Control system, control method, and program

Abstract

To provide a control system which allows people around a mobile robot that is autonomously movable and user-controllable to visually recognize and easily determine whether the mobile robot on standby is on standby in an autonomous moving mode or in a user-controlled mode.SOLUTION: A control system disclosed herein provides system control for controlling a system including an autonomously movable mobile robot 100. The mobile robot 100 has light-emitting units 11, 12. The system control includes mode switching control for switching between an autonomous moving mode and a user-controlled mode, and light emission control for causing the light-emitting units 11, 12 to emit light in different luminous patterns respectively associated with a plurality of predetermined conditions. The light emission control includes controlling the emission of light in the different luminous patterns depending of whether the robot is in the autonomous moving mode or the user-controlled mode for at least one of the plurality of predetermined conditions.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a mobile robot that can move autonomously and can be operated by a user.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the mobile robot described in Patent Document 1, when the mobile robot is on standby, it cannot be determined by a person around the mobile robot whether it is on standby in the autonomous movement mode or in the user operation mode.

[0005] The present disclosure has been made to solve such problems, and in a mobile robot that can move autonomously and can be operated by a user, when the mobile robot is on standby, it is possible to visually recognize by a person around the mobile robot whether it is on standby in the autonomous movement mode or in the user operation mode, and to provide a control system, a control method, and a program that can be easily determined.

Means for Solving the Problems

[0006] The control system according to this disclosure performs system control for a system including an autonomously mobile and user-operable mobile robot, the mobile robot is equipped with a light-emitting unit, the system control includes mode switching control for switching between an autonomous movement mode in which the mobile robot moves autonomously and a user-operated mode in which the mobile robot moves based on user operation, and light emission control for emitting the light-emitting unit in different light emission patterns corresponding to each of a plurality of predetermined conditions, the light emission control includes control for emitting the light in different light emission patterns depending on whether it is in the autonomous movement mode or the user-operated mode for at least one of the plurality of predetermined conditions. With this configuration, in an autonomously mobile and user-operable mobile robot, when the mobile robot is in standby mode, it is possible to easily determine whether it is in autonomous movement mode or user-operated mode by visually observing the mobile robot. 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] At least one of the plurality of predetermined conditions may be a recommended condition, which is a predetermined condition for recommending the movement operation, or a non-recommended condition, which is a predetermined condition for not recommending the movement operation. With this configuration, the control system can make a notification recommending or not recommending a movement operation by the user visible to people around the mobile robot.

[0008] The recommended conditions may include conditions for recommending the operation of switching from the autonomous movement mode to the user operation mode, and the non-recommended conditions may include conditions for not recommending the operation of switching from the autonomous movement mode to the user operation mode. With such a configuration, the control system can make visible to people around the mobile robot a notification recommending or not recommending switching to the user operation mode.

[0009] The light-emitting unit may include an operating unit that receives the movement operation or a first light-emitting unit provided around the operating unit, and at least one of the plurality of predetermined conditions may be the recommended condition, and the light-emitting pattern corresponding to the recommended condition may be emitted by at least the first light-emitting unit. With this configuration, the control system can display a notification recommending operation at the operating unit in a position that is easily visible from the operating position or its surroundings, and can be seen by people around the mobile robot, such as the operator.

[0010] The light-emitting unit comprises a first light-emitting unit provided on or around the operation unit that receives the movement operation, and a second light-emitting unit disposed at a position spaced apart from the first light-emitting unit, wherein at least one of the plurality of predetermined conditions is the recommended condition, and the second light-emitting unit may emit a light-emitting pattern corresponding to the plurality of predetermined conditions other than the recommended condition. With this configuration, the control system allows people around the mobile robot to see notifications other than those recommending operation at the operation unit at a position different from the operation position or its surroundings, and makes it easy for them to determine that the notification is not a recommendation to operate.

[0011] The control system may be equipped with a joystick device that accepts the aforementioned movement operation, and the joystick device may be equipped with a button that accepts a press operation to switch between the autonomous movement mode and the user operation mode. With such a configuration, the control system can accept mode switching operations in a joystick device that allows for intuitive movement operations.

[0012] The different light emission patterns may include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit is different. With such a configuration, the control system can more clearly inform those around the mobile robot whether it is waiting in autonomous movement mode or in user operation mode when the mobile robot is in standby mode.

[0013] The system may include a server that can connect to the mobile robot wirelessly, and the control system may, at least when the server is unable to communicate with the mobile robot, determine whether the mobile robot is in autonomous movement mode or user operation mode based on an image of the mobile robot captured by a camera and the light emission pattern shown in the image. With this configuration, the server can determine whether the mobile robot is in autonomous movement mode or user operation mode even when communication between the mobile robot and the server is impossible.

[0014] The control method according to this disclosure performs system control to control a system including an autonomously mobile and user-operable mobile robot, wherein the mobile robot is equipped with a light-emitting unit, and the system control includes mode switching control to switch between an autonomous movement mode in which the mobile robot moves autonomously and a user-operated mode in which the mobile robot moves based on user operation, and light emission control to cause the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions, wherein the light emission control includes control to emit light in different light emission patterns depending on whether it is in the autonomous movement mode or the user-operated mode for at least one of the plurality of predetermined conditions. With this control method, in an autonomously mobile and user-operable mobile robot, when the mobile robot is in standby mode, it is possible to easily determine whether it is in standby mode or user-operated mode by visually observing the mobile robot.

[0015] At least one of the plurality of predetermined conditions may be a recommended condition, which is a predetermined condition for recommending the movement operation, or a non-recommended condition, which is a predetermined condition for not recommending the movement operation. With this configuration, the control method can make a notification recommending or not recommending a movement operation by the user visible to people around the mobile robot.

[0016] The recommended conditions may include conditions for recommending the operation of switching from the autonomous movement mode to the user operation mode, and the non-recommended conditions may include conditions for not recommending the operation of switching from the autonomous movement mode to the user operation mode. With such a configuration, the control method can make a notification recommending or not recommending switching to the user operation mode visible to people around the mobile robot.

[0017] The light-emitting unit may include an operating unit that receives the movement operation or a first light-emitting unit provided around the operating unit, and at least one of the plurality of predetermined conditions may be the recommended condition, and the light-emitting pattern corresponding to the recommended condition may be emitted by at least the first light-emitting unit. With this configuration, the control method can display a notification recommending operation at the operating unit in a position that is easily visible from the operating position or its surroundings, and can be seen by people around the mobile robot, such as the operator.

[0018] The light-emitting unit comprises a first light-emitting unit provided on or around the operation unit that receives the movement operation, and a second light-emitting unit disposed at a position spaced apart from the first light-emitting unit, wherein at least one of the plurality of predetermined conditions is the recommended condition, and the second light-emitting unit may emit a light-emitting pattern corresponding to the plurality of predetermined conditions other than the recommended condition. With this configuration, the control method allows people around the mobile robot to see notifications other than those recommending operation at the operation unit at a position different from the operation position or its surroundings, making it easy for them to determine that the notification is not a recommendation to operate.

[0019] The control method may include a joystick device that accepts the aforementioned movement operation, and the joystick device may include a button that accepts a press operation to switch between the autonomous movement mode and the user operation mode. With such a configuration, the control method can accept mode switching operations in a joystick device that allows for intuitive movement operations.

[0020] The aforementioned different light emission patterns may include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light-emitting unit is different. With this configuration, the control method can more clearly inform those around the mobile robot whether it is in standby mode or user-operated mode when the mobile robot is in standby mode.

[0021] The system may include a server that can connect to the mobile robot wirelessly, and the control method may, at least when the server is unable to communicate with the mobile robot, determine whether the mobile robot is in autonomous movement mode or user operation mode based on an image of the mobile robot captured by a camera and the light emission pattern shown in the image. With this configuration, the server can determine whether the mobile robot is in autonomous movement mode or user operation mode even when communication between the mobile robot and the server is impossible.

[0022] The program relating to this disclosure is a program for causing a computer to perform system control for a system including an autonomously mobile and user-operable mobile robot, wherein the mobile robot is equipped with a light-emitting unit, and the system control includes mode switching control for switching between an autonomous movement mode in which the mobile robot moves autonomously and a user-operated mode in which the mobile robot moves based on user operation, and light emission control for causing the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions, wherein the light emission control includes control for emitting light in different light emission patterns depending on whether it is in the autonomous movement mode or the user-operated mode for at least one of the plurality of predetermined conditions. With this configuration, in an autonomously mobile and user-operable mobile robot, when the mobile robot is in standby mode, it is possible for people around the mobile robot to visually determine whether it is in standby mode or user-operated mode.

[0023] At least one of the plurality of predetermined conditions may be a recommended condition that is a predetermined condition for recommending the movement operation or a non-recommended condition that is a predetermined condition for not recommending the movement operation. With such a configuration, the program can cause a person around the mobile robot to visually recognize a notification for recommending or not recommending a movement operation by the user.

[0024] The recommended condition may include a condition for recommending an operation to switch from the autonomous movement mode to the user operation mode, and the non-recommended condition may include a condition for not recommending an operation to switch from the autonomous movement mode to the user operation mode. With such a configuration, the program can cause a person around the mobile robot to visually recognize a notification for recommending or not recommending switching to the user operation mode.

[0025] The light emitting unit includes a first light emitting unit provided at an operation unit that receives the movement operation or around the operation unit, at least one of the plurality of predetermined conditions is the recommended condition, and the light emission pattern associated with the recommended condition causes light emission at least at the first light emitting unit. With such a configuration, the program can show a notification for recommending an operation at the operation unit at a position visible from the operation position and its surroundings, and cause a person around the mobile robot such as an operator to visually recognize it.

[0026] The light emitting unit includes a first light emitting unit provided at an operation unit that receives the movement operation or around the operation unit, and a second light emitting unit disposed at a position separated from the first light emitting unit. At least one of the plurality of predetermined conditions is the recommended condition, and the second light emitting unit emits a light emission pattern associated with other than the recommended condition among the plurality of predetermined conditions. With such a configuration, the program can cause a person around the mobile robot to visually recognize a notification other than recommending an operation at the operation unit at a position different from the operation position and its surroundings, and easily determine that the notification is not a recommendation for an operation.

[0027] It may be configured to include a joystick device that accepts the movement operation, and the joystick device includes a button that accepts a pressing operation for switching between the autonomous movement mode and the user operation mode. With such a configuration, the program can accept a mode switching operation in a joystick device that enables intuitive movement operations.

[0028] The different light emission patterns may include light emission patterns in which at least one of the luminance, hue, saturation, and lightness emitted by the light emitting unit is made different. With such a configuration, the program can make it easier to know whether the mobile robot is waiting in the autonomous movement mode or the user operation mode when the mobile robot is waiting, by further informing the surroundings of the mobile robot.

[0029] Another program according to the present disclosure is a program for causing a computer provided in a server wirelessly connectable to a mobile robot capable of autonomous movement and user operation to execute determination processing. The mobile robot includes a light emitting unit that emits light in different light emission patterns associated with each of a plurality of predetermined conditions, and is switchable between an autonomous movement mode for autonomously moving the mobile robot and a user operation mode for moving the mobile robot based on a movement operation by a user. The light emitting unit emits light in different light emission patterns according to whether it is in the autonomous movement mode or the user operation mode for at least one of the plurality of predetermined conditions. The determination processing includes processing for determining whether the mobile robot is in the autonomous movement mode or the user operation mode based on an image of the mobile robot captured by a camera, at least when the server cannot communicate with the mobile robot. With such a configuration, the server can determine whether the mobile robot is in the autonomous movement mode or the user operation mode even when communication between the mobile robot and the server is impossible.

Effects of the Invention

[0030] According to this disclosure, a control system, control method, and program can be provided for an autonomously mobile and user-operable mobile robot that allows people around the mobile robot to easily determine, by visual inspection, whether the mobile robot is in standby mode or standby mode. [Brief explanation of the drawing]

[0031] [Figure 1] This is a perspective view showing an example of the overall configuration of a mobile robot according to an embodiment. [Figure 2] Figure 1 is a perspective view showing an example of the overall configuration of a wagon transported by a mobile robot. [Figure 3] This is a perspective view showing the mobile robot in Figure 1 transporting the wagon in Figure 2. [Figure 4] Figure 1 is a flowchart illustrating an example of the light emission process performed by the mobile robot. [Figure 5] This figure shows an example of a luminescence pattern that can be performed on the mobile robot in Figure 1. [Figure 6] This is a flowchart illustrating another example of the light emission process performed by the mobile robot in Figure 1. [Figure 7] This figure shows another example of a luminescence pattern that can be performed on the mobile robot in Figure 1. [Figure 8] This is a schematic diagram showing an example of the overall configuration of a system including a mobile robot according to an embodiment. [Figure 9] This is a flowchart illustrating an example of processing at the higher-level management device in the system shown in Figure 8. [Figure 10] This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0032] 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.

[0033] (Embodiment) The control system according to this embodiment performs system control for a system including a mobile robot that is autonomously mobile and user-operable. 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. When the mobile robot is configured to transport objects, the mobile robot can also be called a transport robot, and the above system can be called a transport system. Below, an example of the configuration of the mobile robot according to this embodiment will be described using Figures 1 and 2. Figure 1 is a perspective view showing an example of the overall configuration of the mobile robot according to this embodiment, and Figure 2 is a perspective view showing an example of the overall configuration of a wagon transported by the mobile robot in Figure 1.

[0034] The above-mentioned transport system and other systems only need to include a mobile robot like the mobile robot 100 shown in Figure 1, but they can also include other devices such as a higher-level management device. However, for the sake of simplicity, we will first describe an example in which the transport system is configured using only the mobile robot 100, and explain its main features. In this example, the control system can refer to the mobile robot 100 itself, or the components of the control system provided on the mobile robot 100.

[0035] 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.

[0036] Furthermore, the mobile robot 100 can move in both the forward and backward directions. That is, when the wheels rotate forward, the mobile robot 100 moves forward, and when they rotate backward, the mobile robot 100 moves backward. By changing the rotation speed of the left and right wheels, the mobile robot 100 can turn left or right.

[0037] As shown in Figure 1, the mobile robot 100 may include a chassis 110 for carrying objects, a stand 120, and an operating unit 130. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer 101, a drive motor, etc. The explanation assumes that the control computer 101 is mounted in the position shown on the chassis 110, but it is not limited to this position and may be mounted in other locations on the chassis 110, or part or all of it may be mounted on at least one of the stand 120 and the operating unit 130.

[0038] The chassis 110 rotatably holds the wheels 111. In the example shown in Figure 1, the chassis 110 is equipped with four wheels 111. These four wheels 111 are the left and right front wheels and the left and right rear wheels. By independently controlling the rotation direction and rotation speed of the wheels 111, the mobile robot 100 moves along a desired route. Some of the four wheels 111 may be drive wheels, and the rest may be driven wheels. Furthermore, as shown in Figure 1, additional driven wheels can be provided between the front and rear wheels 111, for example.

[0039] 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.

[0040] Figure 1 shows an example where the sensor consists of a camera 104 mounted on a stand 120 facing the +X side and a sensor 105 mounted on the front of the chassis 110. The sensor 105 can be mounted on a bumper provided at the front of the chassis 110 and detects when an object comes into contact with the bumper. If the mobile robot 100 detects 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 objects with bumpers 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 an object has come into contact with the provided bumper.

[0041] The mobile robot 100 is an autonomous mobile robot, but it is also equipped with the ability to move according to user operation; in other words, it is a mobile robot that can switch between autonomous movement mode and user operation mode. Through the above autonomous movement control, the mobile robot 100 can move autonomously along a route determined according to a set destination or based on a set route. In the above autonomous movement control, the mobile robot 100 can also move autonomously by using a learning model obtained through machine learning to determine the route and avoid collisions.

[0042] 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.

[0043] 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.

[0044] Furthermore, the user can be an employee at the facility where the mobile robot 100 is operated, and if the facility is a hospital, the user can be a hospital employee.

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

[0046] The control computer 101 autonomously controls the mobile robot 100 to move toward a pre-set destination or along a pre-set transport route, based on pre-stored map data and information acquired by various sensors as exemplified by the camera 104. This autonomous movement control can also include control for loading the wagon 500 shown in Figure 2 and control for unloading the wagon 500. The wagon 500 will be described later. The control computer 101 can be equipped with a movement control unit that performs such autonomous movement control.

[0047] For loading and unloading transported items such as wagons 500, the chassis 110 can be equipped with a lifting mechanism 140 for loading and unloading the transported items. Part of the lifting mechanism 140 can be housed inside the chassis 110, and it can also be positioned on the upper side of the chassis 110 with a mounting surface for placing the transported items exposed. The lifting mechanism 140 is a lifting stage that is provided to be able to move up and down, and can move up and down according to control from the control computer 101. The chassis 110 is equipped with a motor and guide mechanism for lifting. The upper surface of the lifting mechanism 140 becomes the mounting surface on which the wagon 500 as transported items is placed. The wagon 500 is not limited to the configuration shown in Figure 2, but can be any wagon of a predetermined size, shape, and weight that can be placed on the lifting mechanism 140 and transported. The lifting mechanism 140 has a lift mechanism for lifting the wagon 500. The space above the lifting mechanism 140 becomes the mounting space for loading the transported items. Furthermore, if the operation is limited to the user loading the wagon 500, the chassis 110 does not need to be equipped with the lifting mechanism 140.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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 should be configured to be operable in user operation mode. For example, the mobile robot 100 may be equipped with a device that allows operation in user operation mode, such as a joystick device, or it may be connected to an operating device for remote control.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Next, Figures 2 and 3 will be used to describe the details of the wagon 500 and an example of how the mobile robot 100 holds the wagon 500. Figure 3 is a perspective view showing the mobile robot 100 transporting the wagon 500.

[0060] The wagon 500 comprises a storage compartment for storing goods and a support section that supports the storage compartment, forming a space below the storage compartment into which at least a portion of the chassis 110 can enter. The storage compartment can be configured to include side panels 504 on both sides of the wagon 500 and an openable and closable cover 501, as shown in Figure 2. By opening the cover 501, the user can load and unload goods stored inside the wagon 500. The support section can be configured to include a support frame 505 that supports the storage compartment and wheels 502 attached to the underside of the support frame 505, as shown in Figure 2. The wheels 502 may also be equipped with covers, which are not shown.

[0061] 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.

[0062] As shown in Figure 3, the mobile robot 100 can hold the wagon 500 using the lifting mechanism 140. The space into which at least a part of the chassis 110 enters is the space S formed on the underside of the wagon 500 as shown in Figure 2, and this space S is the space into which the chassis 110 enters. In other words, the chassis 110 can enter the space S directly below the wagon 500. When the chassis 110 mounts the wagon 500, the mobile robot 100 moves in the -X direction and enters directly below the wagon 500. The chassis 110 enters directly below the wagon 500 from the side where the stand 120 is not provided in the front-rear direction. In this way, the wagon 500 can be mounted without the stand 120 interfering with the wagon 500. In other words, the stand 120 can be attached near the corner of the chassis 110 so as not to interfere with the wagon 500.

[0063] Furthermore, the contact portion of the lifting mechanism 140 that comes into contact with the bottom surface of the wagon 500 when transporting the wagon 500 loaded with the wagon 500, by connection or other means, can be provided with a recess 141, as shown in Figure 1. This contact portion can be the upper surface of the lifting mechanism 140. On the other hand, a protrusion (not shown) can be provided on the lower side of the storage portion of the wagon 500. The wagon 500 can then be fixed to the mobile robot 100 by fitting the protrusion into the recess 141.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] In the various examples described above, it was assumed that the mobile robot 100 transports a wagon, such as the wagon 500, as the transported object. However, even if the mobile robot 100 is configured to transport wagons, it may transport individual items (luggage) as the transported object during operation. In that case, it is advisable to attach a storage box or shelf to the mobile robot 100 to prevent the items from falling during transport.

[0070] 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.

[0071] Next, an example of the main features of this embodiment will be explained using Figures 4 and 5. Figure 4 is a flowchart illustrating an example of a light emission process performed by the mobile robot 100. Figure 5 is a diagram showing an example of a light emission pattern that can be executed by the mobile robot 100.

[0072] The main feature of this embodiment is that the mobile robot 100 includes an operating unit for performing operations such as movement on the mobile robot 100, as exemplified by the joystick device and the operating unit 130, and light-emitting units as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12. Although the explanation will describe an example in which the mobile robot 100 is equipped with an operating unit, it is also possible to configure the mobile robot 100 without an operating unit, and to enable movement operations of the mobile robot 100 from an operating unit provided elsewhere.

[0073] The control computer 101 then performs mode switching control to switch between the autonomous movement mode and the user operation mode as described above, as part of the system control described above. Here, the shape and size of the joystick device are not limited to those shown, and if movement operations are accepted from the operation unit 130, a user interface that accepts operations using software can be displayed on the screen. Furthermore, although an example is given in which the operation unit includes a joystick device and the operation unit 130, the operation unit can be any device that accepts operations to move the mobile robot 100 in user operation mode. However, the operation unit should also be able to accept operations to switch between the autonomous movement mode and the user operation mode, so that such switching operations can be performed at the mobile robot 100's location.

[0074] Furthermore, the control computer 101 includes light emission control as part of the system control described above, which causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission pattern can also be called the light emission mode. Here, an example is given in which the mobile robot 100 is equipped with light-emitting units in these two locations, but there may be one location or three or more locations, and the location, shape, and size of the light-emitting units are not limited to those exemplified. However, from the viewpoint of visibility from the surroundings, it is preferable to arrange the light-emitting units in multiple locations spaced apart from each other, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12. In addition, the correspondence between predetermined conditions and light emission patterns can be stored, for example, as a table in the internal memory of the control computer 101 and referred to when necessary.

[0075] Furthermore, although the predetermined conditions are not specified, the system may include at least one of the following: conditions relating to the mobile robot 100's driving state in relation to its driving environment, and conditions relating to the mobile robot 100's operating state. Driving state can refer to whether or not a driving abnormality related to the driving environment, such as contact with a wall, has occurred in the mobile robot 100. For convenience, operating state will be explained as a state other than the mode state of the mobile robot 100, such as whether it is in autonomous driving mode or user operation mode. Operating state will be explained as indicating whether or not there is some kind of operating abnormality, or indicating the content of that operating abnormality. Here, operating abnormality refers to any abnormality other than abnormalities in the mobile robot 100's driving state related to its driving environment, and can refer to various abnormalities of the mobile robot 100, such as battery depletion, drive unit abnormality, wheel abnormality, etc. The mobile robot 100 can also be configured to detect earthquakes, fires, etc., via external communication or by sensors installed in the mobile robot 100. In such a configuration, the predetermined conditions may include whether or not an earthquake or fire has occurred.

[0076] Furthermore, as part of the light emission control described above, the control computer 101 controls the emission of light in different patterns depending on whether it is in autonomous movement mode or user operation mode, for at least one of the plurality of predetermined conditions.

[0077] For this type of control, the control computer 101 first determines the running state of the mobile robot 100 based on the detection results from sensors such as sensor 105, and also determines the operating state, indicating whether or not the mobile robot 100 is operational (step S11). The order in which the running state and operating state are determined does not matter. Here, regarding the operating state, it is determined whether or not there is an operational abnormality, and which part the abnormality is located in, for example, the battery, drive unit, or wheels. This determination can be performed, for example, by the control computer 101 based on the results detected by various sensors installed on the mobile robot 100.

[0078] Here, the determination of the driving state can be performed by the control computer 101 performing information processing, image processing, etc., based on the detection results from sensors such as sensor 105, and this explanation will be based on the premise that the determination is made in this manner. However, the sensor may also have the function of performing detection in which the detection result itself indicates the determination result of the driving state, or the function of determining the driving state by performing information processing, image processing, etc., based on the sensing result. In that case, the sensor will transmit the determination result to the control computer 101, and the control computer 101 can use the received content from the sensor as the determination result of the driving state. Note that the determination of the driving state can also be performed by a determination unit provided separately from the control computer 101 that performs light emission control.

[0079] Similar to the determination of the driving state, the determination of the operating state can be performed by the control computer 101 performing information processing and image processing based on the detection results from various sensors, and this explanation assumes that the determination is made in this manner. However, sensors can also perform detections in which the detection result itself indicates the determination result of the operating state, or they can have the function of determining the operating state by performing information processing and image processing based on the sensing results. In that case, the sensor will transmit the determination result of the operating state to the control computer 101, and the control computer 101 can use the received content from the sensor as the determination result of the operating state. Note that the determination of the operating state can also be performed by a determination unit provided separately from the control computer 101 that controls the light emission.

[0080] Furthermore, the mobile robot 100 may be equipped with a storage unit (not shown) that stores information indicating the driving state and operating state acquired in this manner, for example, within the control computer 101. The control computer 101 can also determine the driving state and operating state, respectively, based on the most recently stored information indicating the driving state and operating state.

[0081] Following step S11, the control computer 101 determines whether the first predetermined condition is met based on the determined driving state and operating state (step S12). For convenience, the first predetermined condition will be explained assuming that there are no abnormalities in either the driving state or the operating state and that everything is normal.

[0082] Then, if the operation is normal, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern, as illustrated in the "First predetermined condition" in Figure 5 (step S13), and terminates the process.

[0083] On the other hand, if the control computer 101 is not functioning normally, that is, if there is any abnormality in the driving state or operating state, it determines whether the second predetermined condition is met (step S14). For convenience, the second predetermined condition will be explained assuming that in either the driving state or the operating state, or both, continuing to drive will lead to a state that requires action. If the second predetermined condition is met, the control computer 101 determines whether the vehicle is currently in autonomous movement mode or user operation mode (step S15). Information indicating whether the vehicle is in autonomous movement mode or user operation mode can be obtained by referring to the current movement mode of the control computer 101.

[0084] If the control computer 101 is in autonomous movement mode, it controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a second light-emitting pattern, as exemplified in "Second predetermined condition (autonomous movement mode)" in Figure 5 (step S16), and then terminates the process. On the other hand, if the control computer 101 is in user operation mode, it controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a third light-emitting pattern, as exemplified in "Second predetermined condition (user operation mode)" in Figure 5 (step S17), and then terminates the process. Of course, such processing can be repeated, for example, at predetermined determination intervals for the driving state or operating state, or whenever there is a change in the detection result of the sensor used to determine the driving state or operating state.

[0085] Furthermore, as shown in the examples of "First predetermined condition," "Second predetermined condition (autonomous movement mode)," and "Second predetermined condition (user operation mode)" in Figure 5, multiple light emission patterns corresponding to the driving state and operating state, such as the first light emission pattern, second light emission pattern, and third light emission pattern, can be performed in the same light emission area. In Figure 5, an example is given where the same light emission area is in both the first light emission unit 11 and the second light emission unit 12, but it may be either one or the other. This makes it easier for the user to notice an abnormality when the area that is normally emitting light is in a different state, and also makes it easier to notice and resolve the abnormality.

[0086] Furthermore, in this example, the first to third light emission patterns can be, for example, the first light emission pattern being the least conspicuous, the second light emission pattern being the most easily noticeable to those nearby, and the third light emission pattern being the most easily noticeable to the operator. Also, the light emission patterns controlled by the light emission control can include patterns that turn off the lights, for example, by setting the first light emission pattern to a pattern that turns off both the first light emission unit 11 and the second light emission unit 12. As described above, the light emission patterns to be adopted, such as the first to third light emission patterns and other light emission patterns described later, can be stored, for example, in a table in the control computer 101 and referenced during light emission control.

[0087] In this example, the same light emission pattern was used for both the autonomous movement mode and the user operation mode in the first light emission pattern. However, even if the answer in step S12 is YES, the light emission pattern may be different depending on these modes. Furthermore, although this example uses only two predetermined conditions, such as the first and second predetermined conditions, it is also possible to use three or more predetermined conditions to further subdivide the conditions and present different light emission patterns according to each predetermined condition.

[0088] Furthermore, if either the driving state or the operating state of the mobile robot 100 shows an abnormality, it will often be stopped, that is, in standby mode. Therefore, by performing light emission control according to the autonomous driving mode and user operation mode as described above, the mobile robot 100 can easily make it possible for people in the vicinity to determine which mode it is stopped in. In other words, when the mobile robot 100 is in standby mode, people around the mobile robot 100 can visually determine whether it is in standby mode in autonomous driving mode or user operation mode. Here, "surroundings" can include not only people present in the vicinity but also surveillance cameras, which will be described later as environmental cameras, and it can be said that the driving state can be clearly captured by surveillance cameras as well. The first light-emitting unit 11 and the second light-emitting unit 12 can also function as indicators to show whether it is in autonomous driving mode or user operation mode, as can be seen from the above explanation.

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

[0090] Furthermore, as described above, the second light-emitting unit 12 is a light-emitting unit provided on or around the joystick device used to operate the mobile robot 100. The mobile robot 100 is positioned at a high location that is easily visible to the operator and those around it, particularly as illustrated by the second light-emitting unit 12. This makes it possible to clearly communicate to those around the mobile robot 100 which predetermined conditions it is meeting, whether it is in autonomous movement mode or user operation mode, even from directions where its mounting position may be difficult to see depending on the transported items such as the wagon 500.

[0091] Furthermore, as described above, the mobile robot 100 may be equipped with a sensor 105 that detects contact of an object with the outer periphery of the mobile robot 100. In this case, the determination of the running state will be as follows: The control computer 101 determines that the running state is abnormal if the sensor 105 detects that an object is in contact with the mobile robot 100, and determines that the running state is not abnormal if the sensor 105 does not detect that an object is in contact with the mobile robot 100. If at least one of the predetermined conditions is set to indicate that such contact has occurred, the occurrence of contact can be indicated by a different light emission pattern than other light emission patterns.

[0092] With this configuration, the mobile robot 100 can clearly notify its surroundings when it is in contact with an object, and also clearly notify its surroundings when the contact is released. Furthermore, by equipping the mobile robot 100 with sensors such as sensor 105 that detect contact of objects with bumpers provided on the outer circumference of the mobile robot 100, the bumpers can protect the body of the mobile robot 100 and the object it has come into contact with. In addition, the determination of abnormal conditions is not limited to sensor 105, but can also be performed based on information from other sensors, such as camera 104 mounted on the mobile robot 100.

[0093] Furthermore, control to differentiate the light emission patterns, such as a first light emission pattern and a second light emission pattern, may include control to differentiate at least one of the luminance, hue, saturation, and brightness parameters emitted by the light emission units exemplified by the first light emission unit 11 and the second light emission unit 12. In addition, in examples where multiple light emission units are arranged at spaced-apart positions, as exemplified by the first light emission unit 11 and the second light emission unit 12, control to differentiate the light emission patterns may also include control to make the light emission parameters of the first light emission unit 11 and the second light emission unit 12 different from each other. Here, the light emission parameter can be at least one of the luminance, hue, saturation, and brightness parameters mentioned above.

[0094] Furthermore, in examples where light-emitting units are arranged at multiple positions spaced apart from each other, as illustrated by the first light-emitting unit 11 and the second light-emitting unit 12, the control for differentiating the light-emitting patterns may include differentiating the positions at which the lights are emitted. In one light-emitting pattern, the lights may be emitted at all positions, while in another light-emitting pattern, the lights may be kept off at all positions. For example, the control for differentiating the light-emitting patterns may include a control that turns off one of the first light-emitting unit 11 and the second light-emitting unit 12 and emits light only on the other, that is, an on / off control of the light emission.

[0095] Furthermore, in examples where light-emitting units are arranged at multiple positions spaced apart from each other, as illustrated by the first light-emitting unit 11 and the second light-emitting unit 12, differentiating the light-emitting patterns can also include differentiating the multiple positions that emit light synchronously. With such a configuration, the mobile robot 100 can more clearly communicate its movement status to those around it.

[0096] Examples of such light emission patterns are given below. In one light emission pattern, only the first light-emitting unit 11 is illuminated; in another light emission pattern, only the second light-emitting unit 12 is illuminated; and in yet another light emission pattern, the first light-emitting unit 11 and the second light-emitting unit 12 are illuminated in sync. Examples of syncing the illumination of both include the "first predetermined condition" and the "second predetermined condition (user operation mode)" shown in Figure 5. In the example where the mobile robot 100 is equipped with light-emitting units in three or more locations, a light emission pattern can be selected from among many light emission patterns obtained from various combinations of the three or more light-emitting units provided.

[0097] Conversely, an example of emitting light without synchronizing the two is the "Second predetermined condition (autonomous movement mode)" example in Figure 5. In the "Second predetermined condition (autonomous movement mode)" example in Figure 5, the first light-emitting unit 11 and the second light-emitting unit 12 are shown with opposite hatching, but this is for convenience and indicates that only their phases are different. However, this example can also be considered as an example where the lighting timing of the first light-emitting unit 11 and the turning-off timing of the second light-emitting unit 12 are synchronized when the first light-emitting unit 11 and the second light-emitting unit 12 are emitted alternately. In this way, the control computer 101 can control the emission of light from the first light-emitting unit 11 and the second light-emitting unit 12 so that their emission timings are swapped, that is, their emission times are reversed, as a certain emission pattern.

[0098] Beyond simply swapping the timing of light emission, the control computer 101 can also cause the first light-emitting unit 11 and the second light-emitting unit 12 to emit light at different phases as a certain light emission pattern, thereby presenting light emission at various rhythms to the surroundings.

[0099] Furthermore, at multiple locations where light is emitted synchronously, it is also possible to emit light in mutually complementary light patterns. Mutually complementary light patterns include patterns in which the light emitted from the first light-emitting unit 11 and the light emitted from the second light-emitting unit 12 are complementary colors, or patterns in which the first light-emitting unit 11 and the second light-emitting unit 12 emit light in colors that are easy to see as a set.

[0100] Furthermore, the second light-emitting unit 12 can also include a plurality of individual light-emitting units arranged to surround the stick unit 131 at positions that are different from each other in distance from the horizontal center position of the stick unit 131. In other words, the second light-emitting unit 12 can include individual light-emitting units arranged in double or triple layers to surround the stick unit 131. This allows the second light-emitting unit 12 alone to present a variety of lighting patterns. In particular, in situations where operation is to be encouraged, the light-emitting points can be moved sequentially from the inner individual light-emitting units to the outer individual light-emitting units. Similarly, the first light-emitting unit 11 can also be equipped with a plurality of individual light-emitting units.

[0101] By using the various light emission patterns described above, the mobile robot 100 can more clearly communicate to those around it which predetermined conditions it is meeting, whether it is in autonomous movement mode or user operation mode, etc. Furthermore, for example, the control computer 101 can reduce the light emission to conserve power when there is no abnormal condition, or make the light emission more conspicuous when there is an abnormal condition to better inform those around it of the occurrence of a movement abnormality.

[0102] Furthermore, the system control described above may include control to stop the movement of the mobile robot 100 if it determines that the movement state is abnormal. This allows the movement of the mobile robot 100 to be stopped if the movement state is abnormal, thereby preventing the occurrence of a more severe situation.

[0103] Next, other examples of light emission processing that can be employed in this embodiment will be described with reference to Figures 6 and 7. Figure 6 is a flowchart illustrating another example of light emission processing performed by the mobile robot 100. Figure 7 is a diagram showing another example of a light emission pattern that can be performed by the mobile robot 100.

[0104] At least one of the multiple predetermined conditions adopted can be a condition that encourages user-initiated movement. Hereinafter, such predetermined conditions will be referred to as recommended conditions. Recommended conditions refer to conditions that necessitate prompting user-initiated movement. For example, recommended conditions may refer to situations where the mobile robot 100 is not malfunctioning but is unable to move due to a movement abnormality such as colliding with a wall. Movement operations here can be received from either the control unit 130 or the joystick device, or both, but can also be received from a control unit not provided on the mobile robot 100.

[0105] By setting these conditions, the mobile robot 100 can make a notification recommending user-initiated movement visible to people around the mobile robot 100. Furthermore, the multiple predetermined conditions adopted can include multiple recommendation conditions, each recommending a different operation, thereby allowing the recommendation content to be presented to the surroundings through differences in the light emission pattern.

[0106] Furthermore, the recommended conditions may also include conditions for recommending an operation to switch from autonomous movement mode to user operation mode, that is, conditions for recommending an operation to enable movement operations on the control unit for the mobile robot 100. For example, this condition could be a situation where the robot is in a state where there are many people around and it is determined that operating in autonomous movement mode would lead to a situation that requires action. This allows the mobile robot 100 to display a notification recommending a switch to user operation mode to people around it, and if there is a staff member capable of operating the robot among them, they can be prompted to switch to user operation mode.

[0107] Furthermore, the recommended conditions may also include conditions that recommend an operation to move the mobile robot 100 in a predetermined direction. For example, this condition could be that there are many people around the mobile robot 100, necessitating a detour. It is helpful to indicate the detour route as the predetermined direction, which is particularly useful in user operation mode.

[0108] In particular, the control computer 101 may control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light indicating the predetermined direction when the recommended conditions for recommending movement in the predetermined direction are met. For example, the position of the light emission may be changed according to the predetermined direction. In this case, by controlling the light-emitting units near the operating unit, such as the second light-emitting unit 12 located around the joystick device, to indicate the predetermined direction, it becomes easier for the operator to recognize the predetermined direction. In this example, the light emission will indicate the actual recommended direction of movement, i.e., the recommended orientation, so the position of the light emission will also change according to the current orientation of the mobile robot 100, i.e., the current orientation.

[0109] An example of the control described above will now be explained. The control computer 101 determines the travel state and operating state of the mobile robot 100, similar to step S11 in Figure 4 (step S21). Next, the control computer 101 determines whether or not one of the multiple predetermined conditions is met based on the determined travel state and operating state (step S22). If the result of this determination is NO, i.e., NO in step S23, the process is terminated.

[0110] On the other hand, if the answer in step S23 is YES, the control computer 101 determines whether the current mode is autonomous movement mode or user operation mode (step S24). In step S24, information indicating whether the operating state is autonomous movement mode or user operation mode can be obtained by referring to the current movement mode of the control computer 101.

[0111] Next, the control computer 101 selects a light emission pattern corresponding to the predetermined conditions met and the current mode (step S25). Then, the control computer 101 controls the first light emission unit 11 and the second light emission unit 12 to emit light according to the selected light emission pattern (step S26), and terminates the process. Such processing can be repeated, for example, whenever there is a change in the detection result of the sensor used to determine the driving state or operating state, or at predetermined intervals.

[0112] In steps S25 and S26, the control computer 101 can, for example, select a light emission pattern and control the light emission based on the correspondence between the state and the light emission pattern as illustrated in Figure 7.

[0113] Furthermore, Figure 7 illustrates the light emission patterns defined by the light emission color and its illumination pattern for the first light emission unit 11 and the second light emission unit 12, respectively, for the cases of "autonomous movement mode and normal," "user operation mode and normal," and when either the driving state or the operating state indicates an "abnormality." Here, "normal" means that both the driving state and the operating state are normal. As can be seen from the examples of light emission patterns in Figure 7, the second light emission unit 12, which is close to the operation unit 130 and the stick unit 131, mainly represents the normal mode and abnormality of the mobile robot 100, while the first light emission unit 11 also represents the detailed state of the mobile robot 100 in autonomous movement mode.

[0114] In Figure 7, the detailed operating states in autonomous movement mode are represented by dividing the "autonomous movement mode and normal" state into the following four cases. Specifically, Figure 7 illustrates the lighting patterns for each of the following states: "Autonomous movement in progress," which indicates the state while autonomous movement is in progress; "Standby," which indicates that autonomous movement control is being performed but the robot is stopped and in standby mode; "Prompting for action," which indicates a situation where the user is prompted to take some action; and "Warning," which indicates a situation where the user or the surroundings are warned. In this example, "Standby" can refer to cases such as when the mobile robot 100 is being charged by the charger or waiting for an elevator. "Prompting for action" can refer to cases such as when the mobile robot 100 has arrived at its destination. "Warning" can refer to cases such as when the lifting mechanism 140 is being raised or lowered or when the mobile robot 100 is approaching an intersection. "Autonomous movement in progress" refers to any other autonomous movement in progress.

[0115] Furthermore, Figure 7 shows examples of lighting patterns that include a "breathing rhythm," which changes the luminescence in a rhythm similar to human breathing, and a "flow of lit areas," which causes the lit areas to move. An example of the flow of lit areas is that, for example, the first light-emitting unit 11 is lit so that the lit areas rotate around the lifting mechanism 140, and the second light-emitting unit 12 is lit so that the lit areas rotate around the stick part 131.

[0116] Furthermore, the examples of colors and lighting patterns illustrated in Figure 7 can, of course, also be applied to the processing examples described in Figures 4 and 5.

[0117] As illustrated in Figure 7 for the case of "prompting operation," the light emission pattern corresponding to the recommended conditions can be emitted by at least the second light emission unit 12. With this configuration, a notification recommending user movement can be displayed in a position that is easily visible from the operation location and its surroundings, making it visible to people around the mobile robot, such as the operator.

[0118] Furthermore, while Figure 7 shows an example where a single light emission pattern is used in the event of an anomaly, it is also possible to change the light emission pattern depending on whether the anomaly occurs in autonomous movement mode or in user-operated mode.

[0119] Furthermore, although not illustrated in Figure 7, the first light-emitting unit 11 may also emit light in a pattern corresponding to conditions other than the recommended conditions among the multiple predetermined conditions that can be adopted. With such a configuration, notifications other than those recommending user movement operations can be seen by people around the mobile robot at a location different from the operation location or its surroundings, making it easy for them to determine that the notification is not a recommendation for operation. Other examples of notifications that do not recommend user movement operations will be described later.

[0120] The above describes a configuration in which the mobile robot 100 is equipped with a joystick device for operating the mobile robot 100. In this configuration, basically, a control unit (exemplified by the control computer 101) provided in addition to the joystick device of the mobile robot 100 only needs to output control signals for light emission control to the first light-emitting unit 11 and the second light-emitting unit 12. However, a control unit (not shown) provided in the joystick device may also output control signals for light emission control to the first light-emitting unit 11 and the second light-emitting unit 12. In that case, the control computer 101 may perform the determination of predetermined conditions for light emission control and pass it to the control unit provided in the joystick device, or the control unit provided in the joystick device may also perform the determination of predetermined conditions for light emission control.

[0121] In the above description, an example was given in which the transport system mainly consists of a mobile robot 100. However, the control system according to this embodiment can be any system that performs system control for a transport system or other system including a mobile robot, as described above. Furthermore, this system may also be equipped with a server that can be connected to the mobile robot 100 via wireless communication. This server is a server that provides information for autonomous movement to the mobile robot 100. This server can also be called a higher-level management device, and it is not limited to being a single device, but can also be constructed as a system in which the functions are distributed among multiple devices.

[0122] Below, using Figure 8, we will illustrate an example in which this transport system is configured to include a mobile robot 100 and a higher-level management device. Figure 8 is a schematic diagram showing an example of the overall configuration of a transport system including the mobile robot 100.

[0123] As shown in Figure 8, the transport system 1 comprises a mobile robot 100, a higher-level management device 2, a network 3, a communication unit 4, an environmental camera 5, and a user terminal device 300. The transport system 1 is a system that transports objects using the mobile robot 100, and includes the control system in this example configuration. In this example, the control system can refer to the mobile robot 100 and the higher-level management device 2, or to the components of the control system provided in the mobile robot 100 and the higher-level management device 2. Alternatively, the control system can refer to, for example, the mobile robot 100, the higher-level management device 2, and the user terminal device 300, or to the components of the control system provided in the mobile robot 100, the higher-level management device 2, and the user terminal device 300.

[0124] 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.

[0125] The higher-level management device 2 is a device that can connect to the mobile robot 100 wirelessly and is a management system for managing multiple mobile robots 100, and may include a control unit 2a that controls them. The control unit 2a can be implemented, for example, by an integrated circuit, and can be implemented by a processor such as an MPU or CPU, working memory, and a non-volatile storage device. A control program executed by the processor is stored in this storage device, and the processor can perform the functions of the control unit 2a by reading the program from the working memory and executing it. The control unit 2a may be called a control computer.

[0126] 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.

[0127] To achieve such efficient control, multiple environmental cameras 5 can be installed within the facility. The environmental cameras 5 acquire images of the area in which people or mobile robots 100 move and output image data representing those images. This image data may be still image data or moving image data; if it is still image data, still image data will be obtained at each imaging interval. In the transport system 1, the images acquired by the environmental cameras 5 and the information based thereon are collected by the higher-level management device 2. For images used to control the mobile robot 100, the images acquired by the environmental cameras 5 may be transmitted directly to the mobile robot 100, or in user operation mode, they may be transmitted to the user terminal device 300 via the higher-level management device 2 or directly. The environmental cameras 5 can be installed as surveillance cameras in passageways and entrances within the facility.

[0128] 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.

[0129] 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.

[0130] The user terminal device 300 is a device that remotely controls the mobile robot 100 via the higher-level management device 2 or directly when in user operation mode, and can be equipped with communication functions and a display unit 304. If the user terminal device 300 remotely controls the mobile robot 100 via the higher-level management device 2, then the user terminal device 300 can also be considered equivalent to the remote control device of the higher-level management device 2. Various types of terminal devices, such as tablet computers and smartphones, can be used as the user terminal device 300. Furthermore, the user terminal device 300 can accept switching operations between user operation mode and autonomous movement mode, and when this switching operation is performed, the mode can be switched on the mobile robot 100 via the higher-level management device 2.

[0131] Here, we give an example in which the user terminal device 300 is equipped with a joystick device. In addition to the main body 31, the user terminal device 300 may be equipped with a stick part 302 and a button 303 as part of the joystick device. This joystick device is a device that, in user operation mode, moves the mobile robot 100 in the direction intended by the user. Directional control can be accepted by tilting the stick part 302 in the direction to be moved. The button 303 can be provided, for example, on the upper surface of the stick part 131. The joystick device can also be controlled to perform a switching operation, which switches 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.

[0132] 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.

[0133] 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.

[0134] Furthermore, the user terminal device 300 can function as a device for making transport requests to the higher-level management device 2. This transport request can also include information indicating the items to be transported.

[0135] In the transport system 1 configured as described above, the higher-level management device 2 may output a control signal for light emission control, regardless of whether the joystick device is provided on the mobile robot 100, on the user terminal device 300, or on both. When the higher-level management device 2 outputs this control signal, it can be output by the control unit 2a. In that case, the control unit 2a of the higher-level management device 2 may determine the predetermined conditions for light emission control, but the control computer 101 may perform this determination and pass it to the higher-level management device 2, or the control unit provided on the joystick device may perform this determination and pass it to the higher-level management device 2.

[0136] Alternatively, the transport system 1 can be configured such that a control unit (not shown) provided in the joystick device outputs a control signal for light emission control. Here, if the joystick device is provided in either the mobile robot 100 or the user terminal device 300, the control unit of that joystick device can output a control signal. If it is provided in both, either the control unit of the joystick device will output a control signal, or the control unit of the joystick device provided in the mobile robot 100 will output a control signal to itself or to light-emitting units provided around itself.

[0137] Alternatively, in the transport system 1 configured as described above, the control unit (exemplified by the control computer 101) provided in the mobile robot 100 can be configured to output a control signal for light emission control. In that case, the control computer 101 can determine the predetermined conditions for light emission control, but the control unit 2a of the higher-level management device 2 or the control unit provided in the joystick device may also perform this determination and pass it to the mobile robot 100. Furthermore, the transport system can be configured without the higher-level management device 2 instead of the transport system 1. In such a configuration, the control unit of the mobile robot 100, as exemplified by the control computer 101, can determine the predetermined conditions and output a control signal for light emission control, but for example, the control unit provided in the joystick device of the mobile robot 100 can also determine the predetermined conditions and output a control signal for light emission control.

[0138] Furthermore, the control system in the transport system 1 can perform the following control when at least the higher-level management device 2 is unable to communicate with the mobile robot 100. That is, in such a case of communication failure, the control system can determine whether the mobile robot 100 is in autonomous movement mode or user operation mode based on the light emission pattern shown in the image captured by the environmental camera 5. Note that this image may be an image captured by another mobile robot camera provided in the transport system 1, in addition to or instead of the image captured by the environmental camera 5.

[0139] As illustrated in Figures 5 and 7, the mobile robot 100 can display various light emission patterns depending on whether predetermined conditions are met, and the higher-level management device 2 can determine the current mode and state of the mobile robot 100 from the currently displayed light emission pattern. In the example in Figure 7, a single light emission pattern is shown in the event of an abnormality, but even in the event of an abnormality, the higher-level management device 2 can determine whether the robot is in autonomous movement mode or user operation mode by changing the light emission pattern depending on whether the abnormality occurs in autonomous movement mode or user operation mode.

[0140] With this configuration, the control system of the transport system 1 allows the higher-level management device 2 to determine whether the mobile robot 100 is in a state that satisfies predetermined conditions, and whether it is in autonomous movement mode or user-operated mode, even when communication between the mobile robot 100 and the higher-level management device 2 is impossible.

[0141] As a result, for example, if a mobile robot 100 that is unable to communicate meets certain predetermined conditions and is in autonomous movement mode, the higher-level management device 2 can instruct a user to manually move, retrieve, or inspect the mobile robot 100. The user can then perform the task according to those instructions. Also, for example, if a mobile robot 100 that is unable to communicate meets certain predetermined conditions that put it into standby mode and is in user operation mode, the operator will be away from the mobile robot 100 and leaving it unattended. In such a case, the higher-level management device 2 can also notify the operator to return to the location of the mobile robot 100.

[0142] Here, we will explain how the mobile robot 100 can determine a driving abnormality. In the transport system 1, the mobile robot 100 can also determine a driving abnormality in the manner described in Figure 1, etc.

[0143] As an alternative method of determination, the mobile robot 100 can also determine driving abnormalities from images captured by the environmental camera 5 and transmitted directly to the mobile robot 100 or via the higher-level management device 2. Here, instead of the environmental camera 5, images captured by cameras of other mobile robots can also be used for determination. In other words, the control computer 101 can determine driving abnormalities based on images captured by cameras installed in the facility where the mobile robot 100 is operated, such as the environmental camera 5 or cameras of other mobile robots. Furthermore, the control unit 2a of the higher-level management device 2 can also perform such determinations, in which case it is advisable to transmit information indicating the driving status to the mobile robot 100 in advance to prepare for the possibility of a failure in wireless communication with the higher-level management device 2.

[0144] Furthermore, even in a configuration where the mobile robot 100 acquires information indicating its driving status from the higher-level management device 2, the mobile robot 100 can acquire this information before communication with the higher-level management device 2 is interrupted. Therefore, the mobile robot 100 can perform light emission control according to the information obtained before communication is interrupted.

[0145] Next, Figure 9 will be used to explain an example of processing in the higher-level control device 2 in the transport system 1. Figure 9 is a flowchart illustrating the example of processing in the higher-level control device 2 in the transport system 1 shown in Figure 8.

[0146] First, the higher-level management device 2 monitors the communication unit (not shown) of the control unit 2a, checks the communication status with the mobile robot 100 (step S31), and determines whether communication is possible (step S32). If the control unit 2a determines that communication with the mobile robot 100 is possible, it returns to step S31 and continues monitoring. If the control unit 2a determines that communication with the mobile robot 100 is impossible, it acquires images from a camera (step S33). This camera can be the environmental camera 5, a camera on another mobile robot traveling near where communication with the mobile robot 100 was lost, or both.

[0147] Next, the control unit 2a analyzes the light emission pattern of the mobile robot 100 based on the acquired image, determines whether the mobile robot 100 is in autonomous movement mode or user operation mode (step S34), and terminates the process. Of course, step S34 can also include determining which predetermined conditions are met. The control unit 2a can also be configured to use a learning model obtained through machine learning to determine whether the mobile robot 100 is in autonomous movement mode or user operation mode from the image when analyzing the light emission pattern and making determinations on the mobile robot 100.

[0148] In this way, even when communication between the mobile robot 100 and the higher-level management device 2 is impossible, the control system of the transport system 1 allows the higher-level management device 2 to determine whether the mobile robot 100 is in autonomous movement mode or user operation mode, as indicated by its light emission pattern, and which predetermined conditions are being met.

[0149] Furthermore, in a configuration where the mobile robot 100 can express its operating status with a light emission pattern, that is, a configuration in which the predetermined conditions include conditions related to the operating status, this control system can determine the operating status of the mobile robot 100 from the light emission pattern shown in the image. As a result, for example, if the mobile robot 100 is unable to communicate and is in an abnormal operating state, the system can instruct the user to retrieve or inspect the mobile robot 100, and the user can carry out the task according to those instructions.

[0150] Furthermore, even in configurations without a higher-level management device 2, the transport system can be equipped with an environmental camera 5 that can communicate wirelessly with the mobile robot 100. In such configurations, the mode of the mobile robot 100 can also be determined from images obtained from the environmental camera 5. Of course, if the mobile robot 100 can communicate with other mobile robots, the mode of the mobile robot 100 can also be determined based on images acquired by cameras mounted on those other mobile robots.

[0151] Furthermore, while the explanation described an example where the mobile robot 100 and the user terminal device 300 are equipped with joystick devices as the operation interface for controlling the movement of the mobile robot 100, various other types of operation interfaces can also be adopted. As an operation interface, for example, an operation device that accepts movement commands from a user interface displayed using software, as exemplified for the operation unit 130, can also be adopted. The light-emitting unit can also be realized by displaying a light-emitting pattern on the user interface. In addition, the operation interface can be, for example, a touch sensor, or an operation device equipped with a touch sensor. With this touch sensor, the user can perform a finger slide operation to accept movement commands for the mobile robot 100.

[0152] Furthermore, in the embodiments described above, it was assumed that at least one of the multiple predetermined conditions is a predetermined condition (recommended condition) for recommending user-operated movement of the mobile robot 100. However, at least one of the multiple predetermined conditions may be a non-recommended condition, which is a predetermined condition for not recommending user-operated movement of the mobile robot 100. Below, an example of applying such a non-recommended condition will be briefly described, but the explanations of various examples when the recommended condition is applied can be used as a reference.

[0153] A discouraged condition is the opposite of a recommended condition. For example, it can be a condition that makes user-initiated movement unnecessary when user-initiated movement has already been performed. Such a condition could be a condition that causes the recommended condition, which was the premise for recommending user-initiated movement, to no longer be met, i.e., a condition that cancels the recommended condition or eliminates the recommended condition. For example, a discouraged condition could include a condition that discourages user operation to enable movement operations for the mobile robot 100, i.e., a condition that discourages operation to switch from autonomous movement mode to user-initiated mode. Furthermore, a discouraged condition could include a condition that discourages movement operations that move the mobile robot 100 in a predetermined direction. For example, a discouraged condition could be a condition that causes a movement abnormality, such as the mobile robot 100 colliding with a wall, if it continues to move in the predetermined direction.

[0154] If the discouraged conditions are met, the control computer 101 can control, for example, the first light-emitting unit 11 and the second light-emitting unit 12 to emit light. With such a configuration, in situations where it is undesirable for the user to perform movement operations on an autonomously mobile and user-operable mobile robot, the user can be made aware that movement operations are unnecessary. To give just one more specific example, if the discouraged conditions are met in which movement operations in the predetermined direction are not recommended, the control computer 101 may control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light indicating the predetermined direction.

[0155] Furthermore, while the example shown for the multiple predetermined conditions to be adopted includes multiple recommended conditions where the recommended operations are different from each other, that is, an example including a set of multiple recommended conditions where the recommended operations are different from each other, it is also possible to adopt the non-recommended conditions described above. In other words, the multiple predetermined conditions to be adopted can include a set of multiple non-recommended conditions where the operations that are not recommended are different from each other. This makes it possible to make the user aware of the operations that are undesirable among the multiple operations. Alternatively, the multiple predetermined conditions to be adopted can also include a set of recommended and non-recommended conditions where the recommended operation and the non-recommended operation are the same. This makes it possible to make the user aware of the situations in which a certain operation is desirable and the situations in which it is undesirable.

[0156] Furthermore, if at least one of the multiple predetermined conditions adopted is a non-recommended condition, the light emission control may include control to cause the light-emitting part to emit light in the direction of the predetermined direction, or to emit light in the opposite direction, if the non-recommended condition is met, which discourages movement in the predetermined direction. When controlling the light to emit light in the predetermined direction, it is advisable to use a different color than the light emission color under the recommended conditions to clearly indicate the difference to the user. With such a configuration, the control system can inform the user in an easy-to-understand manner that movement in the predetermined direction is unnecessary.

[0157] Furthermore, if at least one of the multiple predetermined conditions adopted is a non-recommended condition, the light emission pattern associated with the non-recommended condition may be a light emission pattern emitted by at least the first light emission unit. When performing such control, it is advisable to present the difference to the user clearly by emitting a different color than the light emission color for the recommended conditions. With this configuration, the control system can display a notification that user movement is not recommended in a location easily visible from the operation location or its surroundings, thereby more reliably informing the user that user operation is unnecessary.

[0158] Furthermore, if at least one of the multiple predetermined conditions adopted is a non-recommended condition, the light emission pattern associated with that non-recommended condition may be a light emission pattern emitted by at least the second light emission unit 12. With this configuration, the control system can make the user of the mobile robot see a notification that the user does not recommend moving the robot at a location different from the operating position or its surroundings, allowing the user to easily determine that the notification does not recommend moving the robot.

[0159] Furthermore, the various devices described above, such as the control computer 101, the higher-level management device 2, and the user terminal device 300 of the mobile robot 100 according to the above-described embodiment, can all have, for example, the following hardware configuration. Alternatively, an operating device such as a joystick device provided in the mobile robot 100 or the user terminal device 300 can have the following hardware configuration. Figure 10 shows an example of the hardware configuration of the device.

[0160] The device 1000 shown in Figure 10 may include a processor 1001, a memory 1002, and an interface 1003. The interface 1003 may include interfaces to the device as needed, such as a communication interface, or interfaces to a drive unit, sensors, input / output devices, etc.

[0161] 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.

[0162] 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.

[0163] 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]

[0164] 1. Conveying System 2 Upper management device 3 Network 4. Communication Unit 5. Environmental Cameras 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 300 User terminal devices 500 Wagon 501 Cover 502 wheels

Claims

1. Performs system control to control a system including an autonomously mobile and user-operable mobile robot. The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. At least one of the aforementioned plurality of predetermined conditions is a recommended condition, which is a predetermined condition for recommending the movement operation, or a non-recommended condition, which is a predetermined condition for not recommending the movement operation. Control system.

2. The aforementioned recommended conditions include conditions for recommending the operation of switching from the autonomous movement mode to the user operation mode, and the aforementioned non-recommended conditions include conditions for not recommending the operation of switching from the autonomous movement mode to the user operation mode. The control system according to claim 1.

3. The light-emitting unit includes an operating unit that receives the movement operation or a first light-emitting unit provided around the operating unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The light emission pattern corresponding to the above recommended conditions is one in which light is emitted at least by the first light emission unit. The control system according to claim 1 or 2.

4. The light-emitting unit comprises a first light-emitting unit provided on or around the operating unit that receives the movement operation, and a second light-emitting unit disposed at a position separated from the first light-emitting unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The second light-emitting unit emits a light-emitting pattern corresponding to one of the plurality of predetermined conditions other than the recommended condition. The control system according to claim 1 or 2.

5. Performs system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The system includes a joystick device that accepts the movement operation, The joystick device includes a button that accepts a press operation to switch between the autonomous movement mode and the user operation mode. Control system.

6. Performs system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The aforementioned different light emission patterns include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light emission unit is different. Control system.

7. A control system that performs system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The system includes a server that can connect to the mobile robot wirelessly, The control system, at least when the server is unable to communicate with the mobile robot, determines whether the mobile robot is in autonomous movement mode or user operation mode based on an image of the mobile robot captured by a camera and the light emission pattern shown in the image. Control system.

8. Performs system control to control a system including an autonomously mobile and user-operable mobile robot. The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. At least one of the aforementioned plurality of predetermined conditions is a recommended condition, which is a predetermined condition for recommending the movement operation, or a non-recommended condition, which is a predetermined condition for not recommending the movement operation. Control method.

9. The aforementioned recommended conditions include conditions for recommending the operation of switching from the autonomous movement mode to the user operation mode, and the aforementioned non-recommended conditions include conditions for not recommending the operation of switching from the autonomous movement mode to the user operation mode. The control method according to claim 8.

10. The light-emitting unit includes an operating unit that receives the movement operation or a first light-emitting unit provided around the operating unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The light emission pattern corresponding to the above recommended conditions is one in which light is emitted at least by the first light emission unit. The control method according to claim 8 or 9.

11. The light-emitting unit comprises a first light-emitting unit provided on or around the operating unit that receives the movement operation, and a second light-emitting unit disposed at a position separated from the first light-emitting unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The second light-emitting unit emits a light-emitting pattern corresponding to one of the plurality of predetermined conditions other than the recommended condition. The control method according to claim 8 or 9.

12. Performs system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The system includes a joystick device that accepts the movement operation, The joystick device includes a button that accepts a press operation to switch between the autonomous movement mode and the user operation mode. Control method.

13. Performs system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The aforementioned different light emission patterns include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light emission unit is different. Control method.

14. A control method for performing system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The system includes a server that can connect to the mobile robot wirelessly, The control method, at least when the server is unable to communicate with the mobile robot, determines whether the mobile robot is in autonomous movement mode or user operation mode based on an image of the mobile robot captured by a camera and the light emission pattern shown in the image. Control method.

15. A program for causing a computer to perform system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. At least one of the aforementioned plurality of predetermined conditions is a recommended condition, which is a predetermined condition for recommending the movement operation, or a non-recommended condition, which is a predetermined condition for not recommending the movement operation. program.

16. The aforementioned recommended conditions include conditions for recommending the operation of switching from the autonomous movement mode to the user operation mode, and the aforementioned non-recommended conditions include conditions for not recommending the operation of switching from the autonomous movement mode to the user operation mode. The program according to claim 15.

17. The light-emitting unit includes an operating unit that receives the movement operation or a first light-emitting unit provided around the operating unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The light emission pattern corresponding to the above recommended conditions is one in which light is emitted at least by the first light emission unit. The program according to claim 15 or 16.

18. The light-emitting unit comprises a first light-emitting unit provided on or around the operating unit that receives the movement operation, and a second light-emitting unit disposed at a position separated from the first light-emitting unit. At least one of the aforementioned plurality of predetermined conditions is the recommended condition, The second light-emitting unit emits a light-emitting pattern corresponding to one of the plurality of predetermined conditions other than the recommended condition. The program according to claim 15 or 16.

19. A program for causing a computer to perform system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The system includes a joystick device that accepts the movement operation, The joystick device includes a button that accepts a press operation to switch between the autonomous movement mode and the user operation mode. program.

20. A program for causing a computer to perform system control for a system including an autonomously mobile and user-operable mobile robot, The aforementioned mobile robot is equipped with a light-emitting unit, The system control includes mode switching control that switches between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by a user, and light emission control that causes the light-emitting unit to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes controlling the emission of light in different light emission patterns depending on whether it is the autonomous movement mode or the user operation mode, for at least one of the plurality of predetermined conditions. The aforementioned different light emission patterns include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light emission unit is different. program.

21. A program for causing a computer located on a server that can wirelessly connect to an autonomously mobile and user-operable mobile robot to perform a judgment process, The mobile robot is equipped with a light-emitting unit that emits light in different light-emitting patterns corresponding to each of a plurality of predetermined conditions, and is switchable between an autonomous movement mode in which the mobile robot moves autonomously and a user operation mode in which the mobile robot moves based on movement operations by the user. The light-emitting unit emits light in different light-emitting patterns depending on whether it is in autonomous movement mode or user operation mode, for at least one of the plurality of predetermined conditions. The determination process includes, at least when the server is unable to communicate with the mobile robot, a process that determines whether the mobile robot is in autonomous movement mode or user operation mode based on an image of the mobile robot captured by a camera and the light emission pattern shown in the image. program.

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