the mobile robot 100, while the first light emission unit 11 also represents the detailed state of the mobile robot 100 in autonomous movement mode.

[0134] In Figure 9, the detailed operating states in autonomous movement mode are represented by dividing the "autonomous movement mode and normal" state into the following four cases. Specifically, Figure 9 illustrates the lighting patterns for each of the following states: "Autonomous movement in progress," which indicates the state while autonomous movement is in progress; "Standby," which indicates that autonomous movement control is being performed but the robot is stopped and in standby mode; "Prompt for operation," which indicates a situation where the user is prompted to take some action; and "Warning," which indicates a situation where the user or the surroundings are warned. The "Standby" case can refer to, for example, when the mobile robot 100 is being charged by the charger or waiting for an elevator. The "Prompt for operation" case can refer to, for example, when the mobile robot 100 has arrived at its destination. The "Warning" case can refer to, for example, when the lifting mechanism 140 is being raised or lowered or when the mobile robot 100 is approaching an intersection. The "Autonomous movement in progress" case refers to any other autonomous movement in progress.

[0135] Furthermore, Figure 9 shows examples of lighting patterns that include a "breathing rhythm," which changes the luminescence in a rhythm similar to human breathing, and a "flow of lit areas," which causes the lit areas to move. An example of the flow of lit areas would be, for instance, the first light-emitting unit 11 lighting up so that the lit areas rotate around the lifting mechanism 140, and the second light-emitting unit 12 lighting up so that the lit areas rotate around the stick part 131.

[0136] As another example of light emission control, for instance, the light emission pattern shown in Figure 8 can be emitted in half of the area shown as the first light-emitting unit 11 and half of the area shown as the second light-emitting unit 12. In that case, the light emission pattern shown in Figure 9 can be emitted in the remaining half of the area shown as the first light-emitting unit 11 and the remaining half of the area shown as the second light-emitting unit 12. Although examples have been given where the light emission areas of both the first light-emitting unit 11 and the second light-emitting unit 12 are divided in half, the ratio of the light emission areas is not limited to this, and the ratios of the first light-emitting unit 11 and the second light-emitting unit 12 may be different.

[0137] As further examples of light emission control, for example, the first light-emitting unit 11 can emit a light emission pattern corresponding to the transported object shown in Figure 8, and the second light-emitting unit 12 can emit a light emission pattern corresponding to the state shown in Figure 9. Conversely, the first light-emitting unit 11 can emit a light emission pattern corresponding to the state shown in Figure 9, and the second light-emitting unit 12 can emit a light emission pattern corresponding to the transported object shown in Figure 8.

[0138] Regarding further examples of light emission control, the control computer 101 can be configured to switch between multiple modes of light emission, such as a mode in which the light emission pattern shown in Figure 8 is emitted, and a mode in which the light emission pattern shown in Figure 9 is emitted. In the mode in which the light emission pattern shown in Figure 8 is emitted, light emission control is performed according to the transported object information, and in the mode in which the light emission pattern shown in Figure 9 is emitted, light emission control is performed according to the state information. Furthermore, as another example of light emission control, the light emission pattern shown in Figure 8 can be used for light emission control of the first light emission unit 11 and the second light emission unit 12, and the light emission pattern shown in Figure 9 can be used for light emission control of two other light emission units located elsewhere.

[0139] Furthermore, the examples of colors and lighting patterns illustrated in Figures 8 and 9 can, of course, also be applied to the processing examples described in Figures 4 to 6.

[0140] The above describes a configuration in which the mobile robot 100 is equipped with a joystick device for operating the mobile robot 100. In this configuration, basically, a control unit (exemplified by the control computer 101) provided in addition to the joystick device of the mobile robot 100 only needs to output control signals for light emission control to the first light-emitting unit 11 and the second light-emitting unit 12. However, a control unit (not shown) provided in the joystick device may also output control signals for light emission control to the first light-emitting unit 11 and the second light-emitting unit 12. In that case, the control computer 101 may perform the determination of predetermined conditions for light emission control and pass it to the control unit provided in the joystick device, or the control unit provided in the joystick device may also perform the determination of predetermined conditions for light emission control.

[0141] In the above description, an example was given in which the transport system mainly consists of a mobile robot 100, but the control system according to this embodiment can be any system that performs system control to control the transport system as described above. Furthermore, this transport system may also be equipped with a server that can be connected to the mobile robot 100 by wireless communication. This server is a server that provides information for autonomous movement to the mobile robot 100. This server can also be called a higher-level management device, and it is not limited to being a single device, but can also be constructed as a system in which the functions are distributed among multiple devices.

[0142] Below, using Figure 10, we will illustrate an example in which this transport system is configured to include a mobile robot 100 and a higher-level management device. Figure 10 is a schematic diagram showing an example of the overall configuration of a transport system including the mobile robot 100.

[0143] As shown in Figure 10, the transport system 1 comprises a mobile robot 100, a higher-level 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 objects using the mobile robot 100, and includes the control system in this example configuration. In this example, the control system can refer to the mobile robot 100 and the higher-level management device 2, or to the components of the control system provided in the mobile robot 100 and the higher-level management device 2. Alternatively, the control system can refer to, for example, the mobile robot 100, the higher-level management device 2, and the user terminal device 300, or to the components of the control system provided in the mobile robot 100, the higher-level management device 2, and the user terminal device 300.

[0144] The mobile robot 100 and the user terminal device 300 are connected to the higher-level 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 higher-level management device 2 and the environmental camera 5 are connected to the network 3 by wired or wireless means. As can be seen from this configuration, the mobile robot 100, the higher-level management device 2, and the environmental camera 5 are all equipped with communication units. 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.

[0145] The higher-level management device 2 is a device that can connect to the mobile robot 100 wirelessly and is a management system for managing multiple mobile robots 100, and may include a control unit 2a that controls them. The control unit 2a can be implemented, for example, by an integrated circuit, and can be implemented by 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 can perform the functions of the control unit 2a by reading the program from the working memory and executing it. The control unit 2a may be called a control computer.

[0146] The transport system 1 can efficiently control multiple mobile robots 100 while autonomously moving them within a designated facility in autonomous movement mode. The term "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 mixed-use facilities.

[0147] 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 100 move and output image data representing those images. 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. In the transport system 1, 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 100, the images acquired by the environmental cameras 5 may be transmitted directly to the mobile robot 100, or in user operation mode, they may be transmitted to the user terminal device 300 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.

[0148] The higher-level management device 2 can determine which mobile robot 100 will perform the transport task for each transport request, and can send an operation command to the determined mobile robot 100 to perform the transport task. The mobile robot 100 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.

[0149] For example, the higher-level management device 2 assigns a transport task to a mobile robot 100 that is at or near the transport source. Alternatively, the higher-level management device 2 assigns a transport task to a mobile robot 100 that is heading towards or near the transport source. The mobile robot 100 that has been assigned the task will then go to the transport source to retrieve the transported item.

[0150] The user terminal device 300 is a device that remotely controls the mobile robot 100 via the higher-level management device 2 or directly when in user operation mode, and can be equipped with communication functions and a display unit 304. If the user terminal device 300 remotely controls the mobile robot 100 via the higher-level management device 2, then the user terminal device 300 can also be considered equivalent to the remote control device of the higher-level management device 2. Various types of terminal devices, such as tablet computers and smartphones, can be used as the user terminal device 300. Furthermore, the user terminal device 300 can accept switching operations between user operation mode and autonomous movement mode, and when this switching operation is performed, the mode can be switched on the mobile robot 100 via the higher-level management device 2.

[0151] Here, we give an example in which the user terminal device 300 is equipped with a joystick device. In addition to the main body 31, the user terminal device 300 may be equipped with a stick part 302 and a button 303 as part of the joystick device. This joystick device is a device that, in user operation mode, moves the mobile robot 100 in the direction intended by the user. Directional control can be accepted by tilting the stick part 302 in the direction to be moved. The button 303 can be provided, for example, on the upper surface of the stick part 131. This joystick device can also be controlled so that a confirmation operation is performed by pressing the button 303 downwards. The button 303 can also be used for the above switching operation. Furthermore, the button 303 can be configured to function as an emergency stop button when pressed downwards for a predetermined period of time. When assigning multiple operations to the button 303, it is sufficient that a predetermined period corresponding to each operation is set. Also, if the user terminal device 300 is equipped with a joystick device, the user can perform the same operation even if the mobile robot 100 is not equipped with a joystick device. In a configuration where the transport system 1 manages multiple mobile robots 100, in user operation mode, the user terminal device 300 can select the mobile robot 100 to be remotely controlled.

[0152] The display unit 304 can display images from image data received from the camera 104 on the mobile robot 100, and images from 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 buttons 303.

[0153] Furthermore, the user terminal device 300 can function as a device for making transport requests to the higher-level management device 2. This transport request can also include information indicating the items to be transported.

[0154] In the transport system 1 configured as described above, the higher-level management device 2 may output a control signal for light emission control, regardless of whether the joystick device is provided on the mobile robot 100, on the user terminal device 300, or on both. When the higher-level management device 2 outputs this control signal, it can be output by the control unit 2a. In that case, the control unit 2a of the higher-level management device 2 may perform the determinations for acquiring various information for light emission control, but the control computer 101 may perform these and pass them to the higher-level management device 2, or the control unit provided on the joystick device may perform these and pass them to the higher-level management device 2.

[0155] Alternatively, the transport system 1 can be configured such that a control unit (not shown) provided in the joystick device outputs a control signal for light emission control. Here, if the 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. If it is provided in both, either the control unit of the joystick device will output a control signal, or the control unit of the joystick device provided in the mobile robot 100 will output a control signal to itself or to light-emitting units provided around itself.

[0156] Alternatively, in the transport system 1 configured as described above, the control unit (exemplified by the control computer 101) provided in the mobile robot 100 can be configured to output control signals for light emission control. In that case, the control computer 101 can perform the determinations for acquiring various information for light emission control, but the control unit 2a of the higher-level management device 2 or the control unit provided in the joystick device may perform these determinations and pass them to the mobile robot 100. Furthermore, the transport system can be configured without the higher-level management device 2 instead of the transport system 1. In such a configuration, the control unit of the mobile robot 100, as exemplified by the control computer 101, can perform the determinations for acquiring various information and output control signals for light emission control. For example, the control unit provided in the joystick device of the mobile robot 100 can also perform the determinations for predetermined conditions and output control signals for light emission control.

[0157] Furthermore, the control system in the transport system 1 can perform the following control when at least the higher-level management device 2 is unable to communicate with the mobile robot 100. That is, in such a case of communication failure, the control system can determine the transported object information from the light emission pattern shown in the image captured by the environmental camera 5 of the mobile robot 100. Note that this image can be an image captured by another mobile robot camera provided in the transport system 1, in addition to or instead of the image captured by the environmental camera 5.

[0158] With this configuration, the control system of the transport system 1 allows the higher-level management device 2 to determine the contents of the transport information even when communication between the mobile robot 100 and the higher-level management device 2 is impossible. The contents of the transport information, as described above, may include whether or not the mobile robot 100 is transporting an object, and if it is transporting an object, it may also include the object itself.

[0159] This allows, for example, if a mobile robot 100 that is unable to communicate is carrying an object, or if it is carrying an urgent object, the user can be instructed to retrieve the object and deliver it to its destination, and the user can then carry out the task according to those instructions.

[0160] Here, we will explain how the mobile robot 100 acquires information about the transported object. In the transport system 1, the mobile robot 100 can also acquire information about the transported object in the same manner as described in Figure 1, etc.

[0161] As an alternative method of acquisition, the mobile robot 100 can also determine the transported object information from images captured by the environmental camera 5 and transmitted directly to the mobile robot 100 or via the higher-level management device 2. Here, instead of the environmental camera 5, images captured by cameras of other mobile robots can also be used for determination. In other words, the control computer 101 can determine the transported object information based on images captured by cameras installed in the facility where the mobile robot 100 is operated, such as the environmental camera 5 or cameras of other mobile robots. Furthermore, the control unit 2a of the higher-level management device 2 can also perform such determination, in which case it is advisable to transmit the transported object information to the mobile robot 100 in advance to prepare for any failure in wireless communication with the higher-level management device 2.

[0162] In addition, as a method of acquisition other than those mentioned above, the mobile robot 100 can acquire transported object information from the higher-level management device 2. When the mobile robot 100 acquires transported object information from the higher-level management device 2, the higher-level management device 2 only needs to update the transported object information according to the transport status. For example, the higher-level management device 2 can update information indicating the current position of the mobile robot 100 or information indicating the transport status of the transported object by receiving it from the mobile robot 100 or by determining it from images obtained from the environmental camera 5.

[0163] Furthermore, even in a configuration where the mobile robot 100 acquires transported object information from the higher-level management device 2, the mobile robot 100 can acquire the transported object information before communication with the higher-level management device 2 is interrupted. Therefore, the mobile robot 100 can perform light emission control according to the transported object information obtained before communication is interrupted.

[0164] Next, we will explain an example of processing in the higher-level control device 2 in the transport system 1 using Figure 11. Figure 11 is a flowchart illustrating the example of processing in the higher-level control device 2 in the transport system 1 shown in Figure 10.

[0165] First, the higher-level management device 2 monitors the communication unit (not shown) of the control unit 2a, checks the communication status with the mobile robot 100 (step S41), and determines whether communication is possible (step S42). If the control unit 2a determines that communication with the mobile robot 100 is possible, it returns to step S41 and continues monitoring. If the control unit 2a determines that communication with the mobile robot 100 is impossible, it acquires images from a camera (step S43). This camera can be the environmental camera 5, a camera on another mobile robot traveling near where communication with the mobile robot 100 was interrupted, or both.

[0166] Next, the control unit 2a analyzes the light emission pattern of the mobile robot 100 based on the acquired image, determines the presence or absence of a transported object and the type of transported object (step S44), and terminates the process. The control unit 2a can also be configured to obtain transported object information from the image using a learning model obtained through machine learning when analyzing the light emission pattern and determining the transported object information.

[0167] In this way, even when communication between the mobile robot 100 and the higher-level management device 2 is impossible, the control system of the transport system 1 allows the higher-level management device 2 to determine the content of the transport information indicated by the light emission pattern of the mobile robot 100.

[0168] Furthermore, in a configuration where the mobile robot 100 can express state information with a light emission pattern, the control unit 2a can determine the state information of the mobile robot 100 from the light emission pattern shown in the image. The control unit 2a can also be configured to obtain state information from the image using a learning model obtained through machine learning when analyzing the light emission pattern and determining the state information. This allows, for example, if the mobile robot 100 is in an abnormal state and unable to communicate, the control unit 2a to issue instructions to the user, such as retrieving or inspecting the mobile robot 100, and the user to carry out the task according to those instructions.

[0169] Furthermore, even in configurations without a higher-level management device 2, the transport system can be equipped with an environmental camera 5 that can communicate wirelessly with the mobile robot 100. In such configurations, transport information and status information can also be determined from images obtained from the environmental camera 5.

[0170] Furthermore, while the explanation described an example where the mobile robot 100 and the user terminal device 300 are equipped with joystick devices as the operation interface for controlling the movement of the mobile robot 100, various other types of operation interfaces can also be adopted. As an operation interface, for example, an operation device that accepts movement commands from a user interface displayed using software, as exemplified for the operation unit 130, can also be adopted. The light-emitting unit can also be realized by displaying a light-emitting pattern on the user interface. In addition, the operation interface can be, for example, a touch sensor, or an operation device equipped with a touch sensor. With this touch sensor, the user can perform a finger slide operation to accept movement commands for the mobile robot 100.

[0171] Furthermore, the various devices described above, such as the control computer 101, the higher-level management device 2, and the user terminal device 300 of the mobile robot 100 according to the above-described embodiment, can all have, for example, the following hardware configuration. Alternatively, the operating device such as a joystick device provided in the mobile robot 100 or the user terminal device 300 can have the following hardware configuration. Figure 12 shows an example of the hardware configuration of the device.

[0172] The device 1000 shown in Figure 12 may include a processor 1001, a memory 1002, and an interface 1003. The interface 1003 may include interfaces necessary for the device, such as a communication interface, or interfaces to a drive unit, sensors, input / output devices, etc.

[0173] The processor 1001 may be, for example, an MPU, CPU, or GPU (Graphics Processing Unit). The processor 1001 may include multiple processors. The memory 1002 is composed of, for example, a combination of volatile memory and non-volatile memory. The functions of each device are realized when the processor 1001 reads a program stored in the memory 1002 and executes it while exchanging necessary information via the interface 1003.

[0174] Furthermore, the program described above includes, when loaded into a computer, a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals.

[0175] 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. [Explanation of Symbols]

[0176] 1. Conveying System 2 Upper management device 3 Network 4. Communication Unit 5. Environmental Cameras 11. First light-emitting section (light-emitting section) 12. Second light-emitting section (light-emitting section) 100 Mobile Robots 101 Control Computer 104 Camera 110 chassis 111 Wheels 120 stands 130 Operation section 131 Stick section 140 Lifting mechanism 141 Recess 300 User terminal devices 500 Wagon 501 Cover 502 wheels

Claims

1. A control system for controlling a system including a mobile robot that is capable of autonomous movement and transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The control system changes the light emission pattern of the light emission unit according to the transport information indicating whether or not the mobile robot is transporting an object. The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when it is loaded and transported, The light-emitting portion includes a first light-emitting portion disposed around the contact portion. Control system.

2. The transported object information includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot. The control system according to claim 1.

3. The aforementioned mobile robot transports the transported object using a transport box that contains the transported object. The transported object information includes, when the mobile robot is transporting an object, information indicating the type of transport box being transported by the mobile robot. The control system according to claim 1.

4. The light-emitting units are arranged at multiple positions spaced apart from each other. Making the aforementioned light emission pattern different includes making the position where the light is emitted different. The control system according to claim 1 or 2.

5. The light-emitting units are arranged at multiple positions spaced apart from each other. The aforementioned light emission pattern includes varying the multiple positions that emit light synchronously. The control system according to claim 1 or 2.

6. At the aforementioned multiple locations where light is emitted synchronously, the light is emitted using mutually complementary light emission patterns. The control system according to claim 5.

7. A control system for controlling a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The control system changes the light emission pattern of the light emission unit according to the transport information indicating whether or not the mobile robot is transporting an object. The mobile robot is equipped with an operating interface for operating the mobile robot, The light-emitting unit includes a second light-emitting unit provided on or around the operation interface. Control system.

8. Making the aforementioned light emission pattern different includes making at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit different. The control system according to claim 1 or 7.

9. The system includes a server that can connect to the mobile robot wirelessly, The control system, at least when the server is unable to communicate with the mobile robot, determines the transported object information from the light emission pattern shown in the image of the mobile robot captured by the camera. The control system according to claim 1 or 7.

10. A control method for controlling a system including a mobile robot capable of autonomous movement and transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The control method involves changing the light emission pattern of the light emission unit according to the transported object information indicating whether or not the mobile robot is transporting an object. The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when it is loaded and transported, The light-emitting portion includes a first light-emitting portion disposed around the contact portion. Control method.

11. The transported object information includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot. The control method according to claim 10.

12. The aforementioned mobile robot transports the transported object using a transport box that contains the transported object. The transported object information includes, when the mobile robot is transporting an object, information indicating the type of transport box being transported by the mobile robot. The control method according to claim 10.

13. The light-emitting units are arranged at multiple positions spaced apart from each other. Making the aforementioned light emission pattern different includes making the position where the light is emitted different. The control method according to claim 10 or 11.

14. The light-emitting units are arranged at multiple positions spaced apart from each other. The aforementioned light emission pattern includes varying the multiple positions that emit light synchronously. The control method according to claim 10 or 11.

15. At the aforementioned multiple locations where light is emitted synchronously, the light is emitted using mutually complementary light emission patterns. The control method according to claim 14.

16. A control method for controlling a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The control method involves changing the light emission pattern of the light emission unit according to the transported object information indicating whether or not the mobile robot is transporting an object. The mobile robot is equipped with an operating interface for operating the mobile robot, The light-emitting unit includes a second light-emitting unit provided on or around the operation interface. Control method.

17. Making the aforementioned light emission pattern different includes making at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit different. The control method according to claim 10 or 16.

18. The system includes a server that can connect to the mobile robot wirelessly, The control method, at least when the server is unable to communicate with the mobile robot, determines the transported object information from the light emission pattern shown in the image of the mobile robot captured by the camera. The control method according to claim 10 or 16.

19. A program for causing a computer to perform processing to control a system including a mobile robot that is capable of autonomous movement and transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The process includes a process that changes the light emission pattern of the light emission unit according to the transported object information indicating whether or not the mobile robot is transporting an object, The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when it is loaded and transported, The light-emitting portion includes a first light-emitting portion disposed around the contact portion. program.

20. The transported object information includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot. The program according to claim 19.

21. The aforementioned mobile robot transports the transported object using a transport box that contains the transported object. The transported object information includes, when the mobile robot is transporting an object, information indicating the type of transport box being transported by the mobile robot. The program according to claim 19.

22. The light-emitting units are arranged at multiple positions spaced apart from each other. Making the aforementioned light emission pattern different includes making the position where the light is emitted different. The program according to claim 19 or 20.

23. The light-emitting units are arranged at multiple positions spaced apart from each other. The aforementioned light emission pattern includes varying the multiple positions that emit light synchronously. The program according to claim 19 or 20.

24. At the aforementioned multiple locations where light is emitted synchronously, the light is emitted using mutually complementary light emission patterns. The program according to claim 23.

25. A program for causing a computer to perform processing to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a light-emitting unit, The process includes a process that changes the light emission pattern of the light emission unit according to the transported object information indicating whether or not the mobile robot is transporting an object, The mobile robot is equipped with an operating interface for operating the mobile robot, The light-emitting unit includes a second light-emitting unit provided on or around the operation interface. program.

26. Making the aforementioned light emission pattern different includes making at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit different. The program according to claim 19 or 25.

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