Control system, control method, and program

Abstract

To provide a control system which enables a user and people around an autonomously-movable mobile robot capable of conveying a conveyed object to visually recognize required information in an intelligible manner while the mobile robot can receive movement operation by the user from an operation interface.SOLUTION: A control system executes system control for controlling a system including a mobile robot 100 which includes a contact part for contacting with a conveyed object while loaded with the conveyed object so as to convey it and which can move on the basis of movement operation received by an operation interface. The system control includes light emission control for making a light emission part having a first light emission part 11 provided around the contact part and a second emission part 12 provided at or around the operation interface emit light in different light emission patterns associated with each of a plurality of predetermined conditions. The light emission control includes such control that the light emission patterns at the first light emission part 11 and the second light emission part 12 interlock with each other.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 control system for a mobile robot capable of autonomous movement.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventor has considered a mobile robot capable of autonomous movement and transporting a transported object, and provided with an operation interface for receiving a movement operation from a user. In a mobile robot having such a configuration, there is a problem that the types of information that need to be visually recognized around the user and the mobile robot increase. Therefore, the development of a system that can easily and clearly visually display the necessary information around the user and the mobile robot is desired. Note that the technology described in Patent Document 1 cannot solve such problems.

[0005] The present disclosure has been made to solve such problems, and for a mobile robot capable of autonomous movement and transporting a transported object, after enabling reception of a movement operation by a user from an operation interface, a control system, a control method, and a program capable of easily and clearly visually displaying the necessary information around the user and the mobile robot are provided.

Means for Solving the Problems

[0006] The control system according to this disclosure performs system control for a system including a mobile robot that is autonomously mobile and capable of transporting transported objects. The mobile robot is equipped with a contact part that comes into contact with the transported object when it is loaded and transported, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit disposed around the contact part and the operation interface or a second light-emitting unit disposed around the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links a first light-emitting pattern, which is the light-emitting pattern of the first light-emitting unit, and a second light-emitting pattern, which is the light-emitting pattern of the second light-emitting unit. With this control system, the mobile robot, which is autonomously mobile and capable of transporting transported objects, can receive movement operations from a user via an operation interface, and necessary information around the user and the mobile robot can be made easily visible. In addition, in the control of autonomous movement, the mobile robot can also be made to move autonomously using a learning model obtained by machine learning.

[0007] The light emission control may include synchronous control, which synchronizes the emission of a first light emission pattern and a second light emission pattern associated with a first condition among the plurality of predetermined conditions; first asynchronous control, which causes the first light emission pattern associated with a second condition among the plurality of predetermined conditions to emit light asynchronously from the second light emission pattern; and second asynchronous control, which causes the second light emission pattern associated with a third condition among the plurality of predetermined conditions to emit light asynchronously from the first light emission pattern. With such a configuration, the control system can switch the way information is transmitted, for example, by using asynchronous control and synchronous control when it is desired to transmit information separately and when it is not.

[0008] The light emission control may include control that switches between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. With such a configuration, the control system can automatically switch between the synchronous control, the first asynchronous control, and the second asynchronous control according to the predetermined conditions.

[0009] The system control may include control that modifies the first condition, the second condition, and the third condition. With such a configuration, the control system can change the conditions for performing synchronous control, first asynchronous control, and second asynchronous control, for example, to adapt to the driving environment of a mobile robot.

[0010] The system control may include control to change the first and second light emission patterns used in the synchronous control, the first asynchronous control, and the second asynchronous control, respectively. With such a configuration, the control system can automatically change the light emission patterns expressed in the synchronous control, the first asynchronous control, and the second asynchronous control according to the running environment of the mobile robot 100 and the sensor detection results, or according to user operation.

[0011] The synchronization control may be configured to cause the first and second light emission patterns to emit light in a mutually complementary relationship. With this configuration, the control system can emit light in a way that is easily noticeable to the user during synchronization control.

[0012] The aforementioned operating interface may be provided on the mobile robot, and a control unit provided on the operating interface, or a control unit provided on the mobile robot other than the operating interface, or a server provided as part of the system so as to be connectable to the mobile robot by wireless communication, may output a control signal for the light emission control. With such a configuration, the control system can perform light emission control in accordance with various system configurations, such as operating the mobile robot from the mobile robot.

[0013] The operation interface is a remote control device that can connect to the mobile robot wirelessly, and the light emission control is executed based on a control signal output for the light emission control by a control unit provided in the remote control device, or a control unit provided in the mobile robot or a server provided as part of the system that can connect to the mobile robot wirelessly may output a control signal for the light emission control. With such a configuration, the control system can perform light emission control in accordance with various system configurations for remotely controlling a mobile robot.

[0014] The aforementioned operating interface may be a joystick device. With this configuration, the control system enables intuitive operation of the mobile robot's movement and allows the user and the surrounding area of ​​the mobile robot to be easily seen.

[0015] The control method according to this disclosure performs system control to control a system including a mobile robot that is autonomously mobile and capable of transporting transported objects, wherein the mobile robot is equipped with a contact part that comes into contact with the transported object when it is loaded and transported, and is capable of moving based on movement operations received by an operation interface, and the system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit disposed around the contact part and the operation interface or a second light-emitting unit disposed around the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions, and the light emission control includes control that links a first light-emitting pattern, which is the light-emitting pattern of the first light-emitting unit, and a second light-emitting pattern, which is the light-emitting pattern of the second light-emitting unit. With this control method, a mobile robot that is autonomously mobile and capable of transporting transported objects can receive movement operations from a user via an operation interface, and necessary information around the user and the mobile robot can be easily seen.

[0016] The light emission control may include synchronous control, which synchronizes the emission of a first light emission pattern and a second light emission pattern associated with a first condition among the plurality of predetermined conditions; first asynchronous control, which causes the first light emission pattern associated with a second condition among the plurality of predetermined conditions to emit light asynchronously from the second light emission pattern; and second asynchronous control, which causes the second light emission pattern associated with a third condition among the plurality of predetermined conditions to emit light asynchronously from the first light emission pattern. With such a configuration, the control method can switch the way information is transmitted, for example, by using asynchronous control and synchronous control when it is desired to transmit information separately and when it is not.

[0017] The light emission control may include a control that switches between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. With this configuration, the control method can automatically switch between the synchronous control, the first asynchronous control, and the second asynchronous control according to the predetermined conditions.

[0018] The system control may include control that modifies the first condition, the second condition, and the third condition. With such a configuration, the control method can change the conditions for performing synchronous control, first asynchronous control, and second asynchronous control, for example, to adapt to the driving environment of a mobile robot.

[0019] The system control may include control to change the first and second light emission patterns used in the synchronous control, the first asynchronous control, and the second asynchronous control, respectively. With this configuration, the control method can automatically change the light emission patterns expressed in the synchronous control, the first asynchronous control, and the second asynchronous control according to the running environment of the mobile robot 100 and the sensor detection results, or according to user operation.

[0020] The synchronization control may be configured to cause the first and second light emission patterns to emit light in a mutually complementary relationship. With this configuration, the control method can emit light in a way that is easily noticeable to the user in the case of synchronization control.

[0021] The aforementioned operating interface may be provided on the mobile robot, and a control unit provided on the operating interface, or a control unit provided on the mobile robot other than the operating interface, or a server provided as part of the system so as to be connectable to the mobile robot by wireless communication, may output a control signal for the light emission control. With such a configuration, the control method can perform light emission control in accordance with various system configurations, such as operating the mobile robot from the mobile robot itself.

[0022] The operation interface is a remote control device that can be wirelessly connected to the mobile robot. Based on the control signal output by the control unit provided in the remote control device for the light emission control, the light emission control is executed, or a control unit provided in the mobile robot or a server provided as a part of the system so as to be wirelessly communicable with the mobile robot outputs a control signal for the light emission control. With such a configuration, the control method can perform light emission control corresponding to various system configurations for remotely operating a mobile robot.

[0023] The operation interface may be a joystick device. With such a configuration, the control method enables intuitive movement operations of the mobile robot and allows easy visual recognition of necessary information around the user and the mobile robot.

[0024] The program according to the present disclosure is a program for causing a computer to execute system control for controlling a system including a mobile robot capable of autonomous movement and capable of transporting a load. The mobile robot includes a contact portion that contacts the load when carrying the load, and is capable of moving based on a movement operation received by an operation interface. The system control includes light emission control for causing a light emission portion including a first light emission portion disposed around the contact portion and a second light emission portion disposed around the operation interface or around the operation interface to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control in which a first light emission pattern that is a light emission pattern of the first light emission portion and a second light emission pattern that is a light emission pattern of the second light emission portion are linked. According to the program, with such a configuration, for a mobile robot capable of autonomous movement and capable of transporting a load, it is possible to receive a movement operation by a user from an operation interface and to easily visually recognize necessary information around the user and the mobile robot.

[0025] The light emission control may include synchronous control for causing the first light emission pattern and the second light emission pattern associated with a first condition among the plurality of predetermined conditions to emit light synchronously, first asynchronous control for causing the first light emission pattern associated with a second condition among the plurality of predetermined conditions to emit light asynchronously with respect to the second light emission pattern, and second asynchronous control for causing the second light emission pattern associated with a third condition among the plurality of predetermined conditions to emit light asynchronously with respect to the first light emission pattern. With such a configuration, the program can switch the way of transmitting information, such as using asynchronous control and synchronous control respectively when information is to be transmitted separately and when it is not.

[0026] The light emission control may include control for switching between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. With such a configuration, the program can automatically switch between the synchronous control, the first asynchronous control, and the second asynchronous control according to the predetermined conditions.

[0027] The system control may include control for changing the first condition, the second condition, and the third condition. With such a configuration, the program can change the conditions for performing the synchronous control, the first asynchronous control, and the second asynchronous control, for example, to adapt to the traveling environment of the mobile robot.

[0028] The system control may include control for changing the first light emission pattern and the second light emission pattern used in each of the synchronous control, the first asynchronous control, and the second asynchronous control. With such a configuration, the program can automatically change the light emission patterns represented by each of the synchronous control, the first asynchronous control, and the second asynchronous control according to the traveling environment of the mobile robot 100 and the sensor detection results, or can change them according to user operations.

[0029] The synchronization control may be configured to cause the first and second light emission patterns to emit light in a mutually complementary relationship. With this configuration, the program can cause the lights to emit light in a way that is easily noticeable to the user during synchronization control.

[0030] The operation interface may be provided on the mobile robot, and the computer may be included in a control unit provided on the operation interface, a control unit provided on the mobile robot other than the operation interface, or a server provided as part of the system so as to be able to connect to the mobile robot wirelessly. With such a configuration, the program can perform light emission control in response to various system configurations in which the mobile robot is operated from the mobile robot.

[0031] The operation interface is a remote control device that can connect to the mobile robot wirelessly, and the computer either executes the light emission control based on a control signal output for the light emission control by a control unit provided in the remote control device, or it may be included in a control unit provided in the mobile robot or in a server provided as part of the system that can connect to the mobile robot wirelessly. With this configuration, the program can perform light emission control in accordance with various system configurations for remotely controlling the mobile robot.

[0032] The aforementioned operating interface may be a joystick device. With this configuration, the program enables intuitive operation of the mobile robot's movement and allows the user and the surrounding area of ​​the mobile robot to be easily visualized. [Effects of the Invention]

[0033] According to this disclosure, it is possible to provide a control system, control method, and program for a mobile robot that is autonomously mobile and capable of transporting objects, which can accept movement operations from a user via an operating interface, and which can make necessary information about the user and the surroundings of the mobile robot easily visible. [Brief explanation of the drawing]

[0034] [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 is a perspective view showing another example of a joystick device for operating a mobile robot according to an embodiment. [Figure 11] This is a top view showing an example of an operating interface for operating a mobile robot according to an embodiment. [Figure 12] This is a top view showing another example of an operating interface for controlling a mobile robot according to the embodiment. [Figure 13]This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0035] 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.

[0036] (Embodiment) The control system according to this embodiment performs system control for a system including a mobile robot that is autonomously mobile and capable of transporting objects. Since 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 with reference to Figures 1 and 2. Figure 1 is a perspective view showing an example of the overall configuration of the mobile robot according to this embodiment, and Figure 2 is a perspective view showing an example of the overall configuration of a wagon transported by the mobile robot in Figure 1.

[0037] The above transport system only needs to include a mobile robot like the mobile robot 100 shown in Figure 1, but it can also include other devices such as a higher-level management system. However, for the sake of simplicity, we will first describe an example where 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] Here, the user-operated mode, in which the robot moves based on user input, is a mode in which the degree of user involvement is relatively higher than that of the autonomous movement mode. In other words, the user-operated mode does not need to be limited to a mode in which the user controls all of the mobile robot's movements and all autonomous control by the mobile robot is eliminated, and similarly, the autonomous movement mode does not need to be limited to a mode in which the mobile robot is completely autonomously controlled and does not accept any user input. For example, the user-operated mode and the autonomous movement mode may include the following 1 to 3 examples.

[0046] In the first example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions to stop and start moving without user intervention. In user-operated mode, the mobile robot moves autonomously, and the user controls the stopping and starting of movement. In the second example, in autonomous movement mode, the mobile robot moves autonomously, and the user controls the stopping and starting of movement. In user-operated mode, the mobile robot does not move autonomously, and the user controls not only the stopping and starting of movement but also the movement itself. In the third example, in autonomous movement mode, the mobile robot moves autonomously and makes decisions to stop and start moving without user intervention. In user-operated mode, the mobile robot performs autonomous movement such as speed adjustment and collision avoidance, and the user controls the direction of travel and changes the route.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] For loading and unloading transported items such as wagons 500, the chassis 110 may 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 a contact portion that comes into contact with the bottom surface of the transported item by connection or other means when the transported item is placed on it may be positioned on the upper surface of the chassis 110. 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 contact portion on which the wagon 500 as the transported item is placed. In other words, the contact portion can be the upper surface of the lifting mechanism 140. 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 loading space for transported goods. However, 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.

[0051] Furthermore, the chassis 110 may be equipped with a first light-emitting section 11 in a position surrounding the lifting mechanism 140, that is, around the contact area. The first light-emitting section 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 section 11 are not limited to those shown in the figures. Even if the lifting mechanism 140 is not provided, the mobile robot 100 will be equipped with a contact area that comes into contact with the transported object when transporting the transported object, and the first light-emitting section 11. Note that the first light-emitting section 11 and the second light-emitting section 12 described later are simply prefixed with "first" and "second" to distinguish them.

[0052] 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.

[0053] Furthermore, the stand 120 may be equipped with a stick portion (stick member) 131 on its upper surface, which is a component of a joystick device, an example of an operating interface according to this embodiment. This joystick device is a device that performs movement operations to move the mobile robot 100 in the direction intended by the user in user operation mode, and these movement operations can be received by the stick portion 131. The stick portion 131 can be used, for example, by the user to move their hand in the desired direction while holding the upper part with their palm. It can also be called a grip portion. The shape and size of the stick portion 131 are not limited to those shown in the illustration; for example, the stick portion 131 may be longer in the Z-axis direction, which allows the user to grasp it with their hand. Of course, the shape and size of the joystick device including the stick portion 131 are not limited to those shown in the illustration.

[0054] The user can input direction by tilting the stick 131 in the desired direction. 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 stick 131 downwards. Alternatively, the joystick device can be controlled to perform a confirmation operation by pressing the stick 131 downwards. Furthermore, the stick 131 can be configured to function as an emergency stop button, which stops the mobile robot 100 in an emergency 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 varied for each operation.

[0055] 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. 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 will still be equipped with the second light-emitting unit 12.

[0056] 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.

[0057] 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 may be configured to be operated in user operation mode by being equipped with a joystick device. For example, the mobile robot 100 may be configured to be operated in user operation mode by being equipped with a joystick device or the like. Furthermore, the mobile robot 100 can be connected to a remote control device for remote operation, and this remote control device can also be a joystick device.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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. As described above, 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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, the mobile robot 100 may be configured in a way that makes it impossible to transport a wagon, or even if it is configured to transport a wagon, 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.

[0074] 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.

[0075] 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.

[0076] A key feature of this embodiment is that the mobile robot 100 is equipped with a contact portion as illustrated on the upper surface of the lifting mechanism 140, and is capable of moving based on movement operations of the mobile robot 100 received by an operation interface such as a joystick device. In the following, as an example of this operation interface, a joystick device provided on the mobile robot 100 will be given as an example. In addition to an operation interface such as a joystick device, the mobile robot 100 may also be equipped with an operation unit for performing operations such as movement operations on the mobile robot 100, as illustrated in the operation unit 130. Furthermore, the transport system according to this embodiment includes a light-emitting unit that includes a first light-emitting unit 11 arranged around the contact portion and a joystick device or a second light-emitting unit 12 arranged around the joystick device.

[0077] The control computer 101 then performs light emission control as part of the system control described above, causing 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 form. The light emission control includes the control of linking the first light emission pattern, which is the light emission pattern of the first light-emitting unit 11, and the second light emission pattern, which is the light emission pattern of the second light-emitting unit 12. The correspondence between the predetermined conditions and the 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.

[0078] Here, we will explain an example in which the mobile robot 100 is equipped with light-emitting units at these two locations, but it is sufficient for the units to be arranged at two locations as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12, and they may be arranged at three or more locations. Furthermore, the location, shape, and size of the light-emitting units are not limited to those exemplified, and it is sufficient for the first light-emitting unit 11 to be arranged around the contact area and the second light-emitting unit 12 to be arranged around the joystick device or the joystick device. However, from the viewpoint of visibility from the surroundings, it is preferable for the three or more light-emitting units to be arranged at multiple locations spaced apart from each other, as exemplified by the first light-emitting unit 11 and the second light-emitting unit 12.

[0079] By performing this type of light emission control, various types of information, such as the different states of the mobile robot 100, can be expressed using different light emission patterns. Therefore, the mobile robot 100 can accept movement operations from the user via a joystick device, and the necessary information around the user and the mobile robot 100 can be made easily visible. In particular, since the mobile robot 100 is autonomously mobile, capable of transporting objects, and equipped with a joystick device that accepts movement operations from the user, the types of information that need to be made visible around the user and the mobile robot increase. However, by performing the light emission control described above, the mobile robot 100 can make the necessary information around the user and the mobile robot 100 easier to understand and visually apparent compared to a configuration that simply has a light-emitting part. In addition, the joystick device is a device that allows for intuitive movement operations, making it easy for the user to operate.

[0080] 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.

[0081] Furthermore, at least one of the above-mentioned predetermined conditions can be a predetermined condition for recommending user operation of the mobile robot 100. Hereinafter, such predetermined conditions will be referred to as recommended conditions. Recommended conditions refer to conditions that necessitate prompting user operation, such as movement operation, by the user. Recommended conditions may refer to conditions such as when the mobile robot 100 is not malfunctioning but is unable to move due to a movement abnormality, such as hitting a wall. Movement operation 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.

[0082] By controlling the light emission based on these conditions, the mobile robot 100 can display a notification recommending user operation, such as movement control, to people around the mobile robot 100 when it is desirable for the user to perform user operation. This allows the mobile robot 100 to make the user aware that user operation is desirable and to recommend that the user perform the operation. The user can then quickly determine when user operation is desirable and perform the operation promptly.

[0083] In particular, controlling the illumination of light-emitting parts close to the operating parts, such as the second light-emitting part 12, with a conspicuous light-emitting pattern, such as a noticeable color or a flashing pattern in which the light-emitting part continuously rotates, increases the effect of encouraging user operation.

[0084] Thus, the light emission pattern associated with the recommended conditions can be a light emission pattern emitted by at least the second light emission unit 12. This allows notifications recommending user operation to be displayed in a location that is easily visible from the operation location or its surroundings, thereby more reliably recommending user operation to the user.

[0085] Furthermore, the multiple predetermined conditions adopted may include multiple recommended conditions with different recommended operating procedures, thereby allowing the recommended procedures to be presented to the surroundings through differences in the light emission pattern, that is, to be made visible to the user.

[0086] 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 user operation to enable movement control 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. As a result, the mobile robot 100 can make visible to people around the mobile robot 100 a notification recommending switching to user operation mode, that is, a notification prompting user operation itself, and consequently, it can recommend to the user that movement control be enabled.

[0087] To facilitate such switching, the control computer 101 can perform 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, when receiving movement operations 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 mobile robot 100 is equipped with a joystick device and the operation unit 130, the operation unit can be any device that accepts movement operations to move the mobile robot 100 in user operation mode. However, by making either the joystick device or the operation unit 130 capable of accepting switching operations between autonomous movement mode and user operation mode, it becomes possible to perform such switching operations at the mobile robot 100's location.

[0088] Furthermore, in connection with such switching, the control computer 101 may also perform control to emit light in different light patterns depending on whether it is in autonomous movement mode or user operation mode, for at least one of the plurality of predetermined conditions described above, as part of the light emission control described above.

[0089] Furthermore, the recommended conditions may also include conditions that recommend a movement operation to move the mobile robot 100 in a predetermined direction. For example, such a condition could be that there are many people around the mobile robot 100 and it is necessary to take a detour. By controlling the light emission based on such recommended conditions, the user can be recommended to move in the predetermined direction. It is often helpful to indicate the detour route as the predetermined direction, which is particularly useful in user operation mode.

[0090] In particular, the control computer 101 may control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in the predetermined direction when the recommended conditions for recommending a movement operation 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, and a movement operation in the predetermined direction can be recommended to the user in an easy-to-understand manner. It should be noted that the movement operation also includes directional operations that move the mobile robot 100 in the desired direction.

[0091] In this example where the light emission position is changed according to the recommended direction of movement, the second light emission unit 12, which is a light emission unit around the joystick device, indicates a predetermined direction, making it easier for the user to recognize the recommended direction of movement. In this example, the light emission will be made to indicate the actual recommended direction of movement, i.e., the recommended orientation, so the light emission position will also change according to the current orientation of the mobile robot 100, i.e., the current orientation.

[0092] Furthermore, while an example is given in which the second light-emitting unit 12 is provided around the stick unit 131, it is not limited to this, and if it is provided on the joystick device, such as at the tip of the stick unit 131, the user can quickly perform user operations as the location of operation can be immediately seen. In addition, even in the case of light emission control that indicates a predetermined direction, if the second light-emitting unit 12 is arranged on or around the joystick device, any light-emitting unit capable of light emission control that indicates a predetermined direction will produce the same effect.

[0093] Furthermore, as described above, the light-emitting unit includes a first light-emitting unit 11 positioned at a distance from the joystick device or the second light-emitting unit 12 located around it. The light-emitting patterns associated with conditions other than the recommended conditions among the multiple predetermined conditions can also be light-emitting patterns that are emitted by at least the first light-emitting unit 11. This allows the user of the mobile robot 100 to see notifications other than those recommending user operation with the joystick device at a location different from the operation position or its surroundings, making it easy for them to determine that the notification is not a recommendation for operation.

[0094] Furthermore, as illustrated in Figure 1, the mobile robot 100 is equipped with a joystick device, and the stick unit 131 accepts movement operations to move the mobile robot 100, and the second light-emitting unit 12 can provide notifications recommending user operation. This allows user operation to be accepted using a joystick device that enables intuitive movement operations, and also makes these notifications visible to people around the joystick device. These people around the device can include the operator (user) who performs the operation using the joystick device, making it easier for the user to understand the status of the mobile robot 100 and to perform the operation.

[0095] An example of the control described above will now be explained. First, the control computer 101 determines the running state of the mobile robot 100 based on the detection results of sensors 105, etc., and also determines the operating state, indicating whether or not there is an operational abnormality in the mobile robot 100 (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, for example, the battery, drive unit, wheels, etc. 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] Then, if 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 set pattern, as illustrated in the "First predetermined condition" in Figure 5 (step S13), and terminates the process. Here, the first set pattern refers to a light-emitting pattern consisting of a first light-emitting pattern from the first light-emitting unit 11 and a second light-emitting pattern from the second light-emitting unit 12. The first set pattern can be a light-emitting pattern in which the first light-emitting pattern from the first light-emitting unit 11 and the second light-emitting pattern from the second light-emitting unit 12 are linked.

[0101] On the other hand, if the control computer 101 is not functioning correctly, 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). Here, the second predetermined condition may include a recommended condition. 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, and a predetermined user operation is recommended. 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.

[0102] 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 set pattern, as exemplified in "Second predetermined condition (autonomous movement mode)" in Figure 5 (step S16), and then terminates the process. Here, the second set pattern refers to a light-emitting pattern that is composed of a set of a first light-emitting pattern from the first light-emitting unit 11 and a second light-emitting pattern from the second light-emitting unit 12, and is a different light-emitting pattern from the first set pattern. The second set pattern can be a light-emitting pattern in which the first light-emitting pattern from the first light-emitting unit 11 and the second light-emitting pattern from the second light-emitting unit 12 are linked. This second set pattern may include a light-emitting pattern that recommends switching to user operation mode, and may also include a light-emitting pattern that recommends movement operation in a predetermined direction, as exemplified in the blinking area 12a. Of course, examples indicating a predetermined direction, such as the blinking area 12a, can also be applied to the first light-emitting unit 11 in the same way.

[0103] On the other hand, if the user is in operation mode, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a third set pattern, as exemplified in "Second predetermined condition (user operation mode)" in Figure 5 (step S17), and then terminates the process. Here, the third set pattern is a light-emitting pattern consisting of a first light-emitting pattern from the first light-emitting unit 11 and a second light-emitting pattern from the second light-emitting unit 12, and refers to a light-emitting pattern different from the first set pattern and the second set pattern. The third set pattern can be a light-emitting pattern in which the first light-emitting pattern from the first light-emitting unit 11 and the second light-emitting pattern from the second light-emitting unit 12 are linked. This third set pattern can also include a light-emitting pattern that recommends movement in a predetermined direction, as exemplified in the blinking area 12a. Of course, examples indicating a predetermined direction, such as the blinking area 12a, can also be applied to the first light-emitting unit 11 in the same way.

[0104] The above process can be repeated, for example, at predetermined intervals for determining the driving state or operating state, or whenever there is a change in the detection result of the sensors used to determine the driving state or operating state.

[0105] Furthermore, as mentioned above, the light emission control only needs to include control that links the first light emission pattern and the second light emission pattern. Therefore, in the example above, the first to third set patterns are all light emission patterns that link the first light emission pattern in the first light emission unit 11 and the second light emission pattern in the second light emission unit 12, but it is sufficient if such linkage is performed in at least one set pattern.

[0106] Furthermore, in this example, the first to third set patterns can be, for example, the first set pattern being the least conspicuous light emission pattern, the second set pattern being the most easily noticeable to those nearby, and the third set 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 set 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 set patterns and other light emission patterns described later, can be stored in a table in the control computer 101, for example, and referenced during light emission control.

[0107] In this example, the same light emission pattern was used for both the autonomous movement mode and the user operation mode in the first set pattern, but even if the answer in step S12 is YES, the light emission pattern may be different depending on these modes. Also, although this example uses only two predetermined conditions, such as the first predetermined condition and the second predetermined condition, it is possible to use three or more predetermined conditions to further subdivide the conditions and present different light emission patterns according to each predetermined condition.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] Furthermore, the control that differentiates the light emission patterns, such as the first set pattern and the second set pattern, may include the control that differentiates at least one of the luminance, hue, saturation, and brightness emitted by the light emission units exemplified by the first light emission unit 11 and the second light emission unit 12. In other words, the different light emission patterns described above may include light emission patterns in which at least one of the luminance, hue, saturation, and brightness emitted by the light emission units is differentiated. This makes it possible to distinguish more information and communicate it to the user in an easily understandable way.

[0114] Furthermore, in the first light-emitting unit 11 and the second light-emitting unit 12, the light-emitting units are arranged at multiple positions spaced apart from each other. Therefore, control to make the set pattern or the individual light-emitting patterns of the light-emitting units different can also include control to make the first light-emitting unit 11 and the second light-emitting unit 12 emit light with different light-emitting parameters. Here, the light-emitting parameter can be at least one of the above-mentioned luminance, hue, saturation, and brightness. However, in this embodiment, a set pattern in which the first light-emitting pattern and the second light-emitting pattern are linked will be used in certain situations.

[0115] Furthermore, the control that differentiates the set pattern or the individual light-emitting patterns of the light-emitting units may also include differentiating the positions where the lights are emitted. In one set pattern or individual light-emitting pattern of a light-emitting unit, the lights may be emitted at all positions, while in another set pattern or individual light-emitting pattern of another light-emitting unit, the lights may be kept off at all positions. For example, the control that differentiates the set pattern 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.

[0116] Furthermore, varying the set pattern can also include varying the locations where the lights are emitted synchronously. With this configuration, the mobile robot 100 can communicate the message it wants to convey in a more easily understandable way to those around it.

[0117] Examples of such set patterns are given. In one light emission pattern, only the first light emission unit 11 is illuminated; in another set pattern, only the second light emission unit 12 is illuminated; and in yet another set pattern, the first light emission unit 11 and the second light emission 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 has light emission units in three or more locations, a light emission pattern can be selected from many light emission patterns obtained from various combinations of the three or more light emission units provided.

[0118] 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 seen 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, that is, an example where the timing of the first and second light-emitting patterns is controlled in conjunction. In this way, the control computer 101 can control the emission of light from the first light-emitting unit 11 and the second light-emitting unit 12 so that their emission timings are swapped, that is, their emission is swapped, as a certain set pattern.

[0119] 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.

[0120] 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.

[0121] In other words, the above-mentioned light emission control can include a control that, as a synchronous control, causes the first and second light emission patterns to emit light in a mutually complementary relationship. For example, by using complementary colors in the first and second light emission patterns, it is possible to express a color that is easy to see when the first and second light emission patterns are used together. It is also possible to control the lights to emit light in a rhythm where the timing of emission between the first and second light emission patterns is alternated. This makes it easier for the user to notice the emission in the case of synchronous control.

[0122] Furthermore, in addition to synchronous control, the above-mentioned light emission control may also include asynchronous control, specifically a first asynchronous control and a second asynchronous control. Synchronous control is a control that synchronizes the emission of light between a first light emission pattern and a second light emission pattern, which are associated with a first condition among the plurality of predetermined conditions.

[0123] The first asynchronous control is a control that causes the first light-emitting pattern, which is associated with the second of the multiple predetermined conditions, to emit light asynchronously from the second light-emitting pattern, that is, a control that causes both to emit light independently. The second asynchronous control is a control that causes the second light-emitting pattern, which is associated with the third of the multiple predetermined conditions, to emit light asynchronously from the first light-emitting pattern, that is, a control that causes both to emit light independently. In the first asynchronous control and the second asynchronous control, the first light-emitting unit 11 and the second light-emitting unit 12 can be controlled to blink, for example, at different periods.

[0124] By adopting such control methods, it is possible to switch the way information is conveyed, such as using asynchronous control and synchronous control depending on whether the information needs to be conveyed separately or not.

[0125] Furthermore, the above-mentioned light emission control may include control that switches between synchronous control, first asynchronous control, and second asynchronous control according to the plurality of predetermined conditions. This makes it possible to automatically switch between synchronous control, first asynchronous control, and second asynchronous control according to the predetermined conditions. Of course, the above-mentioned light emission control can be synchronous control for any of the plurality of predetermined conditions, or asynchronous control for any of the plurality of predetermined conditions.

[0126] Furthermore, the system control described above may include control to change the first condition, the second condition, and the third condition. This makes it possible to change the conditions for synchronous control, first asynchronous control, and second asynchronous control, for example, in accordance with the driving environment of the mobile robot 100 or in accordance with sensor detection results. For example, the conditions for synchronous control, first asynchronous control, and second asynchronous control can be configured to be changed by a user, such as an administrator, in accordance with the driving environment of the mobile robot 100.

[0127] Furthermore, the system control described above may include control to change the first and second light emission patterns used in synchronous control, first asynchronous control, and second asynchronous control, respectively. This allows the light emission patterns expressed in synchronous control, first asynchronous control, and second asynchronous control to be automatically changed according to the mobile robot 100's operating environment and sensor detection results, or to be changed according to user operation.

[0128] 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.

[0129] By using the various light emission patterns, or set patterns, described above, the mobile robot 100 can more clearly communicate various information, such as which predetermined conditions it is meeting and whether it is in autonomous movement mode or user operation mode, to those around it, including the user. Furthermore, for example, the control computer 101 can conserve power by suppressing light emission when there is no abnormality, or make the light emission more conspicuous when there is an abnormality to better inform those around it of the occurrence of a movement abnormality.

[0130] 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.

[0131] 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.

[0132] The control computer 101 determines the travel state and operating state of the mobile robot 100 in the same manner as in step S11 of Figure 4 (step S21). Next, the control computer 101 determines whether any of the multiple predetermined conditions adopted are 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.

[0133] 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.

[0134] Next, the control computer 101 selects a set pattern corresponding to the predetermined conditions that have been met and the current mode of movement (step S25). Then, the control computer 101 controls the first light-emitting unit 11 and the second light-emitting unit 12 to emit light according to the selected set 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.

[0135] In steps S25 and S26, the control computer 101 can, for example, select a set pattern and control the light emission based on the correspondence between the state and the light emission pattern as illustrated in Figure 7.

[0136] Furthermore, Figure 7 illustrates the set patterns defined by the light color and lighting pattern for the first light-emitting unit 11 and the second light-emitting 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 set patterns in Figure 7, the second light-emitting 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-emitting unit 11 also represents the detailed state of the mobile robot 100 in autonomous movement mode.

[0137] 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 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 vehicle is in standby mode and stopped; "Prompt for operation," which indicates a situation where the user is prompted to take some action; and "Warning," which indicates a situation where the user or surroundings are alerted to some action. For example, in the "Autonomous movement in progress" and "Standby" cases in Figure 7, the first light-emitting unit 11 and the second light-emitting unit 12 are controlled to emit light in the same color, and this is an example of synchronous control. In the "Prompt for operation" case in Figure 7, the first light-emitting unit 11 and the second light-emitting unit 12 are controlled to emit light in different colors and different lighting patterns, and this is an example of asynchronous control. In the "Warning" case in Figure 7, the first light-emitting unit 11 and the second light-emitting unit 12 are controlled to emit light in different colors and different lighting patterns, and this is another example of asynchronous control.

[0138] In this example, "waiting" can refer to situations such as when the mobile robot 100 is being charged by its charger or waiting for an elevator. "Prompting operation" can refer to situations such as when the mobile robot 100 has arrived at its destination. "Prompting attention" can refer to situations such as when the lifting mechanism 140 is being raised or lowered, or when the mobile robot 100 is approaching an intersection. "Autonomous driving" refers to any other autonomous driving situation.

[0139] 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.

[0140] 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.

[0141] 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 movement by the user can be displayed in a position that is easily visible from the operation location and its surroundings, and can be seen by people around the mobile robot, such as the operator. Furthermore, when prompting movement, the lighting pattern illustrated in Figure 7 may also include a lighting pattern that indicates a predetermined direction to prompt movement, as illustrated in Figure 5.

[0142] 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.

[0143] Furthermore, although not illustrated in Figure 7, the first light-emitting unit 11 may also emit light in a pattern corresponding to a condition other than the recommended condition 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.

[0144] In the above, we have described a configuration in which the transport system comprises a light-emitting unit and a joystick device, and the mobile robot 100 comprises a joystick device for operating the mobile robot 100, a contact unit that comes into contact with the transported object when it is loaded and transported, and a first light-emitting unit 11 and a second light-emitting unit 12. In this configuration, the joystick device is provided on the mobile robot 100, so basically, a control unit (exemplified by the control computer 101) provided on the mobile robot 100 other than the joystick device should 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 on 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 on the joystick device, or the control unit provided on the joystick device may also perform the determination of predetermined conditions for light emission control.

[0145] In the above description, an example was given in which the transport system mainly consists of a mobile robot 100, but the control system according to this embodiment can be any system that performs system control to control the transport system as described above. Furthermore, this transport system may also be equipped with a server that can be connected to the mobile robot 100 by wireless communication. This server is a server that provides information for autonomous movement to the mobile robot 100. Since this server manages the mobile robot 100, it 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] Here, we provide an example in which the user terminal device 300 is equipped with a joystick device that functions as a remote control device that can connect to the mobile robot 100 wirelessly. In addition to the main body 31, the user terminal device 300 may be equipped with a stick part 302 and a button 303 as part of the joystick device. In user operation mode, this joystick device is a device that performs movement operations to move the mobile robot 100 in the direction intended by the user. Directional operation 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 302.

[0156] Furthermore, the joystick device can be controlled to perform a switching operation, which involves pressing button 303 downwards to switch between autonomous movement mode and user operation mode. Alternatively, the joystick device can be controlled to perform a confirmation operation when button 303 is pressed downwards. In addition, button 303 can be configured to function as an emergency stop button when pressed downwards for a predetermined period of time. When button 303 is configured to accept multiple operations from among the switching operation, confirmation operation, and emergency stop operation, that is, when multiple operations are assigned to button 303, it is sufficient that a predetermined period of time corresponding to each operation is set.

[0157] Furthermore, by equipping the user terminal device 300 with a joystick device, the user can perform operations similar to those of the joystick device equipped on the mobile robot 100. In addition, if the user terminal device 300 is equipped with a joystick device, a light-emitting unit (hereinafter referred to as the terminal-side second light-emitting unit 312) such as the second light-emitting unit 12 can be arranged on or around the joystick device to perform the same light-emitting control as the second light-emitting unit 12. In Figure 8, an example is given in which the terminal-side second light-emitting unit 312 is arranged on the upper surface of the stick unit 302 so that the light-emitting area is around the button 303, but it is not limited to this and can be arranged on or around the joystick device. Also, the shape of the light-emitting area of ​​the terminal-side second light-emitting unit 312 is not limited to that shown in the figure. For example, the terminal-side second light-emitting unit 312 can also use the display unit 304 to display the light-emitting pattern as a display image. Furthermore, in a configuration in which 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.

[0158] Furthermore, the transport system 1 only needs to include a light-emitting unit and a joystick device, and the second light-emitting unit 12 may not be installed on the mobile robot 100. For example, the first light-emitting unit 11 may be installed around the contact area on the mobile robot 100, and the terminal-side second light-emitting unit 312, which replaces the second light-emitting unit 12, may be installed on or around the joystick device, which serves as a remote control device for the mobile robot 100. Of course, as illustrated in Figure 8, the joystick device may be installed on both the mobile robot 100 and the user terminal device 300. In that case, it is sufficient for the second light-emitting unit to be installed on or around one of the joystick devices, but it may also be installed on or around both joystick devices.

[0159] 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.

[0160] 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.

[0161] 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 determination of the predetermined conditions for light emission control may be performed by the control unit 2a of the higher-level management device 2, but it may also be performed by the control computer 101 and passed to the higher-level management device 2, or by the control unit provided on the joystick device and passed to the higher-level management device 2.

[0162] 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 one of the joystick devices can output a control signal, or the control units of both joystick devices can output control signals to the device itself or to the light-emitting units provided around the device. For example, if the joystick device is provided in the user terminal device 300, the control computer 101 of the mobile robot 100 can perform light emission control of the first light-emitting unit 11 based on the control signal output for light emission control by the control unit provided in this joystick device.

[0163] 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 perform this determination and pass it to the mobile robot 100. Furthermore, instead of transport system 1, the transport system can be configured without the higher-level management device 2. 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 can also determine the predetermined conditions and output a control signal for light emission control.

[0164] Furthermore, the control system in the transport system 1 can perform the following control when the higher-level management device 2 is unable to communicate with the mobile robot 100, or when the higher-level management device 2 does not acquire the status of the mobile robot 100 by communication. That is, when communication is impossible, or when the higher-level management device 2 does not acquire the status of the mobile robot 100 by communication, the control system can determine the status and movement mode of the mobile robot 100 based on the image captured by the environmental camera 5 and the light emission pattern shown in that image. The movement mode here refers to whether the mobile robot 100 is in autonomous movement mode or user operation mode. Note that this image can be an image captured by another mobile robot camera provided in the transport system 1, in addition to or instead of the image captured by the environmental camera 5. Here, the explanation of the terminal-side second light emission unit 312 has been omitted, but the control system can also determine the status and movement mode of the mobile robot 100 by referring to the light emission pattern of the terminal-side second light emission unit 312. In that case, the control system will also refer to images captured by cameras such as the environmental camera 5, which capture the user terminal device 300, to make a determination.

[0165] The mobile robot 100, or the mobile robot 100 and the user terminal device 300 operating it, can display various light emission patterns depending on whether predetermined conditions are met, as illustrated in Figures 5 and 7. The higher-level management device 2 can determine the current movement mode and state of the mobile robot 100 from the currently displayed light emission pattern. In the example in Figure 7, only one light emission pattern is shown in the event of an abnormality. However, 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.

[0166] 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 its movement mode, even when communication between the mobile robot 100 and the higher-level management device 2 is impossible, or when the higher-level management device 2 does not acquire the status of the mobile robot 100 via communication.

[0167] 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 cases, the higher-level management device 2 can also notify the operator to return to the location of the mobile robot 100. The same effect is achieved even in configurations where the higher-level management device 2 does not acquire the status of the mobile robot 100 via communication.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] Next, the control unit 2a analyzes the light emission pattern of the mobile robot 100 or the light emission pattern of at least one of the mobile robot 100 and the user terminal device 300 operating it, based on the acquired image, determines the state and movement mode of the mobile robot 100 (step S34), and 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 by machine learning to obtain the state and movement mode of the mobile robot 100 from the image when analyzing the light emission pattern and making determinations on the mobile robot 100.

[0174] 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, and which predetermined conditions are being met, based on the light emission patterns of the mobile robot 100 or the user terminal device 300 operating it.

[0175] Furthermore, in a configuration where the mobile robot 100 and the user terminal device 300 can express their operating status with a light emission pattern, that is, a configuration in which the predetermined conditions include conditions related to the operating status, this system control can include control that determines the operating status of the mobile robot 100 from the light emission pattern shown in the image. This allows, for example, if the mobile robot 100 is unable to communicate and is in an abnormal operating state, the user can be instructed to retrieve or inspect the mobile robot 100, and the user can perform the task according to that instruction.

[0176] 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 status and movement 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 status and movement mode of the mobile robot 100 can also be determined based on images acquired by cameras mounted on those other mobile robots.

[0177] Furthermore, the transport system according to this embodiment is not limited to the joystick device described above; it is also possible to accept movement operations from the user via an operation interface. In that case as well, the necessary information for the user and the surrounding area of ​​the mobile robot can be easily visualized through the operation interface.

[0178] For example, instead of having a joystick device of the shape described above, the user terminal device 300 described above could also be equipped with a joystick device that allows the user to move their hand in the desired direction while holding the top part of the stick 131 in their palm.

[0179] An example of such a joystick device will be described with reference to Figure 10. Figure 10 is a perspective view showing another example of a joystick device for operating a mobile robot 100. The joystick device 600 shown in Figure 10 may comprise a main body 601, a stick member 602, and a button 603, and can be provided in the user terminal device 300 in place of a joystick device provided in the user terminal device 300 as a stick member 302, or it can replace the user terminal device 300.

[0180] The stick member 602 can be a member equipped with a resting surface 602s on top of the stick portion 602p for resting the palm of a person's hand, and can be assigned a movement operation. The resting surface 602s can be marked with arrows 602U, 602D, 602L, and 602R indicating the up / down (forward / backward) and left / right movement directions of the stick portion 602p, as illustrated in Figure 10, or with a mark 602M indicating the presence or meaning of a button 603. Furthermore, the button 603 can be provided on the underside of the stick portion 602p in the main body portion 601 and can be pressed by the user pressing down on the resting surface 602s from above, and can be assigned a mode switching operation or the like.

[0181] Furthermore, the joystick device 600 includes a second light-emitting unit 612 located around the mounting surface 602s in the main body 601, which is capable of emitting light in a pattern synchronized with the light-emitting pattern of the first light-emitting unit 11. The second light-emitting unit 612 can also be located at the outer edge of the mounting surface 602s, and like the second light-emitting unit 12 and the terminal-side second light-emitting unit 312, the shape, size, and position of the second light-emitting unit 612 are not restricted. The joystick device 600 described here can also be provided as an example of a joystick device composed of a stick unit 131, etc., provided on a mobile robot 100.

[0182] Alternatively, the joystick device 600 shown in Figure 10 may either not have a stick portion 602p or have the stick portion 602p fixed to the main body portion 601, and be an operating device equipped with a touch sensor on the portion shown as the mounting surface 602s. With such an operating device configuration, the user can perform a movement operation of the mobile robot 100 by sliding their finger on the touch sensor. Furthermore, such an operating device configuration can be installed in place of a joystick device consisting of a stick portion 131 or the like that is provided on the mobile robot 100.

[0183] Furthermore, the user terminal device 300 described above can also be an operating device with the shape shown in Figure 11. Figure 11 is a top view showing an example of an operating interface for operating the mobile robot 100. The operating device 700 shown in Figure 11 is an example of an operating interface that accepts movement operations for the mobile robot 100. The operating device 700 may include a main body 701, stick parts 702, 704, buttons 703, 705, a directional pad 706, a group of selection buttons 707, a left side button 708, and a right side button 709. Also, on the surface of the main body 701, as illustrated in Figure 11, arrows 701LU, 701LD, 701LL, 701LR and arrows 701RU, 701RD, 701RL, 701RR indicating the up / down (forward / backward) and left / right operating directions for the stick parts 702 and 704, respectively, may be marked. Furthermore, buttons 703 and 705 can be provided on the underside of the stick sections 702 and 704 on the main body section 701, respectively, and can be pressed by the user pressing down on the stick sections 702 and 704 from above.

[0184] In the operating device 700, for example, one of the following can be assigned to movement operations: direction control using the stick member 702, direction control using the stick member 704, the directional pad 706, or the button group 707. In addition, in the movement device 700, a different member from the one assigned to movement operations can be assigned to mode switching operations, etc. For example, in the operating device 700, one of the following members can be assigned to mode switching operations: one of the buttons 703, 705, or directional pad 706, one of the buttons in the selection button group 707, the left side button 708, or the right side button 709.

[0185] Furthermore, the joystick device 700 includes a second light-emitting unit 712 in the main body 701 located around the stick portion 702, which is capable of emitting light in a pattern synchronized with the light-emitting pattern of the first light-emitting unit 11. Alternatively, a second light-emitting unit similar to the second light-emitting unit 712 may be provided around the stick portion 704 instead of around the stick portion 702, or both around the stick portion 702 and the stick portion 704. The second light-emitting unit 712 may also be located at the outer edge of the stick portion 702, and like the second light-emitting unit 12 and the terminal-side second light-emitting unit 312, the shape, size, and position of the second light-emitting unit 712 are not restricted.

[0186] Furthermore, although the operating device 700 has been described on the premise that it is provided as a replacement for the user terminal device 300, it can also be provided on the mobile robot 100 as a replacement for the joystick device consisting of the stick part 131 etc. provided on the mobile robot 100. In that case, the operating device 700 may be mounted in a fixed state on the mobile robot 100, or it may be attached so as to be detachable from the mobile robot 100.

[0187] Alternatively, instead of the user terminal device 300 described above, an operation interface that accepts operations using software, as shown in Figure 12, can be used. Figure 12 is a top view showing another example of an operation interface for operating the mobile robot 100. An operation interface that accepts operations using software can be an operation device comprising a display device and a graphical user interface image displayed on the display device so that the image to be operated can be selected and moved. This graphical user interface image may include, for example, images such as icons for movement operations, and images such as icons for switching operations.

[0188] The operating device 800 shown in Figure 12 displays a graphical user interface image on a display device, and this image can include an operation image 801 and a camera image 805. Of course, the camera image 805 can be omitted if remote control is not considered. The operation image 801 can include a stick member image 802 for movement operation and a button image 803 for mode switching operation.

[0189] Button 803 is a button that accepts switching operations, and information indicating the current mode can also be included in the operation image 801. In addition, the stick member image 802 can be moved up, down, left, right, etc. when touched, and in that case, as illustrated in Figure 12, the original stick member image 802 can remain, and the stick member image 802a at the destination can be displayed along with an image connecting them. Furthermore, the operation image 801 can also display images 801U, 801D, 801L, and 801R of arrows indicating the direction of operation of the stick member image 802 in the up, down (forward, backward), left, and right directions. Note that instead of the stick member image 802, images 801U, 801D, 801L, and 801R can be used as buttons that accept movement operations in the up, down, left, and right directions, respectively.

[0190] The operating device 800 is equipped with a second light-emitting unit 812 that can emit light in a pattern synchronized with the light-emitting pattern of the first light-emitting unit 11 at a position around the stick unit 802. In this example, the second light-emitting unit 812 is displayed as an image, causing its display area to emit light, that is, the display area to be displayed as an image with a light-emitting pattern synchronized with the light-emitting pattern of the first light-emitting unit 11. The second light-emitting unit 812 can also be called a light-emitting image. Furthermore, the second light-emitting unit 812 can be provided at the outer edge of the stick unit 802 so as to the movement operation of the stick unit 802, and the shape, size, and position of the second light-emitting unit 812 are not restricted, similar to the second light-emitting unit 12 and the terminal-side second light-emitting unit 312.

[0191] Furthermore, although the operating device 800 has been described on the premise that it is provided as a replacement for the user terminal device 300, it can also be provided on the mobile robot 100 as a replacement for the joystick device consisting of the stick part 131 etc. provided on the mobile robot 100. In that case, as described above, the operating device 800 will be provided as the operating unit 130. The operating unit 130 may also be mounted in a fixed state on the mobile robot 100, or it may be attached so as to be detachable from the mobile robot 100.

[0192] Furthermore, each device provided in the transport system of the mobile robot 100 according to the above-described embodiment, such as the control computer 101, the higher-level management device 2, and the user terminal device 300, can have, for example, the following hardware configuration. Alternatively, the joystick device provided in the mobile robot 100 or the user terminal device 300 can have the following hardware configuration. Figure 13 shows an example of the hardware configuration of the device.

[0193] The device 1000 shown in Figure 13 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.

[0194] 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.

[0195] 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.

[0196] 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]

[0197] 1. Conveying System 2 Upper management device 3 Network 4. Communication Unit 5. Environmental Cameras 11. First light-emitting section (light-emitting section) 12. Second light-emitting section (light-emitting section) 100 Mobile Robots 101 Control Computer 104 Camera 110 chassis 111 Wheels 120 stands 130 Operation section 131 Stick section 140 Lifting mechanism 141 Recess 300 User terminal devices 312 Terminal-side second light-emitting unit 500 Wagon 501 Cover 502 wheels 600 Joystick Device 700, 800 operating device

Claims

1. Performs system control to control a system including a mobile robot capable of autonomous movement and transporting objects. The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The mobile robot comprises a chassis and a lifting mechanism that lowers relative to the chassis when loading or unloading the transported goods and maintains a raised position relative to the chassis when transporting the transported goods. The first light-emitting unit is located on the chassis side, The contact portion is the upper surface of the lifting mechanism, The height of the contact portion relative to the height of the mounting position of the first light-emitting portion is higher when the contact portion is raised compared to when the contact portion is lowered. Control system.

2. The aforementioned light emission control is Synchronization control that synchronizes the emission of light from a first light emission pattern and a second light emission pattern, which are associated with a first condition among the plurality of predetermined conditions, A first asynchronous control that causes the first light emission pattern, which is associated with the second of the plurality of predetermined conditions, to emit light asynchronously from the second light emission pattern, A second asynchronous control that causes the second light emission pattern, which is associated with the third condition among the plurality of predetermined conditions, to emit light asynchronously from the first light emission pattern, including, The control system according to claim 1.

3. The light emission control includes control that switches between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. The control system according to claim 2.

4. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. The aforementioned light emission control includes control to emit light in different light emission patterns depending on whether the mobile robot is operating in the autonomous mobile mode or the user-operated mode. The control system according to claim 1.

5. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. At least one of the aforementioned plurality of predetermined conditions is a condition that recommends switching to the autonomous mobile mode when the mobile robot is operating in the user operation mode. The control system according to claim 1.

6. The aforementioned operating interface is provided on the mobile robot, A control unit provided in the aforementioned operating interface, or a control unit provided in the mobile robot other than the aforementioned operating interface, or a server provided as part of the system so as to be able to connect to the mobile robot wirelessly, outputs a control signal for the light emission control. The control system according to claim 1 or 2.

7. The aforementioned operating interface is a remote control device that can be connected to the mobile robot via wireless communication. Based on a control signal output for the light emission control by a control unit provided in the remote control device, the light emission control is executed, or a control unit provided in the mobile robot or a server provided as part of the system so as to be connectable to the mobile robot by wireless communication outputs a control signal for the light emission control. The control system according to claim 1 or 2.

8. Performs system control to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The aforementioned operating interface is a joystick device. Control system.

9. Performs system control to control a system including a mobile robot capable of autonomous movement and transporting objects. The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The mobile robot comprises a chassis and a lifting mechanism that lowers relative to the chassis when loading or unloading the transported goods and maintains a raised position relative to the chassis when transporting the transported goods. The first light-emitting unit is located on the chassis side, The contact portion is the upper surface of the lifting mechanism, The height of the contact portion relative to the height of the mounting position of the first light-emitting portion is higher when the contact portion is raised compared to when the contact portion is lowered. Control method.

10. The aforementioned light emission control is Synchronization control that synchronizes the emission of light from a first light emission pattern and a second light emission pattern, which are associated with a first condition among the plurality of predetermined conditions, A first asynchronous control that causes the first light emission pattern, which is associated with the second of the plurality of predetermined conditions, to emit light asynchronously from the second light emission pattern, A second asynchronous control that causes the second light emission pattern, which is associated with the third condition among the plurality of predetermined conditions, to emit light asynchronously from the first light emission pattern, including, The control method according to claim 9.

11. The light emission control includes control that switches between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. The control method according to claim 10.

12. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. The aforementioned light emission control includes control to emit light in different light emission patterns depending on whether the mobile robot is operating in the autonomous mobile mode or the user-operated mode. The control method according to claim 9.

13. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. At least one of the aforementioned plurality of predetermined conditions is a condition that recommends switching to the autonomous mobile mode when the mobile robot is operating in the user operation mode. The control method according to claim 9.

14. The aforementioned operating interface is provided on the mobile robot, A control unit provided in the aforementioned operating interface, or a control unit provided in the mobile robot other than the aforementioned operating interface, or a server provided as part of the system so as to be able to connect to the mobile robot wirelessly, outputs a control signal for the light emission control. The control method according to claim 9 or 10.

15. The aforementioned operating interface is a remote control device that can be connected to the mobile robot via wireless communication. Based on a control signal output for the light emission control by a control unit provided in the remote control device, the light emission control is executed, or a control unit provided in the mobile robot or a server provided as part of the system so as to be connectable to the mobile robot by wireless communication outputs a control signal for the light emission control. The control method according to claim 9 or 10.

16. Performs system control to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The aforementioned operating interface is a joystick device. Control method.

17. A program for causing a computer to perform system control to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The mobile robot comprises a chassis and a lifting mechanism that lowers relative to the chassis when loading or unloading the transported goods and maintains a raised position relative to the chassis when transporting the transported goods. The first light-emitting unit is located on the chassis side, The contact portion is the upper surface of the lifting mechanism, The height of the contact portion relative to the height of the mounting position of the first light-emitting portion is higher when the contact portion is raised compared to when the contact portion is lowered. program.

18. The aforementioned light emission control is Synchronization control that synchronizes the emission of light from a first light emission pattern and a second light emission pattern, which are associated with a first condition among the plurality of predetermined conditions, A first asynchronous control that causes the first light emission pattern, which is associated with the second of the plurality of predetermined conditions, to emit light asynchronously from the second light emission pattern, A second asynchronous control that causes the second light emission pattern, which is associated with the third condition among the plurality of predetermined conditions, to emit light asynchronously from the first light emission pattern, including, The program according to claim 17.

19. The light emission control includes control that switches between the synchronous control, the first asynchronous control, and the second asynchronous control according to the plurality of predetermined conditions. The program according to claim 18.

20. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. The aforementioned light emission control includes control to emit light in different light emission patterns depending on whether the mobile robot is operating in the autonomous mobile mode or the user-operated mode. The program according to claim 17.

21. The mobile robot is capable of switching between a user-operated mode in which it performs movement based on the aforementioned movement operation and an autonomous movement mode in which it performs autonomous movement. At least one of the aforementioned plurality of predetermined conditions is a condition that recommends switching to the autonomous mobile mode when the mobile robot is operating in the user operation mode. The program according to claim 17.

22. The aforementioned operating interface is provided on the mobile robot, The computer is included in a control unit provided in the operating interface, or a control unit provided in a location other than the operating interface of the mobile robot, or a server provided as part of the system so as to be able to connect to the mobile robot wirelessly. The program according to claim 17 or 18.

23. The aforementioned operating interface is a remote control device that can be connected to the mobile robot via wireless communication. The computer executes the light emission control based on the control signal output for the light emission control by the control unit provided in the remote control device, or it is included in the control unit provided in the mobile robot or in a server provided as part of the system that can connect to the mobile robot wirelessly. The program according to claim 17 or 18.

24. A program for causing a computer to perform system control for a system including a mobile robot that is autonomously mobile and capable of transporting objects, The aforementioned mobile robot is equipped with a contact part that comes into contact with the transported object when transporting the transported object, and is capable of moving based on movement operations received through an operation interface. The system control includes light emission control that causes a light-emitting unit, which includes a first light-emitting unit arranged to surround the contact portion and a second light-emitting unit arranged to surround the operation interface, to emit light in different light emission patterns corresponding to each of a plurality of predetermined conditions. The light emission control includes control that links the first light emission pattern, which is the light emission pattern of the first light emission unit, and the second light emission pattern, which is the light emission pattern of the second light emission unit. The aforementioned operating interface is a joystick device. program.

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