Control system, control method, and program

Abstract

To provide a control system capable of efficiently selecting camera usage status to save power when monitoring the mobile robot based on images taken by a camera installed in a facility where a mobile robot capable of autonomous movement is operated.SOLUTION: A disclosed control system controls a system including an autonomous mobile robot 100 and multiple cameras 5 installed in the facility. The control system executes a series of determination processes of determining a camera 5 to be used at least under the predetermined conditions or predetermined load out of multiple cameras 5 according to the planned route of the mobile robot 100.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , , ,

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

Background Art

[0002] Patent Document 1 discloses a robot control system that increases the amount of information obtained from the captured video of a photographing device when it is detected that a mobile robot has entered a predetermined area corresponding to a dead zone that is a dead zone for the mobile robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when monitoring a mobile robot based on an image captured by a camera installed in a facility that operates the mobile robot, it is desirable to more efficiently select the usage state of the camera for power saving. Note that such a selection cannot be achieved by the technology described in Patent Document 1.

[0005] The present disclosure has been made to solve such problems, and when monitoring the mobile robot based on an image captured by a camera installed in a facility that operates an autonomously movable mobile robot, it is possible to efficiently select the usage state of the camera for power saving, and provides a control system, a control method, and a program.

Means for Solving the Problems

[0006] The control system described herein is a control system that controls a system including an autonomously moving mobile robot and a plurality of cameras installed within a facility, and performs a decision process to determine which camera to use from among the plurality of cameras according to the planned travel path of the mobile robot, based on predetermined usage conditions and predetermined usage load. With this control system, when monitoring an autonomously moving mobile robot based on images captured by cameras installed in a facility where the mobile robot is operated, the usage status of the cameras can be efficiently selected to save power. 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 decision process may include at least one of the following: a first decision process for determining which camera to operate from among the multiple cameras according to the planned travel path of the mobile robot; a second decision process for determining which camera to operate and use as an information source from among the multiple cameras according to the planned travel path of the mobile robot; and a third decision process for determining which camera to operate and use as an information source while operating at a higher load than other cameras, according to the planned travel path of the mobile robot. With this configuration, the control system can efficiently select at least one of the cameras to operate for power saving, a camera to use as an information source, and a camera to use as an information source while operating at a high load when monitoring an autonomously mobile mobile robot based on images captured by cameras installed in a facility where the mobile robot is operated.

[0008] The first decision process may determine which camera to operate from among the multiple cameras based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; the second decision process may determine which camera to operate and use as an information source from among the multiple cameras based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; and the third decision process may determine which camera to operate and use as an information source at a higher load than the other cameras based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. With this configuration, the control system can select the camera usage state while also considering the current position of the mobile robot relative to the camera, thereby enabling more efficient power saving.

[0009] The decision process may include at least one of the first decision process and the second decision process, wherein the first decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate from among the plurality of cameras based on the image acquisition range, and the second decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate and use as an information source from among the plurality of cameras based on the image acquisition range. With this configuration, the control system can more efficiently reduce power consumption by determining at least one of the cameras to operate and which camera to use as an information source based on the image acquisition range necessary for the mobile robot's movement.

[0010] The aforementioned decision process may include the third decision process, which determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and, based on the image acquisition range, determines which camera from among the multiple cameras to be operated and used as the information source while operating at a higher load than the other cameras. With this configuration, the control system can more efficiently reduce power consumption because it determines which camera to be used as the information source while operating at a higher load based on the image acquisition range necessary for the mobile robot's movement.

[0011] The decision process is one of the first decision process, the second decision process, and the third decision process, wherein the first decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated; the second decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated and used as the information source; and the third decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated and used as the information source while operating at a higher load than the other cameras. With this configuration, the control system can more efficiently conserve power by deciding to use a camera placed in a blind spot area when the mobile robot is about to enter that area.

[0012] The control system may recognize the characteristics of the moving object captured by the camera, perform a group classification process to classify the moving object into a preset first group and a second group based on the characteristics, and perform the decision process if there is no moving object belonging to the first group. With this configuration, the control system can conserve power when there is no moving object belonging to the first group, thus enabling more efficient power saving.

[0013] The control method relating to this disclosure is a control method for controlling a system including an autonomously moving mobile robot and a plurality of cameras installed in a facility, wherein the control method performs a decision process to determine which camera to use from among the plurality of cameras according to the planned travel path of the mobile robot, and which meets at least one of predetermined usage conditions and predetermined usage load. With this control method, when monitoring an autonomously moving mobile robot based on images captured by cameras installed in a facility where the mobile robot is operated, the usage state of the cameras can be efficiently selected in order to conserve power.

[0014] The decision process may include at least one of the following: a first decision process for determining which camera to operate from among the multiple cameras according to the planned travel path of the mobile robot; a second decision process for determining which camera to operate and use as an information source from among the multiple cameras according to the planned travel path of the mobile robot; and a third decision process for determining which camera to operate and use as an information source while operating at a higher load than other cameras according to the planned travel path of the mobile robot. With this control method, when monitoring an autonomously mobile robot based on images captured by cameras installed in a facility where the mobile robot is operated, it is possible to efficiently select at least one of the cameras to operate for power saving, a camera to use as an information source, and a camera to use as an information source while operating at a high load.

[0015] The first decision process may determine which camera to operate from among the multiple cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; the second decision process may determine which camera to operate and use as an information source from among the multiple cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; and the third decision process may determine which camera to operate and use as an information source while operating at a higher load than the other cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. With this configuration, the control method can select the camera usage state while also considering the current position of the mobile robot relative to the camera, thereby enabling more efficient power saving.

[0016] The decision process may include at least one of the first decision process and the second decision process, wherein the first decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate from among the plurality of cameras based on the image acquisition range, and the second decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate and use as an information source from among the plurality of cameras based on the image acquisition range. With this configuration, the control method can more efficiently reduce power consumption because it determines at least one of the cameras to operate and the camera to use as an information source based on the image acquisition range necessary for the mobile robot's movement.

[0017] The aforementioned decision process may include the third decision process, which determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and, based on the image acquisition range, determines which camera from among the multiple cameras to be operated and used as the information source while operating at a higher load than the other cameras. With this configuration, the control method can more efficiently reduce power consumption because it determines which camera to be used as the information source while operating at a higher load based on the image acquisition range necessary for the mobile robot's movement.

[0018] The decision process is one of the first decision process, the second decision process, and the third decision process, wherein the first decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated; the second decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated and used as the information source; and the third decision process determines, if the planned travel path and the positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, to operate a camera among the plurality of cameras that is located in the predetermined area as the camera to be operated and used as the information source while operating at a higher load than the other cameras. With this configuration, the control method can more efficiently reduce power consumption because it decides to use a camera placed in a blind spot area when the mobile robot is about to enter that area.

[0019] The control method may also include recognizing the characteristics of a moving object captured by the camera, performing a group classification process to classify the moving object into a preset first group and a second group based on the characteristics, and performing the decision process if no moving object belongs to the first group. With this configuration, the control method can conserve power when no moving object belongs to the first group, thus enabling more efficient power saving.

[0020] The program relating to this disclosure is a program that causes a computer to perform processing to control a system including an autonomously moving mobile robot and a plurality of cameras installed in a facility, wherein the processing includes a decision process to determine which camera to use from among the plurality of cameras according to predetermined usage conditions and predetermined usage load, depending on the planned travel path of the mobile robot. With this configuration, when monitoring an autonomously moving mobile robot based on images captured by cameras installed in a facility where the mobile robot is operated, the usage status of the cameras can be efficiently selected in order to conserve power.

[0021] The decision process may include at least one of the following: a first decision process that determines which camera to operate from among the multiple cameras according to the planned travel path of the mobile robot; a second decision process that determines which camera to operate and use as an information source from among the multiple cameras according to the planned travel path of the mobile robot; and a third decision process that determines which camera to operate and use as an information source while operating at a higher load than other cameras, according to the planned travel path of the mobile robot. According to the program, with this configuration, when monitoring a mobile robot based on images captured by cameras installed in a facility where an autonomously mobile mobile robot is operated, it is possible to efficiently select at least one of the cameras to operate for power saving, a camera to use as an information source, and a camera to use as an information source while operating at a high load.

[0022] The first decision process may determine which camera to operate from among the multiple cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; the second decision process may determine which camera to operate and use as an information source from among the multiple cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras; and the third decision process may determine which camera to operate and use as an information source while operating at a higher load than the other cameras according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. With this configuration, the program can select the camera usage state while also considering the current position of the mobile robot relative to the camera, thereby enabling more efficient power saving.

[0023] The decision process may include at least one of the first decision process and the second decision process, wherein the first decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate from among the plurality of cameras based on the image acquisition range, and the second decision process determines the image acquisition range necessary for the mobile robot's movement according to the planned travel path and the positional relationship, and determines which camera to operate and use as an information source from among the plurality of cameras based on the image acquisition range. With this configuration, the program can more efficiently reduce power consumption by determining at least one of the cameras to operate and which camera to use as an information source based on the image acquisition range necessary for the mobile robot's movement.

[0024] The determination process includes the third determination process. The third determination process determines an imaging range of an image required for the movement of the mobile robot according to the planned travel route and the positional relationship, and based on the imaging range, determines a camera to be operated from among the plurality of cameras and used as an information source in a state of operating with a higher load than other cameras. The program can more efficiently achieve power saving by determining a camera to be used as an information source in a state of operating with a higher load based on the imaging range of an image required for the movement of the mobile robot with such a configuration.

[0025] The determination process is one of the first determination process, the second determination process, and the third determination process. The first determination process determines a camera arranged in the predetermined area as a camera to be operated when the planned travel route and the positional relationship indicate that the mobile robot is going to enter a predetermined area corresponding to a dead angle area that is a dead angle for the mobile robot. The second determination process determines a camera arranged in the predetermined area as a camera to be operated and used as an information source when the planned travel route and the positional relationship indicate that the mobile robot is going to enter a predetermined area corresponding to a dead angle area that is a dead angle for the mobile robot. The third determination process determines a camera arranged in the predetermined area as a camera to be operated and used as an information source in a state of operating with a higher load than other cameras when the planned travel route and the positional relationship indicate that the mobile robot is going to enter a predetermined area corresponding to a dead angle area that is a dead angle for the mobile robot. The program can more efficiently achieve power saving by determining to use a camera arranged in the dead angle area when the mobile robot is going to enter the dead angle area with such a configuration.

[0026] The above processing includes a grouping process of recognizing features of the moving object imaged by the camera and classifying the moving object into a preset first group and a second group based on the features, and the determination process is a process performed when there is no moving object belonging to the first group. In this way, the program can achieve power saving when there is no moving object belonging to the first group with such a configuration, and thus can achieve power saving more efficiently.

Advantages of the Invention

[0027] According to the present disclosure, in the case of monitoring a mobile robot based on an image captured by a camera installed in a facility that operates a self-mobile mobile robot, a control system, a control method, and a program capable of efficiently selecting the usage state of the camera for power saving can be provided.

Brief Description of the Drawings

[0028] [Figure 1] It is a schematic diagram showing an overall configuration example of a conveyance system according to an embodiment. [Figure 2] It is a perspective view showing an overall configuration example of a mobile robot in the conveyance system of FIG. 1. [Figure 3] It is a perspective view showing an overall configuration example of a wagon conveyed by the mobile robot of FIG. 2. [Figure 4] It is a block diagram showing a configuration example of a control unit of a host management device in the conveyance system of FIG. 1. [Figure 5] It is a flowchart for explaining a first processing example in the control unit of FIG. 4. [Figure 6] It is a flowchart for explaining a second processing example in the control unit of FIG. 4. [Figure 7] It is a diagram showing an example of classification of staff and non-staff applied in a third processing example in the control unit of FIG. 4. [Figure 8] It is a flowchart for explaining a third processing example in the control unit of FIG. 4. [Figure 9]This is a schematic diagram showing an example of the position of the mobile robot to explain the third processing example in Figure 8. [Figure 10] This is a schematic diagram showing an example of the position of the mobile robot to explain the third processing example in Figure 8. [Figure 11] This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0029] 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.

[0030] (Embodiment) The control system according to this embodiment performs system control for a system including an autonomously moving mobile robot and a plurality of cameras. This mobile robot can be configured to transport objects, and such an example will be given below, but it may also be configured not to transport objects. If the mobile robot is configured to transport objects, the mobile robot may also be called a transport robot, and the above system may be called a transport system. The plurality of cameras are all cameras installed within a facility, and will be referred to below as environmental cameras. Here, "within a facility" is not limited to indoors, but may be the premises of the facility.

[0031] Furthermore, the above system, exemplified as a transport system, can be constructed as a system that enables direct wireless communication between the environmental camera and the mobile robot. In this example, the control system can refer to the mobile robot and the environmental camera, or the components of the control system provided on the mobile robot and the environmental camera.

[0032] Furthermore, the above system may include a server that can connect to the mobile robot wirelessly and to the environmental camera via wired or wireless connection, and such an example will be described below. In this example, the above control system may refer to the mobile robot, the environmental camera, and the server, or the components of the control system provided on the mobile robot, the environmental camera, and the server.

[0033] This server provides information for autonomous movement to the mobile robot 100 and will be referred to as the higher-level management device below. While we will not go into detail about systems that do not include a higher-level management device, the functions of the higher-level management device described later can be shared between the mobile robot and / or the environmental camera.

[0034] (Conveyor System) The following describes an example configuration of the above-described transport system using Figure 1. Figure 1 is a schematic diagram showing an example of the overall configuration of the transport system according to this embodiment.

[0035] As shown in Figure 1, 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.

[0036] 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.

[0037] 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.

[0038] 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 (Micro Processor Unit) or CPU (Central Processing Unit), working memory, and a non-volatile storage device. A control program executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby performing the function of the control unit 2a. The control unit 2a may be called a control computer.

[0039] The transport system 1 can efficiently control multiple mobile robots 100 within a predetermined facility, either by autonomously moving them in autonomous movement mode or by moving them based on user operation in user operation mode. The facility can refer to various types of facilities, such as hospitals, rehabilitation centers, nursing homes, elderly care facilities, and other medical and welfare facilities, hotels, restaurants, office buildings, event venues, shopping malls and other commercial facilities, and other mixed-use facilities. The user can be an employee of the facility where the mobile robot 100 is operated, and in the case of a hospital, the user can be hospital staff, including hospital employees.

[0040] To achieve such efficient control, multiple environmental cameras 5 can be installed within the facility. For example, environmental cameras 5 can be installed in corridors, halls, elevators, entrances, etc. within the facility. Environmental cameras 5 can be used not only for monitoring or monitoring and controlling mobile robots 100, but also for monitoring people.

[0041] The environmental camera 5 acquires images of the area in which people or the mobile robot 100 move and outputs 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 camera 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 camera 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 camera 5 can be installed as a surveillance camera in passages and entrances within the facility.

[0042] 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.

[0043] 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.

[0044] A detailed example of the mobile robot 100 will be described later, but the mobile robot 100 is an autonomous mobile robot and can transport, for example, a wagon 500. However, as mentioned regarding the user operation mode, the mobile robot 100 can be equipped with the function to move by user operation, that is, it can 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 based on a route determined according to the set transport destination or 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 perform collision avoidance.

[0045] 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.

[0046] 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.

[0047] 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. Various types of terminal devices can be used as the user terminal device 300, such as a tablet computer or a smartphone. The user terminal device 300 can also 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.

[0048] 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. In user operation mode, this joystick device is a device that performs operations to move 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 joystick device can also be controlled to perform a switching operation to switch between autonomous movement mode and user operation mode by pressing the button 303 downwards. Alternatively, this joystick device can also be controlled to perform a confirmation operation by pressing the button 303 downwards. Furthermore, the button 303 can also be configured to function as an emergency stop button when pressed downwards for a predetermined period of time. When the button 303 is configured to accept multiple operations from switching operation, confirmation operation, and emergency stop operation, that is, when multiple operations are assigned to the button 303, it is sufficient that a predetermined period corresponding to each operation is set.

[0049] 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.

[0050] Furthermore, the user terminal device 300 can function as a device for making transport requests to the higher-level management device 2. These transport requests can include information indicating the transported items, as well as information indicating the destination.

[0051] (Mobile robot) Next, we will describe an example configuration of the mobile robot 100 using Figure 2. Figure 2 is a perspective view showing an example of the overall configuration of the mobile robot 100 in the transport system 1.

[0052] As shown in Figures 1 and 2, 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 illustrated position 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.

[0053] The chassis 110 rotatably holds the wheels 111. In the example shown in Figure 2, 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. As shown in Figure 2, additional driven wheels can also be provided between the front and rear wheels 111, for example. 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.

[0054] 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.

[0055] Figures 1 and 2 show an example in which the sensor is equipped with a camera 104 facing the +X side on a stand 120 and a sensor 105 installed at the front of the chassis 110. The sensor 105 can be installed 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 that an object, i.e., an obstacle, has come into contact with it using 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 an object to a bumper provided on part or all of the outer circumference of the mobile robot 100. Furthermore, the sensor 105 can be configured to detect the position where the object has come into contact with the provided bumper.

[0056] The control computer 101 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 function of controlling the mobile robot 100 by reading the program from the working memory and executing it. The control computer 101 can also be called a control unit.

[0057] 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. The control computer 101 can receive and set this transport route and destination from the higher-level management device 2. The control computer 101 can then control the drive units such as the wheels 111 to autonomously move the mobile robot 100 along this transport route. The control computer 101 can also execute this autonomous movement control itself according to a movement control signal transmitted from the higher-level management device 2. Furthermore, this autonomous movement control may include control for loading the wagon 500 shown in Figure 3 and control for unloading the wagon 500. The wagon 500 will be described later. It can be said that the control computer 101 is equipped with a movement control unit that performs such autonomous movement control.

[0058] 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 the upper surface of the chassis 110 can be positioned with an exposed mounting surface for placing the transported items. The lifting mechanism 140 is a lifting stage that is capable of moving 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 the transported item, is placed.

[0059] The wagon 500 is not limited to the configuration shown in Figure 3; any wagon of a certain size, shape, and weight that can be placed on the lifting mechanism 140 and transported is acceptable. The lifting mechanism 140 has a lift mechanism for lifting the wagon 500. The space above the lifting mechanism 140 becomes the loading space for transporting goods. Note that, 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.

[0060] 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 emission can be controlled by the control computer 101. Also, 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. Note that the prefixes "first" and "second" are simply used to distinguish the first light-emitting unit 11 from the second light-emitting unit 12 described later.

[0061] 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.

[0062] Furthermore, the stand 120 may be equipped on its upper surface with, for example, a joystick unit 131 or an emergency stop button for emergency stopping the mobile robot 100. This joystick unit is a device that, in user operation mode, moves the mobile robot 100 in the direction intended by the user. The stick unit 131 can be called a grip unit because the user can grasp it with their hand. The user can input direction by tilting the stick unit 131 in the direction they want to move. The joystick unit can also be controlled to perform a switching operation, which switches between autonomous movement mode and user operation mode, by pressing the stick unit 131 downwards. Alternatively, the joystick unit can be controlled to perform a confirmation operation by pressing the stick unit 131 downwards. The stick unit 131 can also be configured to function as an emergency stop button when pressed downwards for a predetermined period of time. If the device is configured to accept multiple operations among the switching operation, confirmation operation, and emergency stop operation, the predetermined period should be different for each operation.

[0063] Furthermore, if the user terminal device 300 is equipped with a joystick, the user can perform the same operation even if the mobile robot 100 is not equipped with a joystick. The mobile robot 100 may also be equipped with buttons such as button 303 on the top surface of the stick section 131. 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.

[0064] 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.

[0065] 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.

[0066] 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, but even in that case, it can be configured to be operable in user operation mode. For example, the mobile robot 100 may be equipped with a device that allows it to be operated in user mode, such as a joystick, or it may be connected to a remote control device.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] (Wagon and its storage example) Next, the details of the wagon 500 and an example of how the mobile robot 100 holds the wagon 500 will be explained using Figures 3 and 1. Figure 3 is a perspective view showing an example of the overall configuration of the wagon 500 being transported by the mobile robot 100. Figure 1 is a perspective view showing the wagon 500 being transported by the mobile robot 100.

[0073] 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 3. 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 3. The wheels 502 may also be equipped with covers, which are not shown.

[0074] 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.

[0075] As shown in Figure 1, the mobile robot 100 can hold the wagon 500 by the lifting mechanism 140. The space into which at least a portion of the chassis 110 enters is the space S formed on the underside of the wagon 500 as shown in Figure 3, and this space S is the space into which the chassis 110 enters.

[0076] In other words, the chassis 110 can enter the space S directly beneath the wagon 500. When the chassis 110 mounts the wagon 500, the mobile robot 100 moves in the -X direction and enters directly beneath the wagon 500. The chassis 110 enters directly beneath 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.

[0077] Furthermore, the mounting surface of the lifting mechanism 140 can be provided with a recess 141, as shown in Figure 2. On the other hand, a protrusion (not shown) can be provided on the lower side of the storage area of ​​the wagon 500. By fitting the protrusion into the recess 141, the wagon 500 can be fixed to the mobile robot 100.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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, or it may be configured to transport only individual items. In any configuration, it is advisable to attach a storage box or shelf to the mobile robot 100 to prevent items from falling during transport.

[0084] 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.

[0085] (System control) In this embodiment, the control system, as part of the system control, performs a decision process to determine which environmental camera 5 to use from among a plurality of environmental cameras 5 according to at least one of predetermined usage conditions and predetermined usage load, depending on the planned travel path of the mobile robot 100. In the above decision process, the environmental camera 5 to be used in a usage pattern linked to at least one of the predetermined usage conditions and predetermined usage load is determined. The predetermined usage conditions and predetermined usage load can be arbitrarily defined. With this configuration, the control system in this embodiment can efficiently select the usage state of the environmental camera 5 in order to save power when monitoring the mobile robot 100 based on images captured by the environmental camera 5 installed in the facility where the mobile robot 100 is operated.

[0086] In the following description, the decision process described above will be assumed to include at least one of the first decision process, the second decision process, and the third decision process, but it may also include other processes or processes other than these. Here, the first decision process is the process of determining which environmental camera 5 to operate from among the multiple environmental cameras 5 according to the planned travel path of the mobile robot 100. Unlike the second decision process, which will be described next, the first decision process determines which environmental camera 5 to operate but not to be used as an information source. The second decision process is the process of determining which environmental camera 5 to operate and use as an information source from among the multiple environmental cameras 5 according to the planned travel path of the mobile robot 100. The third decision process is the process of determining which environmental camera 5 to operate and use as an information source from among the multiple environmental cameras 5 according to the planned travel path of the mobile robot 100, while operating at a higher load than the other environmental cameras 5.

[0087] The first decision process, the second decision process, and the third decision process are all processes that determine the usage status of the environmental camera 5, and we will use such terminology in the following explanation.

[0088] Furthermore, the environmental camera 5 to be operated can, for example, be kept in a sleep state and ready to be activated immediately. In addition, each environmental camera 5 can be equipped with a sensor that detects the movement of objects using infrared light or the like. By adopting such a configuration, the environmental camera 5 to be operated can be an environmental camera 5 that only operates this sensor, and in this state, the camera function of the environmental camera 5 can be activated when the movement of an object is detected, such as when a person passes nearby.

[0089] Here, the planned travel route is the route described as the transport route, which is set before travel, and can be one generated by the higher-level management device 2, but as mentioned above, it can also be generated by the mobile robot 100. Furthermore, the decision process described above can be executed by the higher-level management device 2, and such an example will be given below, but it can also be executed by the mobile robot 100. If the mobile robot 100 generates the planned travel route and the higher-level management device 2 executes the decision process described above, the higher-level management device 2 only needs to obtain the generated planned travel route from the mobile robot 100.

[0090] With this configuration, the transport system 1 can efficiently select the usage status of the environmental camera 5 according to the planned travel path of the mobile robot 100 in order to conserve power when monitoring or monitoring and controlling the mobile robot 100 based on images captured by the environmental camera 5 installed in the facility where the mobile robot 100 is operated. This selection can also be performed using a learning model obtained through machine learning.

[0091] (Example configuration for system control) Next, an example configuration for performing such system control will be explained using Figure 4. Figure 4 is a block diagram showing an example configuration of the control unit 2a of the higher-level management device 2.

[0092] As shown in Figure 4, the control unit 2a may include a planned route acquisition unit 201, a camera operation determination unit 202, and a camera operation switching unit 203. The control unit 2a may also include an image data acquisition unit 204 and a feature recognition unit 205, and an example with these configurations will be described later as a third processing example.

[0093] The planned travel route acquisition unit 201 acquires the planned travel route of the mobile robot 100 by reading it from a storage unit (not shown) provided in the control unit 2a. This planned travel route is the transport route planned for the mobile robot 100, and may include, for example, the planned position of the mobile robot 100 at predetermined time intervals, or the planned travel time at each branching point and intersection of the planned travel. The method for determining the planned travel route is not limited to what is described above. In the case where the transport system 1 plans the planned travel route on the mobile robot 100 side, the planned travel route acquisition unit 201 will acquire the planned travel route from the mobile robot 100.

[0094] The camera operation determination unit 202 determines the usage status of the environmental camera 5 according to the planned travel path of the mobile robot 100 acquired by the travel path acquisition unit 201. This determination can be performed as described in the determination process. In other words, in a configuration in which the determination process includes a first determination process, the camera operation determination unit 202 determines which environmental camera 5 to operate from among the multiple environmental cameras 5. In a configuration in which the determination process includes a second determination process, the camera operation determination unit 202 determines which environmental camera 5 to operate and use as an information source from among the multiple environmental cameras 5. In a configuration in which the determination process includes a third determination process, the camera operation determination unit 202 determines which environmental camera 5 to operate and use as an information source while operating at a higher load than the other environmental cameras 5.

[0095] Furthermore, when the camera operation determination unit 202 determines, for example, which environmental camera 5 to operate as the first determination process, it may determine multiple environmental cameras 5 to operate. Similarly, when the camera operation determination unit 202 determines, as the second determination process, which environmental camera 5 to operate and use as an information source, it may determine multiple environmental cameras 5 to operate and use as an information source. Similarly, when the camera operation determination unit 202 determines, as the third determination process, which environmental camera 5 to operate and use as an information source while operating at a higher load than other environmental cameras 5, it may determine multiple environmental cameras 5 to operate in such a manner.

[0096] The camera operation determination unit 202 can, for example, determine the usage status of each environmental camera 5 so that the mobile robot 100 can be monitored at a certain time relative to the planned travel position of the mobile robot 100 indicated by the planned travel path of the mobile robot 100. Hereinafter, the usage status of the environmental camera 5 will be explained. Determining the usage status of each environmental camera 5 means that the camera operation determination unit 202 determines the usage status of each environmental camera by the process executed as the first determination process, second determination process, and third determination process.Therefore, for example, in a configuration in which the camera operation determination unit 202 executes the first determination process and the second determination process, determining the usage status of each environmental camera 5 means determining which environmental cameras 5 will be operated and not used as information sources, and which will be operated and used as information sources.

[0097] Let's consider an example where the usage status of each environmental camera 5 is determined in relation to the planned travel location of the mobile robot 100. For example, the camera operation determination unit 202 can determine the usage status of each environmental camera 5 so that it can monitor the mobile robot 100 in more detail the closer it is to the planned travel location.

[0098] Let us give a more specific example of the case where the above decision process includes a first decision process, a second decision process, and a third decision process. For example, as the third decision process, the camera operation decision unit 202 decides to use an environmental camera 5, which is positioned to cover a distance range B1 that is a first predetermined distance before or after position A on the planned travel route, based on the planned travel position A at a certain time a, by operating it at a high load. Alternatively, as the third decision process, the camera operation decision unit 202 decides to use an environmental camera 5, which is positioned to cover a travel position range B2 at a time a first predetermined time before or after time a, by operating it at a high load.

[0099] At the time of that decision, the camera operation decision unit 202, as a second decision process, decides to use an environmental camera 5 positioned at a location that covers a distance range C1 that is a second predetermined distance further from position A than the distance range B1 as the information source. Alternatively, the camera operation decision unit 202, as a second decision process, decides to use an environmental camera 5 positioned at a location that covers a travel position range C2 at a time that is a second predetermined time before or after the travel position range B2 as the information source.

[0100] Furthermore, at the time of this decision, the camera operation decision unit 202, as a first decision process, decides to activate the environmental camera 5 positioned at a location that covers a distance range D1 that is a third predetermined distance further from position A than the distance range C1. Alternatively, the camera operation decision unit 202, as a first decision process, decides to activate the environmental camera 5 positioned at a location that covers a travel position range D2 at a time that is a third predetermined time before or after the travel position range C2.

[0101] Furthermore, at the time of this decision, the camera operation determination unit 202 can decide not to operate the other environmental cameras 5. The camera operation determination unit 202 can also decide not to operate some of the environmental cameras 5 positioned to cover the distance range C1 or the travel position range C2, thereby achieving further power savings. Additionally, the camera operation determination unit 202 can decide not to operate some of the environmental cameras 5 positioned to cover the distance range D1 or the travel position range D2, thereby achieving further power savings.

[0102] The example given here focuses only on mobile robot 100 for the sake of simplicity in explanation. However, if multiple mobile robots 100 are scheduled to operate simultaneously, it is advisable to determine the usage status of each environmental camera 5 by taking into account the planned travel paths of each mobile robot 100.

[0103] The camera operation switching unit 203 controls the operation state of each environmental camera 5 so that it matches the usage state determined by the camera operation determination unit 202. This control can be performed via the network 3.

[0104] The camera operation switching unit 203 should operate the environmental camera 5 under high load such that, for example, at least one of the frame rate (imaging rate) and imaging resolution is higher than when it is not operating. When the environmental camera 5 is not in operation, the camera operation switching unit 203 should control the environmental camera 5 to be turned off or put into sleep mode. In this case, sleep mode refers to a state in which even if the environmental camera 5 is equipped with a sensor that detects the movement of objects, that sensor is also inactive. The method of controlling the camera's power supply is not limited, and existing remote power control technology can be applied.

[0105] Furthermore, the first light-emitting unit 11 and the second light-emitting unit 12 of the mobile robot 100 can be controlled to emit light in various patterns depending on the state of the mobile robot 100, and the environmental camera 5 can also detect these light-emitting patterns.

[0106] Here, the state of the mobile robot 100 can refer to, for example, the mobile robot 100's driving state, the mobile robot 100's operating state, and the mode state, whether the mobile robot 100 is in autonomous driving mode or user-operated mode. Of course, the state of the mobile robot 100 can also refer to one or two of the driving state, operating state, and mode state.

[0107] The "driving state" can refer to whether or not the mobile robot 100 is experiencing any driving abnormalities related to the driving environment, such as contact with a wall. The "operating state" can refer to whether or not any operational abnormalities are occurring in the mobile robot 100, or the location where the operational abnormality is occurring. Here, "operating abnormality" refers to any abnormality other than abnormalities in the driving state related to the driving environment of the mobile robot 100, and can refer to various abnormalities in the mobile robot 100, such as battery depletion, drive unit malfunction, wheel malfunction, etc.

[0108] With this configuration, even if communication with the higher-level management device 2 is lost, for example, the transport system 1 can still be informed of the status of the mobile robot 100 by the environmental camera 5, which operates at necessary locations while considering power saving. Alternatively, even if the transport system 1 is not originally configured to communicate the status of the mobile robot 100 wirelessly, the higher-level management device 2 can still be informed of the status of the mobile robot 100 by the environmental camera 5, which operates at necessary locations while considering power saving.

[0109] Furthermore, even if communication between the mobile robot 100 and the higher-level management device 2 is impossible, or if neither device communicates wirelessly about the status of the mobile robot 100, the higher-level management device 2 can still perform processing according to the detected status of the mobile robot 100. For example, it can instruct a user to manually move, retrieve, or inspect the mobile robot 100, and the user can then perform the task according to the instructions. Regarding monitoring, cameras mounted on mobile robots that are moving within the facility at the same time as the mobile robot 100 can also be used for monitoring.

[0110] (Example 1 of processing) The first example of the system control described above will be explained using Figure 5. Figure 5 is a flowchart illustrating the first example of the control unit 2a.

[0111] The control unit 2a of the higher-level management device 2 first acquires the planned travel path of the mobile robot 100 (step S11). Next, the control unit 2a determines the usage status of each environmental camera 5 according to the acquired planned travel path (step S12). Then, the control unit 2a controls the operation of each environmental camera 5 to use it in the determined usage status and monitors the mobile robot 100 (step S13). Examples of determining the usage status and examples of controlling the operation of each environmental camera 5 are as described above in the configuration example for system control.

[0112] The processes in steps S12 and S13 can be executed, for example, at predetermined intervals. Alternatively, the process in step S12 can be executed in advance for the planned travel path of the mobile robot 100 for a single task. In that case, step S12 will determine in advance how the usage state of each environmental camera 5 will change over time, and step S13 will then sequentially control the operation of each environmental camera 5 according to that determination.

[0113] (Example 2 of processing) A second example of the system control described above will now be explained. In this second example, as the decision process, the usage status of each environmental camera 5 is determined based on the planned travel route of the mobile robot 100 and the positional relationship between the current position of the mobile robot 100 and the multiple environmental cameras 5 located within the facility. This positional relationship refers to the relationship between the positions of each environmental camera 5 with respect to the current position of the mobile robot 100, and can refer to the travel distance, straight-line distance, and estimated arrival time when traveling along the planned route.

[0114] Unlike the first processing example, the second processing example requires obtaining the current position of the mobile robot 100. In other words, the control unit 2a in the second processing example will sequentially obtain the current position of the mobile robot 100. The method of obtaining the mobile robot 100's position is not specified. For example, the control unit 2a may calculate the current position of the mobile robot 100 based on images captured by the environmental camera 5 currently in use. Alternatively, the control unit 2a can obtain the current position of the mobile robot 100 via wireless communication using position information acquired by a position information acquisition unit (not shown) mounted on the mobile robot 100.

[0115] The camera operation determination unit 202 can, for example, determine the usage status of each environmental camera 5 so that it can monitor the mobile robot 100 in relation to the mobile robot 100's current position. For instance, the camera operation determination unit 202 can determine the usage status of each environmental camera 5 so that it can monitor the mobile robot 100 in more detail the closer it is to the current position along the planned travel path beyond the current position.

[0116] Let us give a more specific example of the case where the above decision process includes a first decision process, a second decision process, and a third decision process. For example, the camera operation decision unit 202 decides as the third decision process to operate an environmental camera 5, which is positioned to cover a distance range F1 from the current position to a fourth predetermined distance later on the planned travel route, at a high load and use it as an information source. Alternatively, the camera operation decision unit 202 decides as the third decision process to operate an environmental camera 5, which is positioned to cover a range F2 from the current time to the travel position at a fourth predetermined time later, at a high load and use it as an information source.

[0117] At the time of the decision, the camera operation decision unit 202, as a second decision process, decides to use an environmental camera 5 positioned to cover a distance range G1 that is five predetermined distances further from the current position than the distance range F1 as the information source. Alternatively, the camera operation decision unit 202, as a second decision process, decides to use an environmental camera 5 positioned to cover a range G2 that covers the driving position at a time five predetermined hours after the range F2 as the information source.

[0118] Furthermore, at the time of this decision, the camera operation decision unit 202, as a first decision process, decides to activate the environmental camera 5 positioned at a location that covers a distance range H1 that is six predetermined distances further from the current position than the distance range G1. Alternatively, the camera operation decision unit 202, as a first decision process, decides to activate the environmental camera 5 positioned at a location that covers a travel position range H2 at a time six predetermined hours later than the range G2.

[0119] Furthermore, at the time of this decision, the camera operation determination unit 202 can decide not to operate any other environmental cameras 5. The camera operation determination unit 202 can also decide not to operate some of the environmental cameras 5 positioned to cover distance range G1 or range G2, thereby achieving further power savings. Additionally, the camera operation determination unit 202 can decide not to operate some of the environmental cameras 5 positioned to cover distance range H1 or range H2, thereby achieving further power savings.

[0120] In this specific example, for the sake of simplicity, we have focused only on the mobile robot 100. However, if multiple mobile robots 100 are scheduled to operate simultaneously, it is advisable to determine the usage status of each environmental camera 5 by taking into account the planned travel paths of each mobile robot 100.

[0121] The camera operation switching unit 203 controls the operation of each environmental camera 5 so that it matches the usage state determined by the camera operation determination unit 202.

[0122] Next, using Figure 6, we will explain an example of the flow of the decision and control described above. Figure 6 is a flowchart illustrating a second processing example in the control unit 2a of Figure 4.

[0123] The control unit 2a of the higher-level management device 2 first acquires the planned travel path and current position of the mobile robot 100 (step S21). Next, the control unit 2a determines the usage status of each environmental camera 5 according to the acquired planned travel path and current position (step S22). Then, the control unit 2a controls the operation of each environmental camera 5 to use it in the determined usage status and monitors the mobile robot 100 (step S23). Examples of determining the usage status and examples of controlling the operation of each environmental camera 5 are as described above.

[0124] The processes in steps S21 to S23 can be executed, for example, at predetermined intervals, and in step S23, the operation of each environmental camera 5 can be controlled sequentially according to the decision made in step S22. However, in step S21, the planned travel path of the mobile robot 100 only needs to be obtained once for one task of the mobile robot 100.

[0125] In the second processing example, compared to the first processing example, the current position of the mobile robot 100 relative to the environmental camera 5 can be taken into consideration, allowing for more fluid selection of the usage state of the environmental camera 5, thus enabling more efficient power saving.

[0126] Next, we will describe some application examples that can be applied to the second processing example. The camera operation determination unit 202 determines the image acquisition range necessary for the mobile robot 100 to travel, according to the planned travel route and positional relationship, and based on the image acquisition range, it may determine at least one of the environmental cameras 5 in the facility to be operated and an environmental camera 5 to be used as an information source. In other words, the above determination process is at least one of a first determination process and a second determination process, and in the first determination process and the second determination process, based on the image acquisition range, it may determine an environmental camera 5 to be operated and an environmental camera 5 to be operated and used as an information source, respectively.

[0127] By applying this example, the transport system 1 can more efficiently reduce power consumption by determining which environmental camera 5 to operate and at least one of the environmental cameras 5 to use as an information source based on the image acquisition range required for the movement of the mobile robot 100.

[0128] Furthermore, the camera operation determination unit 202 not only determines which environmental camera 5 to operate and at least one of the environmental cameras 5 to be used as an information source, but can also determine the imaging direction and zoom settings of each environmental camera 5 to match the required imaging range. In this case, the camera operation switching unit 203 can control the orientation and zoom settings of the environmental cameras 5 according to this determination, thereby enabling further power savings.

[0129] Alternatively, the camera operation determination unit 202 may determine the image acquisition range necessary for the mobile robot 100's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determine which environmental camera 5 within the facility will be operated at a higher load than the other environmental cameras 5. In other words, the above determination process is a third determination process, and in this third determination process, based on the image acquisition range, the environmental camera 5 to be operated, and which environmental camera 5 to be used as an information source while being operated at a higher load than the other environmental cameras 5, may be determined.

[0130] By applying this example, the transport system 1 can more efficiently reduce power consumption because it determines which environmental camera 5 to operate under high load based on the image acquisition range required for the movement of the mobile robot 100. In this example as well, the camera operation determination unit 202 may also determine the imaging direction and zoom settings of each environmental camera 5 to match the required imaging range. In that case, the camera operation switching unit 203 can control the orientation and zoom settings of the environmental camera 5 according to this determination, thereby further reducing power consumption.

[0131] Alternatively, if the camera operation determination unit 202 indicates that the planned travel path and positional relationship will cause the mobile robot 100 to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot 100, it can determine the usage status of each environmental camera 5 as follows. That is, if such conditions are met, the camera operation determination unit 202 can, as a first determination process, determine which environmental camera 5 among the environmental cameras 5 in the facility that is located in the predetermined area to be operated. Alternatively, if such conditions are met, the camera operation determination unit 202 can, as a second determination process, determine which environmental camera 5 among the environmental cameras 5 in the facility that is located in the predetermined area to be used as an information source. Alternatively, if such conditions are met, the camera operation determination unit 202 can, as a third determination process, determine which environmental camera 5 among the environmental cameras 5 in the facility that is located in the predetermined area to be operated at a higher load compared to the other environmental cameras 5. In other words, the camera operation determination unit 202 can determine, for example, that an environmental camera 5 capable of capturing images of a blind spot area for a mobile robot 100 that is about to enter a corner or intersection is to be operated, an environmental camera 5 used as an information source, and at least one environmental camera 5 to be operated under a higher load than the other environmental cameras 5.

[0132] By applying this example, the transport system 1 can more efficiently conserve power by deciding to use the environmental camera 5 positioned in the blind spot area when the mobile robot 100 is expected to enter that blind spot area.

[0133] Furthermore, for example, the images captured by the environmental camera 5, whose operation is determined in this manner and controlled by the camera operation switching unit 203, can be used not only for monitoring the mobile robot 100 by the higher-level management device 2, but also for controlling the mobile robot 100 as follows. That is, based on these images, the higher-level management device 2 can control the mobile robot 100 so that, if an obstacle is identified in a blind spot area that is a blind spot for the mobile robot 100, for example, it will temporarily stop or slow down before entering the blind spot area. Alternatively, these images can be transmitted to the mobile robot 100 via the higher-level management device 2, for example. The mobile robot 100 can then use these images to determine if an obstacle is identified in a blind spot area that is a blind spot for the mobile robot 100, for example, it will temporarily stop or slow down before entering the blind spot area.

[0134] (Third processing example) The third example of the system control described above will be explained using Figure 7. Figure 7 shows an example of the classification of staff and non-staff members applied in the third example of the control unit 2a in Figure 4.

[0135] In the third processing example, the control system in the transport system 1 recognizes the characteristics of the moving objects captured by the environmental camera 5 and performs a group classification process to classify the moving objects into a pre-set first group and second group based on the recognized characteristics.

[0136] Here, "mobile object" includes people, and can also include other mobile robots of the same type or other different types of mobile robots. The control unit 2a can recognize the characteristics of the mobile object by analyzing the image data acquired from the environmental camera 5. For example, the characteristics of the mobile object can refer to the size of the mobile object, the attributes of the mobile object, etc. Attributes may be, for example, attributes indicating whether the person is a child or not, attributes indicating walking ability such as whether the person is using crutches or not, or attributes indicating whether the person is staff or not.

[0137] In the following explanation, for the sake of simplicity, we will use an example where Group 1 represents non-staff members and Group 2 represents staff members, but the same principles can be applied to other classification methods.

[0138] To perform such group classification processing, for example, the control unit 2a may include an image data acquisition unit 204 and a feature recognition unit 205.

[0139] The image data acquisition unit 204 acquires image data captured from at least one environmental camera 5 currently used as an information source. The image data acquired by the image data acquisition unit 204 may be the image data captured by the environmental camera 5 itself, but it may also be processed image data. For example, the image data may be feature data extracted from the image data. The image data may also have information such as the time of capture and the location of capture added to it. The image data acquisition unit 204 may also acquire image data from multiple environmental cameras 5. The image data to be acquired may also include image data captured by cameras mounted on other mobile robots of the same type or other different types of mobile robots.

[0140] The feature recognition unit 205 recognizes the features of a moving object based on the image data acquired by the image data acquisition unit 204. The feature recognition unit 205 can recognize the features of a moving object by extracting them from the image data and comparing the extracted features with predetermined features. Therefore, the feature recognition unit 205 can also be called a feature extraction unit.

[0141] More specifically, the feature recognition unit 205 detects moving objects contained in the image data by performing image processing on the image data. The feature recognition unit 205 then extracts features of moving objects such as people contained in the image data. In addition, a processing unit (not shown) provided in the environmental camera 5 that acquires the image data may perform at least part of the processing for feature extraction. Various techniques for detecting the presence of moving objects such as people in image data are known to those skilled in the art, such as HOG (Histograms of Oriented Gradients) features and machine learning including convolutional processing. Therefore, a detailed explanation is omitted here.

[0142] The feature recognition unit 205 can distinguish between staff and non-staff by, for example, detecting the color of the clothing of the detected moving object. More specifically, the feature recognition unit 205 can calculate the proportion of area occupied by a specific color from the clothing of the detected moving object, or from the clothing of a person who was actually detected due to the presence of clothing. Alternatively, the feature recognition unit 205 can detect the color of the clothing in a specific part of the clothing of a detected person.

[0143] In this way, the feature recognition unit 205 can extract characteristic parts of the staff's clothing, and if it can extract them, it can recognize that the features refer to the staff. On the other hand, if the feature recognition unit 205 cannot extract characteristic parts of the staff's clothing, it can recognize that the features refer to a non-staff member. In this way, the feature recognition unit 205 can classify moving objects into a first group, which exemplifies a group of non-staff members, and a second group, which exemplifies a group of staff members.

[0144] Whether clothing belongs to staff or non-staff can be determined by detecting the colors of the clothing worn by "pharmacists" and "nurses" as exemplified in Figure 7. If clothing of those colors is not detected, it is determined to be non-staff clothing. In fact, in hospitals, staff members wear uniforms of different colors and shapes depending on their category, such as pharmacists and nurses, so it is possible to recognize whether someone is staff or not. Of course, features can be extracted not only from the color of the clothing, but also from the shape of the clothing, hats, and other distinctive accessories worn by staff members. Naturally, staff members can also include other mobile robots that move around within the facility, in which case, the shape features can be extracted from the clothing features.

[0145] Alternatively, the feature recognition unit 205 may extract features for face recognition from image data and recognize a person by comparing them with pre-registered facial features.

[0146] Furthermore, the feature recognition unit 205 can be equipped with a pre-trained model, the learning model 205a. Specifically, the feature recognition unit 205 can be configured to perform classification using the learning model 205a, which takes image data as input and outputs whether or not it contains staff. In this case, for example, images captured for each staff category can be used as training data for machine learning. In other words, by performing supervised learning using image data with staff categories as correct labels as training data, a machine learning model with high recognition accuracy can be constructed. That is, images of staff wearing a predetermined uniform can also be used as training data. The algorithm of the learning model 205a is not specified. In this way, by constructing a highly accurate learning model 205a, the feature recognition unit 205 can accurately perform feature recognition and classification based on that recognition.

[0147] Regardless of the method used for classification, the feature recognition unit 205 supplies the classification result to the camera operation determination unit 202.

[0148] Then, in the third processing example, the camera operation determination unit 202 determines, based on the classification results, whether or not there are no moving objects belonging to the first group, and in this example, whether or not there are no moving objects that are not staff members. In other words, based on the classification results, the camera operation determination unit 202 determines whether or not there are no moving objects in the area captured by the environmental camera 5 within the facility, or if any are present but are only staff members, or not.

[0149] The camera operation determination unit 202 determines the usage state of the environmental camera 5 when such conditions are met. In other words, the camera operation determination unit 202 executes the above determination process when such conditions are met. For example, the camera operation determination unit 202 executes the first determination process and the second determination process as the above determination process when such conditions are met. However, as a prerequisite, if such conditions are not met, it is advisable to operate all of the environmental cameras 5 at a high load using their maximum functions. The camera operation switching unit 203 then controls the usage state of each environmental camera 5 so that it matches the determined usage state of each environmental camera 5.

[0150] Of course, decision processing based on group classification is not limited to this example. For example, assuming that at least one environmental camera 5 is operational and used as an information source, the camera operation decision unit 202 can determine the above conditions based on that information source, and if the above conditions are met, it can execute the first decision process, the second decision process, and the third decision process as the decision process. Even when such decision processing is performed, the camera operation switching unit 203 controls the usage state of each environmental camera 5 so that it is in the usage state determined for each environmental camera 5.

[0151] Next, using Figure 8, we will explain an example of the flow of the decision and control described above. Figure 8 is a flowchart illustrating the third processing example.

[0152] The control unit 2a of the higher-level management device 2 first acquires image data from the environmental camera 5, which is currently set to be used as the information source (step S31), extracts the features of moving objects from the image data (step S32), and classifies the moving objects in the image (step S33).

[0153] Next, the control unit 2a determines whether or not non-staff members exist as a result of the classification (step S34). If they exist (YES), the control unit 2a continues to operate all environmental cameras 5 at maximum capacity and high load, and terminates the process. On the other hand, if no non-staff members exist in step S34 (NO), the control unit 2a performs the same processing as in steps S21 to S23 of Figure 6, that is, processing to change the usage status of each environmental camera 5 in order to save power (steps S35 to S37), and terminates the process.

[0154] The processes in steps S31 to S37 can be executed, for example, at predetermined intervals. If no staff are present, in step S37, the operation of each environmental camera 5 can be controlled sequentially according to the decision made in step S36. However, in step S35, the planned travel path of the mobile robot 100 only needs to be obtained once for one task of the mobile robot 100. Alternatively, instead of steps S35 to S37, the processes in steps S11 to S13 in Figure 5 can be executed.

[0155] The third processing example will be explained using Figures 9 and 10, with specific examples of the floor of a facility on which the mobile robot 100 travels. Figures 9 and 10 are schematic diagrams showing examples of the mobile robot's position to explain the third processing example in Figure 8. Figures 9 and 10 schematically show a top-down view of the floor on which the mobile robot 100 travels.

[0156] As shown in Figure 9, the facility is equipped with room 901, room 903, and corridor 902. Corridor 902 connects room 901 and room 903. In Figure 9, seven environmental cameras 5 are installed, and these will be described separately as environmental cameras 5A to 5G. Environmental cameras 5A to 5G are installed in different positions and directions. Environmental cameras 5A to 5G capture images of different areas, and of these, environmental camera 5G is positioned to confirm the entry and exit of people at entrance / exit 904, which functions as a security gate. The positions, imaging directions, and imaging ranges of environmental cameras 5A to 5G should be pre-stored in a memory unit (not shown) so that they can be referenced by the camera operation determination unit 202.

[0157] The areas assigned to environmental cameras 5A to 5F are designated as monitoring areas 900A to 900F, respectively. For example, environmental camera 5A images monitoring area 900A, and environmental camera 5B images monitoring area 900B. Similarly, environmental cameras 5C, 5D, 5E, and 5F image monitoring areas 900C, 900D, 900E, and 900F, respectively. Environmental camera 5G images the area around entrance / exit 904. In this way, multiple environmental cameras 5A to 5G are installed in the target facility, and the facility is divided into multiple monitoring areas. Information on the monitoring areas should be pre-stored in a memory unit (not shown) so that it can be referenced by the camera operation determination unit 202.

[0158] As shown in Figure 9, if only staff member U2A is present in the facility, the control unit 2a performs a process to change the usage status of each environmental camera 5A to 5G in order to conserve power. As an example, we will explain by assuming a scenario in which two mobile robots 100A and 100B are moving and each is following the planned route shown by the dashed line from the current point in time.

[0159] In this scenario, environmental camera 5A is operated under high load to monitor the current location of mobile robot 100A, and environmental camera 5B is set to be used as a source of information for future monitoring of mobile robot 100A. Also in this scenario, environmental camera 5E is operated under high load to monitor the current location of mobile robot 100B, and environmental camera 5F is set to be used as a source of information for future monitoring of mobile robot 100B. In this scenario, the other environmental cameras 5C, 5D, and 5G can be kept inactive, but environmental camera 5G should at least be operated to prepare for intrusion by people from outside.

[0160] Subsequently, for example, if mobile robot 100A leaves monitoring area 900A and moves to passage 902 along its planned route, environmental camera 5A should be deactivated and environmental camera 5B should be operated at high load. Also, if mobile robot 100B leaves monitoring area 900E and moves to room 903 along its planned route, environmental camera 5F should be operated at high load and configured to use environmental camera 5E as a source of information for future monitoring. In this scenario, the other environmental cameras 5C, 5D, and 5G can be deactivated, but environmental camera 5G should at least be operated to prepare for intrusion by people from outside.

[0161] On the other hand, as shown in Figure 10, if there is a non-staff member U1B in the facility (regardless of whether staff members are present), the control unit 2a does not perform the process of changing the usage status of each environmental camera 5A to 5G for power saving. In other words, in this scenario, the control unit 2a maintains a state where all environmental cameras 5A to 5G are operating at a high load with their maximum functionality.

[0162] As explained above, in the third processing example, power saving can be achieved more efficiently because power saving can be achieved when there are no mobile objects belonging to the first group. In particular, when operating mobile robots within a facility, the facility is a space where the general public and facility staff coexist. Therefore, in situations where potential problems may arise, such as when non-staff are present, the possibility of such problems occurring can be reduced by operating the environmental camera 5 at full capacity and high load, and power saving can be achieved only in other situations.

[0163] Furthermore, as an application example of the third processing example, the feature recognition unit 205 may perform classification processing only on moving objects present around the mobile robot 100 from image data captured around the mobile robot 100. In this case as well, the camera operation determination unit 202 determines whether or not there are no moving objects that are not staff members around the mobile robot 100, and determines the usage state of the environmental camera 5 if such a condition is met. As a prerequisite, if such a condition is not met, for example, it is advisable to operate all of the environmental cameras 5 at a high load using their maximum functions. The camera operation switching unit 203 then controls the usage state of each environmental camera 5 to match the determined usage state of each environmental camera 5.

[0164] Furthermore, in the third processing example, the data was classified into the first and second groups, and the usage status of the environmental camera 5 was varied based on the classification results. However, it is also possible to classify the data into three or more groups and vary the usage status of the environmental camera 5 in three or more ways depending on whether or not one or more of the classified groups are included.

[0165] (Alternative example) The mobile robot 100, user terminal device 300, environmental camera 5, etc., described above are not limited to those having the exemplified shapes, and each device included in the transport system 1, including these devices, is not limited to those that perform the exemplified control; it is sufficient for each device to perform its function. Furthermore, the higher-level management device 2 is not limited to a single physical device, but may be distributed across multiple devices. In other words, the higher-level management device 2 may have multiple memories or multiple processors.

[0166] Furthermore, each device provided in the transport system 1 or the control system, such as the control computer 101 of the mobile robot 100 according to the above-described embodiment, the higher-level management device 2, and the user terminal device 300, can have a hardware configuration such as the following. Figure 11 shows an example of the hardware configuration of the device.

[0167] The device 1000 shown in Figure 11 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.

[0168] 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.

[0169] 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.

[0170] 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]

[0171] 1. Conveying System 2 Upper management device 2a Control section 3 Network 4. Communication Unit 5. Environmental Camera (Camera) 11. First light-emitting section 12 Second 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 201 Driving route acquisition unit 202 Camera operation determination unit 203 Camera operation switching unit 204 Image Data Acquisition Unit 205 Feature Recognition Unit 205a Learning Model 300 User terminal devices 500 Wagon 501 Cover 502 wheels

Claims

1. A control system for controlling a system that includes an autonomous mobile robot and multiple cameras installed within a facility, A group classification process that recognizes the characteristics of a person captured by the camera currently in use among the multiple cameras, and classifies the person into a pre-set first group and second group based on the characteristics, If no person belonging to the first group is present, a decision process is performed to determine which camera to use from among the multiple cameras according to the planned travel path of the mobile robot, and if a person belonging to the first group is present, a decision process is performed to determine which camera to use according to at least one of the predetermined usage conditions and predetermined usage load, and Execute Control system.

2. The aforementioned decision process, as a process when there are no persons belonging to the first group, includes at least one of the following: a first decision process that determines which camera to operate from among the plurality of cameras according to the planned travel path of the mobile robot; a second decision process that determines which camera to operate and use as an information source from among the plurality of cameras according to the planned travel path of the mobile robot; and a third decision process that determines which camera to operate and use as an information source while operating at a higher load than the other cameras according to the planned travel path of the mobile robot. The control system according to claim 1.

3. The first decision process, if no person belonging to the first group exists, determines which camera to operate from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The second decision process, if no person belonging to the first group exists, determines which camera to operate and use as an information source from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The third decision process, if no person belonging to the first group exists, determines which camera to use as the information source from among the multiple cameras, operating at a higher load than the other cameras, based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The control system according to claim 2.

4. The aforementioned decision process includes at least one of the first decision process and the second decision process as a process when there is no person belonging to the first group. The first decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and determines which camera to operate from among the multiple cameras based on the image acquisition range. The second decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which of the multiple cameras to operate and which to use as an information source. The control system according to claim 3.

5. The aforementioned decision process includes the third decision process as a process for when there are no persons belonging to the first group, The third decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which camera from among the multiple cameras to be operated and used as the information source while operating at a higher load than the other cameras. The control system according to claim 3.

6. The process in the aforementioned decision process where there is no person belonging to the first group is one of the first decision process, the second decision process, and the third decision process. If the first decision process indicates that there are no persons belonging to the first group, and that the planned travel path and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is determined to be the camera to be operated. If the second decision process indicates that there are no persons belonging to the first group, and that the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is selected to be activated and used as the information source. The third decision process, if there are no persons belonging to the first group, and the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, determines that the camera among the plurality of cameras positioned in the predetermined area will be operated and used as the information source, operating at a higher load than the other cameras. The control system according to claim 3.

7. The group classification process recognizes the characteristics of a person as captured by the camera in use around the mobile robot. The control system according to claim 1 or 2.

8. A control method for controlling a system including an autonomous mobile robot and multiple cameras installed within a facility, A group classification process that recognizes the characteristics of a person captured by the camera currently in use among the multiple cameras, and classifies the person into a pre-set first group and second group based on the characteristics, If no person belonging to the first group is present, a decision process is performed to determine which camera to use from among the multiple cameras according to the planned travel path of the mobile robot, and if a person belonging to the first group is present, a decision process is performed to determine which camera to use according to at least one of the predetermined usage conditions and predetermined usage load, and Execute Control method.

9. The aforementioned decision process, as a process when there are no persons belonging to the first group, includes at least one of the following: a first decision process that determines which camera to operate from among the plurality of cameras according to the planned travel path of the mobile robot; a second decision process that determines which camera to operate and use as an information source from among the plurality of cameras according to the planned travel path of the mobile robot; and a third decision process that determines which camera to operate and use as an information source while operating at a higher load than the other cameras according to the planned travel path of the mobile robot. The control method according to claim 8.

10. The first decision process, if no person belonging to the first group exists, determines which camera to operate from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The second decision process, if no person belonging to the first group exists, determines which camera to operate and use as an information source from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The third decision process, if no person belonging to the first group exists, determines which camera to use as the information source from among the multiple cameras, operating at a higher load than the other cameras, based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The control method according to claim 9.

11. The aforementioned decision process includes at least one of the first decision process and the second decision process as a process when there is no person belonging to the first group. The first decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and determines which camera to operate from among the multiple cameras based on the image acquisition range. The second decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which of the multiple cameras to operate and which to use as an information source. The control method according to claim 10.

12. The aforementioned decision process includes the third decision process as a process for when there are no persons belonging to the first group, The third decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which camera from among the multiple cameras to be operated and used as the information source while operating at a higher load than the other cameras. The control method according to claim 10.

13. The process in the aforementioned decision process where there is no person belonging to the first group is one of the first decision process, the second decision process, and the third decision process. If the first decision process indicates that there are no persons belonging to the first group, and that the planned travel path and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is determined to be the camera to be operated. If the second decision process indicates that there are no persons belonging to the first group, and that the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is selected to be activated and used as the information source. The third decision process, if there are no persons belonging to the first group, and the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, determines that the camera among the plurality of cameras positioned in the predetermined area will be operated and used as the information source, operating at a higher load than the other cameras. The control method according to claim 10.

14. The group classification process recognizes the characteristics of a person as captured by the camera in use around the mobile robot. The control method according to claim 8 or 9.

15. A program that causes a computer to perform processing to control a system including an autonomously moving mobile robot and multiple cameras installed within a facility, The aforementioned process is, A group classification process that recognizes the characteristics of a person captured by the camera currently in use among the multiple cameras, and classifies the person into a pre-set first group and second group based on the characteristics, If no person belonging to the first group is present, a decision process is performed to determine which camera to use from among the multiple cameras according to the planned travel path of the mobile robot, and if a person belonging to the first group is present, a decision process is performed to determine which camera to use according to at least one of the predetermined usage conditions and predetermined usage load, and including, program.

16. The aforementioned decision process, as a process when there are no persons belonging to the first group, includes at least one of the following: a first decision process that determines which camera to operate from among the plurality of cameras according to the planned travel path of the mobile robot; a second decision process that determines which camera to operate and use as an information source from among the plurality of cameras according to the planned travel path of the mobile robot; and a third decision process that determines which camera to operate and use as an information source while operating at a higher load than the other cameras according to the planned travel path of the mobile robot. The program according to claim 15.

17. The first decision process, if no person belonging to the first group exists, determines which camera to operate from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The second decision process, if no person belonging to the first group exists, determines which camera to operate and use as an information source from among the multiple cameras, according to the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. The third decision process, if no person belonging to the first group exists, determines which camera to use as the information source from among the multiple cameras, operating at a higher load than the other cameras, based on the planned travel path of the mobile robot and the positional relationship between the current position of the mobile robot and the multiple cameras. L as described in claim 16.

18. The aforementioned decision process includes at least one of the first decision process and the second decision process as a process when there is no person belonging to the first group. The first decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and determines which camera to operate from among the multiple cameras based on the image acquisition range. The second decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which of the multiple cameras to operate and which to use as an information source. The program according to claim 17.

19. The aforementioned decision process includes the third decision process as a process for when there are no persons belonging to the first group, The third decision process, if no person belonging to the first group exists, determines the image acquisition range necessary for the mobile robot's movement according to the planned travel route and positional relationship, and based on the image acquisition range, determines which camera from among the multiple cameras to be operated and used as the information source while operating at a higher load than the other cameras. The program according to claim 17.

20. The process in the aforementioned decision process where there is no person belonging to the first group is one of the first decision process, the second decision process, and the third decision process. If the first decision process indicates that there are no persons belonging to the first group, and that the planned travel path and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is determined to be the camera to be operated. If the second decision process indicates that there are no persons belonging to the first group, and that the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, then the camera among the plurality of cameras positioned in the predetermined area is selected to be activated and used as the information source. The third decision process, if there are no persons belonging to the first group, and the planned travel route and positional relationship indicate that the mobile robot is scheduled to enter a predetermined area corresponding to a blind spot area that is a blind spot for the mobile robot, determines that the camera among the plurality of cameras positioned in the predetermined area will be operated and used as the information source, operating at a higher load than the other cameras. The program according to claim 17.

21. The group classification process recognizes the characteristics of a person as captured by the camera in use around the mobile robot. The program according to claim 15 or 16.

Images