Control system, control method, and program

Abstract

To provide a control system of a mobile robot that performs autonomous movement for transporting objects using a transport box, which has the light-emitting parts for indicating the state of the mobile robot around the contact part that comes in contact with the transport box, the control system ensuring the state of the mobile robot to see for others even when the transport box exists.SOLUTION: A disclosed control system executes system control for controlling a system including a mobile robot 100. The mobile robot 100 includes: a contact part that comes into contact with the transport box 500 when the transport box 500 is loaded and transported; and a first light-emitting part 11 provided around the contact part, which emits light with predetermined lighting patterns depending on the state of the mobile robot 100. The system control includes a control that controls the light-emitting part arranged around the transport box 500 emits light with a lighting pattern according to the predetermined lighting pattern when the transport box 500 is placed on the contact part.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a mobile robot capable of transporting a conveyed object.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the mobile robot described in Patent Document 1, when transporting a conveyed object using a transport box, if a light source is used to display the state of the mobile robot, the state of the mobile robot becomes difficult to see around due to the presence of the transport box.

[0005] Therefore, in a mobile robot capable of autonomous movement, when transporting a conveyed object using a transport box, it is desired to develop a technology that makes the state of the mobile robot easily visible around by a light emitting unit provided around a contact portion that comes into contact with the transport box when carrying the transport box. That is, in a mobile robot capable of autonomous movement, even when displaying at the above light emitting unit in a state of transporting a transport box, a technology for preventing the state of the mobile robot from becoming difficult to see around due to the presence of the transport box is desired.

[0006] This disclosure is made to solve such problems and provides a control system, control method, and program that can prevent the status of the mobile robot from being obscured by the presence of the transport box, even when the status of the mobile robot is displayed by a light-emitting part provided around the contact part that comes into contact with the transport box when the transport box is mounted on the mobile robot. [Means for solving the problem]

[0007] 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 goods. The mobile robot includes a contact portion that comes into contact with a transport box when transporting a transport box containing the transported goods, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting portion which is a light-emitting portion disposed on the transport box. The system control includes control to cause the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. With this configuration, when an autonomously mobile mobile robot transports goods using a transport box, even when the state of the mobile robot is displayed by a light-emitting portion provided around the contact portion that comes into contact with the transport box when transporting the transported goods, it is possible to prevent the state of the mobile robot from being obscured from view by the presence of the transport box. 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.

[0008] The system control may include pattern change control to change the predetermined light emission pattern at the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the control system can more clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting the transport box.

[0009] The pattern change control may also change the predetermined light emission pattern of the first light-emitting unit so as to reduce power consumption in the first light-emitting unit when the transport box is mounted on the contact portion compared to when the transport box is not mounted. With this configuration, the control system can clearly inform those around it of the status of the mobile robot while suppressing unnecessary power consumption, even when the mobile robot is transporting the transport box.

[0010] The pattern change control may also be configured such that, when the transport box is mounted on the contact portion, the total power consumption of the first light-emitting portion and the power consumption of the box-side light-emitting portion fall within a predetermined range of difference compared to the power consumption of the first light-emitting portion when the transport box is not mounted on the contact portion. With this configuration, the control system can efficiently use power and more clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting the transport box.

[0011] The pattern change control may also be configured to stop the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the control system can use power more efficiently by stopping the emission of light from the first light-emitting unit, which becomes less visible to the surroundings when the transport box is mounted compared to when it is not mounted.

[0012] The box-side light-emitting unit may be provided on at least one of the side and top surfaces of the transport box. With this configuration, the control system can make the box-side light-emitting unit easily recognizable from the surroundings.

[0013] The system control may include pattern change control to modify the predetermined light emission pattern in the first light emission unit or the predetermined light emission pattern and the light emission pattern in the box-side light emission unit, so as to reduce power consumption in the first light emission unit or at the wall-side light emission points of the first light emission unit and the box-side light emission unit when the mobile robot is traveling in a position close to a wall, compared to when it is not traveling in a position close to a wall. With this configuration, the control system can efficiently use power and clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting a transport box.

[0014] The state of the mobile robot may include a transport state indicating whether or not the mobile robot is transporting an object. With such a configuration, the control system can clearly inform those around the mobile robot whether or not it is transporting an object.

[0015] The transport status may include information indicating the transported object in the transport box that the mobile robot is transporting when the mobile robot is transporting an object. With this configuration, the control system can clearly inform those around the mobile robot of the transported object that the mobile robot is transporting.

[0016] The transport status may include information indicating the type of transport box mounted on the contact portion when the mobile robot is transporting an object. With this configuration, the control system can clearly inform those around the mobile robot of the type of transport box it is currently transporting.

[0017] The transport box may be configured to receive power from the mobile robot when it is mounted on the contact area. With this configuration, the control system can eliminate the need to provide a power source for the transport box.

[0018] 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. The mobile robot includes a contact portion that comes into contact with a transport box when transporting a transport box containing the transported objects, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting portion which is a light-emitting portion disposed on the transport box. The system control includes control to cause the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. With this control method, when an autonomously mobile mobile robot transports transported objects using a transport box, even when the state of the mobile robot is displayed by a light-emitting portion provided around the contact portion that comes into contact with the transport box when transporting the transported objects, it is possible to prevent the state of the mobile robot from being obscured from view by the presence of the transport box.

[0019] The system control may include pattern change control to change the predetermined light emission pattern at the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the control method can more clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting the transport box.

[0020] The pattern change control may be configured to change the predetermined light emission pattern of the first light-emitting unit when the transport box is mounted on the contact portion, compared to when the transport box is not mounted. With this configuration, the control method can clearly communicate the status of the mobile robot to its surroundings while suppressing unnecessary power consumption, even when the mobile robot is transporting the transport box.

[0021] The pattern change control may be configured such that, when the transport box is mounted on the contact portion, the total power consumption of the first light-emitting portion and the power consumption of the box-side light-emitting portion falls within a predetermined range of difference compared to the power consumption of the first light-emitting portion when the transport box is not mounted on the contact portion. With this configuration, the control method can efficiently use power while the mobile robot is transporting the transport box, and more clearly communicate the status of the mobile robot to its surroundings.

[0022] The pattern change control may also be configured to stop the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the control method can use power more efficiently because it stops the emission of light from the first light-emitting unit, which becomes less visible to the surroundings when the transport box is mounted compared to when it is not mounted.

[0023] The box-side light-emitting unit may be provided on at least one of the side and top surfaces of the transport box. With this configuration, the control method makes the box-side light-emitting unit easily recognizable from the surroundings.

[0024] When the mobile robot is running at a position close to the wall, the system control changes the predetermined light emission pattern of the first light emitting unit or the light emission patterns of the first light emitting unit and the box side light emitting unit so as to suppress the power consumption at the light emitting points on the wall side in the first light emitting unit or in the first light emitting unit and the box side light emitting unit, compared to when it is not running at a close position. The control method can, with such a configuration, efficiently use power while the mobile robot is transporting the transport box and can easily inform the surrounding of the state of the mobile robot.

[0025] The state of the mobile robot may include a transport state indicating whether the mobile robot is transporting a transported object. With such a configuration, the control method can easily inform the surrounding of the mobile robot whether the mobile robot is transporting a transported object.

[0026] When the mobile robot is transporting a transported object, the transport state may include information indicating the transported object in the transport box being transported by the mobile robot. With such a configuration, the control method can easily inform the surrounding of the mobile robot of the transported object being transported.

[0027] When the mobile robot is transporting a transported object, the transport state may include information indicating the type of the transport box mounted on the contact portion. With such a configuration, the control method can easily inform the surrounding of the mobile robot of the type of the transport box being transported.

[0028] When the transport box is mounted on the contact portion, the transport box may receive power supply from the mobile robot. With such a configuration, the control method can eliminate the need for the transport box to have a power source.

[0029] The program relating to this disclosure is 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 transported objects, wherein the mobile robot includes a contact portion that comes into contact with a transport box when transporting a transport box containing the transported objects, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot, the transport box includes a box-side light-emitting portion which is a light-emitting portion disposed on the transport box, and the system control includes control to cause the box-side light-emitting portion to emit light in a light-emitting pattern according to the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. According to the program, with this configuration, when an autonomously mobile mobile robot transports transported objects using a transport box, even when the state of the mobile robot is displayed by a light-emitting portion provided around the contact portion that comes into contact with the transport box when transporting the transported objects with the transport box mounted, it is possible to prevent the state of the mobile robot from being obscured from view by the presence of the transport box.

[0030] The system control may include pattern change control to change the predetermined light emission pattern at the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the program can more clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting the transport box.

[0031] The pattern change control may also change the predetermined light emission pattern of the first light-emitting unit so as to reduce power consumption in the first light-emitting unit when the transport box is mounted on the contact portion compared to when it is not mounted. With this configuration, the program can clearly inform the surroundings of the status of the mobile robot while suppressing unnecessary power consumption, even when the mobile robot is transporting the transport box.

[0032] The pattern change control may be configured such that, when the transport box is mounted on the contact portion, the total power consumption of the first light-emitting portion and the power consumption of the box-side light-emitting portion falls within a predetermined range of difference compared to the power consumption of the first light-emitting portion when the transport box is not mounted on the contact portion. With this configuration, the program can efficiently use power while the mobile robot is transporting the transport box, and more clearly communicate the status of the mobile robot to its surroundings.

[0033] The pattern change control may also be configured to stop the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. With this configuration, the program can use power more efficiently by stopping the emission of light from the first light-emitting unit, which becomes less visible to the surroundings when the transport box is mounted compared to when it is not mounted.

[0034] The box-side light-emitting unit may be provided on at least one of the side and top surfaces of the transport box. With this configuration, the program can make the box-side light-emitting unit easily recognizable from the surroundings.

[0035] The system control may include pattern change control to change the predetermined light emission pattern in the first light emission unit or the predetermined light emission pattern and the light emission pattern in the box-side light emission unit, so as to reduce power consumption in the first light emission unit or at the wall-side light emission points of the first light emission unit and the box-side light emission unit when the mobile robot is traveling in a position close to a wall, compared to when it is not traveling in a position close to a wall. With this configuration, the program can efficiently use power and clearly communicate the status of the mobile robot to its surroundings, even when the mobile robot is transporting a transport box.

[0036] The state of the mobile robot may include a transport state indicating whether or not the mobile robot is transporting an object. With this configuration, the program can clearly inform those around the mobile robot whether or not it is transporting an object.

[0037] The transport status may include information indicating the transported object in the transport box that the mobile robot is transporting when the mobile robot is transporting an object. With this configuration, the program can clearly inform those around the mobile robot of the transported object that the mobile robot is currently transporting.

[0038] The transport status may include information indicating the type of transport box mounted on the contact portion when the mobile robot is transporting an object. With this configuration, the program can clearly inform those around the mobile robot of the type of transport box it is currently transporting.

[0039] The transport box may be configured to receive power from the mobile robot when it is mounted on the contact area. With this configuration, the program can eliminate the need for the transport box to have its own power source. [Effects of the Invention]

[0040] According to this disclosure, when an autonomously mobile robot transports an object using a transport box, even when the status of the mobile robot is displayed by a light-emitting part provided around the contact area that comes into contact with the transport box when the transport box is mounted on the mobile robot, it is possible to provide a control system, control method, and program that can prevent the status of the mobile robot from becoming difficult to see from the surroundings due to the presence of the transport box. [Brief explanation of the drawing]

[0041] [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] Figure 1 is a perspective view showing the mobile robot transporting a wagon representing another configuration example. [Figure 9] This is a flowchart illustrating yet another example of the light emission processing performed by the mobile robot in Figure 1. [Figure 10] Figure 9 is a schematic diagram showing a specific example of the light emission process. [Figure 11] This is a schematic diagram showing an example of the overall configuration of a system including a mobile robot according to an embodiment. [Figure 12] This is a flowchart illustrating an example of processing at the higher-level management device in the system shown in Figure 11. [Figure 13] This figure shows an example of the device's hardware configuration. [Modes for carrying out the invention]

[0042] 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.

[0043] (Embodiment) The control system according to this embodiment performs system control for a system including a mobile robot that is autonomously mobile and capable of transporting transported objects (hereinafter referred to as the transport system). This mobile robot can also be called a transport robot because it is capable of transporting transported objects. Below, an example of the configuration of the mobile robot according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing an example of the overall configuration of the mobile robot according to this embodiment, and Figure 2 is a perspective view showing an example of the overall configuration of a wagon transported by the mobile robot in Figure 1.

[0044] The above transport system only needs to include a mobile robot such as the mobile robot 100 shown in Figure 1 and a transport box such as the wagon 500 shown in Figure 2, and may also include other devices such as a higher-level management device. However, for the sake of simplicity, we will first describe the main features of an example in which the transport system is configured with the mobile robot 100 and the wagon 500. In this example, the control system can refer to the mobile robot 100 and the wagon 500, or the components of the control system provided in the mobile robot 100 and the wagon 500.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Figure 1 shows an example where the sensor consists of a camera 104 mounted on a stand 120 facing the +X side and a sensor 105 mounted on the front of the chassis 110. The sensor 105 can be mounted on a bumper provided at the front of the chassis 110 and detects when an object comes into contact with the bumper. If the mobile robot 100 detects contact with an object, i.e., an obstacle, via the sensor 105, it can be controlled to stop the mobile robot 100. Therefore, the sensor 105 can be called a stop sensor. However, the sensor 105 is not limited to the front; it can also be a sensor that detects contact of objects with bumpers provided on the outer circumference of the mobile robot 100.

[0051] The mobile robot 100 is an autonomous mobile robot, but it may also be equipped with the ability to move according to user operation, that is, it may be a mobile robot that can switch between autonomous movement mode and user operation mode. Through the above autonomous movement control, the mobile robot 100 can move autonomously along a route determined according to a set transport destination or based on a set route. In the above autonomous movement control, the mobile robot 100 can also move autonomously by using a learning model obtained by machine learning to determine the route and avoid collisions.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 and unloading the wagon 500 shown in Figure 2. The wagon 500 is an example of a transport box. The wagon 500 will be described later. It can be said that the control computer 101 can be equipped with a movement control unit that performs such autonomous movement control.

[0057] For loading and unloading transported items such as wagons 500, the chassis 110 can be equipped with a lifting mechanism 140 for loading and unloading the transported items. Part of the lifting mechanism 140 can be housed inside the chassis 110, and it can also be positioned on the upper side of the chassis 110 with a mounting surface for placing the transported items exposed. The lifting mechanism 140 is a lifting stage that is provided to be able to move up and down, and can move up and down according to control from the control computer 101. The chassis 110 is equipped with a motor and guide mechanism for lifting. The upper surface of the lifting mechanism 140 becomes the mounting surface on which the wagon 500 as transported items is placed. The wagon 500 is not limited to the configuration shown in Figure 2, but can be any wagon of a predetermined size, shape, and weight that can be placed on the lifting mechanism 140 and transported. The lifting mechanism 140 has a lift mechanism for lifting the wagon 500. The space above the lifting mechanism 140 becomes the mounting space for loading the transported items. Furthermore, if the operation is limited to the user loading the wagon 500, the chassis 110 does not need to be equipped with the lifting mechanism 140.

[0058] Furthermore, the chassis 110 may be equipped with a first light-emitting unit 11 in a position surrounding the lifting mechanism 140. The first light-emitting unit 11 can be any configuration capable of emitting light, and can be composed of, for example, one or more LEDs (Light-Emitting Diodes), organic electroluminescence, etc., and its light emission can be controlled by the control computer 101. The position, shape, and size of the first light-emitting unit 11 are not limited to those shown in the figures. Note that even if the lifting mechanism 140 is not provided, the mobile robot 100 may still be equipped with the first light-emitting unit 11.

[0059] 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.

[0060] Furthermore, the stand 120 can be equipped on its upper surface with, for example, the stick portion 131 of a joystick device, or an emergency stop button for emergency stopping the mobile robot 100. This joystick device is a device that, in user operation mode, allows the user to move the mobile robot 100 in the direction they intend. Directional control can be accepted by tilting the stick portion 131 in the direction of movement. The joystick device can also be controlled to perform a confirmation operation by pressing the stick portion 131 downwards. The stick portion 131 can also be configured to function as an emergency stop button when pressed downwards for a predetermined period of time, and if it is also configured to accept confirmation operations, this predetermined period should be different from the period for confirmation operations.

[0061] Furthermore, the stand 120 may be equipped with a second light-emitting section 12 in a position surrounding the stick section 131. The second light-emitting section 12 can be any configuration capable of emitting light, and can be composed of, for example, one or more LEDs, organic electroluminescent elements, etc., and its light emission can be controlled by the control computer 101. Also, the position, shape, and size of the second light-emitting section 12 are not limited to those shown in the figures.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Furthermore, the contact portion of the lifting mechanism 140 that comes into contact with the bottom surface of the wagon 500 when transporting the wagon 500 loaded with the wagon 500, by connection or other means, can be provided with a recess 141, as shown in Figure 1. This contact portion can be the upper surface of the lifting mechanism 140. On the other hand, a protrusion (not shown) can be provided on the lower side of the storage portion of the wagon 500. The wagon 500 can be fixed to the mobile robot 100 by fitting the above-mentioned protrusion into the recess 141. The wagon 500 can also be equipped with a box-side light-emitting unit, which is a light-emitting unit disposed in the transport box. When the transport box is the wagon 500, the box-side light-emitting unit is a light-emitting unit disposed in the wagon 500, and will therefore be described as the wagon-side light-emitting unit 513. The wagon-side light-emitting unit 513 and the above-mentioned fitting will be described later.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In the various examples described above, it was assumed that the mobile robot 100 transports a wagon, such as the wagon 500, as the transported object. However, even if the mobile robot 100 is configured to transport wagons, it may transport individual items (luggage) as the transported object during operation. In that case, it is advisable to attach a storage box or shelf to the mobile robot 100 to prevent the items from falling during transport.

[0080] 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.

[0081] 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.

[0082] A key feature of this embodiment is that the mobile robot 100 is equipped with a first light-emitting unit 11. As described above, the first light-emitting unit 11 is a light-emitting unit provided around a contact area that may come into contact with the wagon 500 when the wagon 500 containing the goods is mounted and transported. This contact area can also be called the mounting 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 wagon 500 when the wagon 500 is transported with the wagon 500 mounted, and for example, parts that come into contact with the wagon 500 only before transport and during the loading process can be excluded. Furthermore, the contact area can be, for example, the part that comes into contact with the bottom surface of the wagon 500, and thus parts that come into contact with the sides of the wagon 500 can be excluded. Of course, various transport boxes can be envisioned for the wagon 500 depending on their size and shape, but contact parts that may come into contact with the transport box such as the wagon 500 can refer to parts that are likely to come into contact with the transport box such as the wagon 500 when the transport box is being transported, such as the upper surface of the lifting mechanism 140. Therefore, when the mobile robot 100 is transporting the transport box such as the 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. The first light-emitting unit 11 is a light-emitting unit that emits light in a predetermined light-emitting pattern according to the state of the mobile robot 100. The light-emitting pattern can also be called the light-emitting form. The state of the mobile robot 100 can refer to various states, such as whether or not it is transporting goods, whether or not an operational error has occurred in the mobile robot 100, or whether or not it is in autonomous movement mode or user operation mode.

[0083] Furthermore, the mobile robot 100 may be equipped not only with the first light-emitting unit 11 but also with a second light-emitting unit 12. Here, we will explain an example in which the mobile robot 100 is equipped with one light-emitting unit in addition to the first light-emitting unit 11 as exemplified, but it is also possible to have multiple light-emitting units in addition to the first light-emitting unit, and the first light-emitting unit can also be equipped with multiple light-emitting units. In addition, the position, shape and size of the light-emitting unit are not limited to those exemplified. However, from the viewpoint of visibility from the surroundings, it is preferable that the light-emitting units other than the first light-emitting unit 11 be positioned at a distance from the first light-emitting unit 11, as exemplified with the second light-emitting unit 12.

[0084] Furthermore, the wagon 500 used in this embodiment is equipped with a wagon-side light-emitting unit. The wagon-side light-emitting unit can be provided on at least one of the side and top surfaces of the wagon 500, but is not limited to this. However, by providing the wagon-side light-emitting unit on at least one of the side and top surfaces of the wagon 500, the box-side light-emitting unit can be made more easily recognizable from the surroundings. Figures 2 and 3 show an example in which the wagon-side light-emitting unit 513 is provided around the wagon 500, but as mentioned above, it may also be on the top surface of the wagon 500, or even if it is around the perimeter, it is not limited to being provided at the height shown. In addition, the wagon-side light-emitting unit may be provided on the side rather than around the wagon 500, for example, only on the front, only on the rear, only on the left side, or only on the right side of the wagon 500.

[0085] Furthermore, as part of the system control described above, the control computer 101 controls the wagon-side light-emitting unit 513 to emit light in a pattern corresponding to a predetermined light-emitting pattern in the first light-emitting unit 11 when the wagon 500 is mounted on the contact area. Note that "when the wagon 500 is mounted on the contact area" is synonymous with "when the wagon 500 comes into contact with the contact area" or "when the wagon 500 is mounted on the contact area and comes into contact with it." In addition, the control to emit light in the wagon-side light-emitting unit 513 can be executed at any time after the wagon 500 comes into contact with the contact area and control becomes possible, such as when subsequent transport begins.

[0086] Light emission control of the wagon-side light-emitting unit 513 from the control computer 101 can be performed, for example, as follows: By fitting the recessed portion 141 and the protruding portion of the wagon 500 together, the control computer 101 and the wagon-side light-emitting unit 513 are electrically connected, and light emission control can be performed on the wagon-side light-emitting unit 513. Alternatively, the light emission control itself can also be realized by equipping the mobile robot 100 and the wagon 500 with wireless communication units that utilize short-range wireless communication technology.

[0087] Furthermore, the transport system including the mobile robot 100 and the wagon 500 can be configured to supply power from the mobile robot 100 to the wagon 500, that is, to the wagon-side light-emitting unit 513, through the above-described fitting. Power supply can be performed by electrical contact between the recess 141 and the protrusion, but it can also be performed by contactless power supply in the above-described fitting state.

[0088] Thus, the wagon 500 may be configured to receive power from the mobile robot 100 when it is mounted on a contact surface and makes contact. This configuration eliminates the need for the wagon 500 to have its own power source. By eliminating the power source from the wagon 500, the transport box, which may be moved by hospital staff or other workers, can be made lighter. Of course, it is also possible to mount a battery on the wagon 500, in which case the battery can be charged by the mobile robot 100 through the above-mentioned fitting.

[0089] In order to control the illumination of the first light-emitting unit 11 and the wagon-side light-emitting unit 513 as described above, the control computer 101 determines the state of the mobile robot 100 (step S11).

[0090] In step S11, the control computer 101 can determine the state of the mobile robot 100, including the running state of the mobile robot 100 based on the detection results of sensors 105 and the like, and the operating state indicating whether or not there is an operational abnormality in the mobile robot 100. Whether or not there is an operational abnormality can be determined based on the results detected by various sensors installed on the mobile robot 100. Regarding the operating state, it will be determined whether or not there is an operational abnormality, and which part the abnormality is in, for example, the battery, drive unit, or wheels. Furthermore, the states of the mobile robot 100 to be determined may also include the mode state, indicating whether it is in autonomous movement mode or user operation mode, and whether or not the wagon 500 is mounted.

[0091] 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.

[0092] 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.

[0093] Furthermore, the mobile robot 100 may be equipped with a storage unit (not shown) that stores information indicating the state, such as 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 state, such as the driving state and operating state, based on the most recently stored information indicating the state, such as the driving state and operating state.

[0094] The control computer 101 controls the first light-emitting unit 11 or the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a predetermined light-emitting pattern corresponding to the state of the mobile robot 100 (step S12).

[0095] In step S12, for example, if the mobile robot 100 is in a normal state in autonomous movement mode, the control computer 101 can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a first light-emitting pattern as illustrated in "Normal (autonomous movement mode)" in Figure 5.

[0096] Furthermore, if the mobile robot 100's state indicates some kind of abnormality regardless of the mode, the control computer 101 can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a second light-emitting pattern as illustrated in "Abnormality" in Figure 5.

[0097] Furthermore, if the mobile robot 100 is in a normal state in user operation mode, the control computer 101 can control the first light-emitting unit 11 and the second light-emitting unit 12 to emit light in a third light-emitting pattern as exemplified in "Normal (User Operation Mode)" in Figure 5.

[0098] Furthermore, although only three light emission patterns are shown as examples here, classifying the state into three categories, the state can also be classified into two, four, or more categories. This process can be repeated whenever there is a change in the detection result of the sensor 105 used to determine the state of the mobile robot 100, or at predetermined intervals.

[0099] Furthermore, the light emission patterns to be used, such as the first to third light emission patterns and other light emission patterns described later, can be stored, for example, in a table in the control computer 101 and referenced during light emission control.

[0100] Next, the control computer 101 determines whether or not the wagon 500 is mounted on the contact area, that is, whether or not the wagon 500 is in contact with the contact area (step S13), and terminates the process if it is not mounted. Whether or not the wagon 500 is mounted can be determined in step S11 as one of the states of the mobile robot 100, but if it has not been determined as one of the states of the mobile robot 100, it can be determined at this point.

[0101] Here, the control computer 101 can determine or acquire whether, for example, a wagon 500 is loaded or whether goods are contained in it, based on information from the loading and unloading control of the wagon 500, or based on the detection results from weight sensors installed at other locations on the lifting mechanism 140 or the chassis 110. If weight sensors are installed, the control computer 101 can register the weight of each type of wagon or goods as transported items, and calculate how many of each type of wagon or item are loaded from these combinations. Of course, this calculation can also determine whether goods are loaded in the wagon 500 at all.

[0102] Alternatively, the control computer 101 can determine or acquire whether, for example, a wagon 500 is loaded, based on images captured by a camera positioned to include the lifting stage in its imaging range. Alternatively, the control computer 101 can determine or acquire whether an object is being transported, based on information indicating the transported object set from the operation unit 130, a set or determined transport route, and current position information obtained from a position sensor installed on the mobile robot 100. For items to be placed inside the wagon 500, the control computer 101 can determine or acquire this information based on images taken by a camera positioned to include the lifting stage in its imaging range while the user is placing the items inside. Alternatively, the control computer 101 can determine or acquire items being transported, based on information indicating the items set from the operation unit 130, a set or determined transport route, and current position information obtained from a position sensor installed on the mobile robot 100. Transported object information, such as whether a wagon 500 is loaded and information indicating the items, is not limited to being acquired by these methods, but may be acquired by other methods as well.

[0103] Furthermore, the mobile robot 100 may be equipped with a storage unit (not shown) that stores the transported object information acquired in this manner, for example, within the control computer 101. Based on the stored transported object information, the control computer 101 can also determine whether or not the robot is transporting an object, including whether or not it is carrying a wagon 500.

[0104] On the other hand, if the wagon 500 is mounted on the contact area and in contact with it, the control computer 101 controls the wagon-side light-emitting unit 513 to emit light in a pattern corresponding to a predetermined light-emitting pattern in the first light-emitting unit 11 (step S14), and then terminates the process. For example, the control computer 101 can control the wagon-side light-emitting unit 513 to emit light in the same color as the light-emitting pattern for each state shown in Figure 5. However, the control is not limited to emitting light in the same color for both light-emitting patterns; for example, they can use exactly the same light-emitting pattern other than scale, or they can use different light-emitting patterns, as long as the predetermined light-emitting pattern and the light-emitting pattern of the wagon-side light-emitting unit 513 are associated in advance.

[0105] According to the transport system of this embodiment, the following effects are achieved when a mobile robot 100 transports goods using a wagon 500. Specifically, with this transport system, even when the status of the mobile robot 100 is displayed by the first light-emitting unit 11 provided around the contact area that comes into contact with the wagon 500, it is possible to prevent the status of the mobile robot 100 from becoming difficult to see from the surroundings due to the presence of the wagon 500. In other words, with this transport system, even when the wagon 500 is mounted, the status of the mobile robot 100 can be clearly communicated to those around the mobile robot 100.

[0106] Furthermore, as described above, the status of the mobile robot 100 may include a transport status indicating whether or not the mobile robot 100 is transporting an item. This allows for changes to a predetermined light emission pattern or the light emission pattern of the wagon-side light emission unit 513 according to this transport status, making it easy to inform those around the mobile robot 100 whether or not it is transporting an item.

[0107] Furthermore, as mentioned above, the transport status may include information indicating the item in the wagon 500 that the mobile robot 100 is transporting when the mobile robot 100 is transporting an item. This allows the predetermined light emission pattern and the light emission pattern of the wagon-side light emission unit 513 to be changed according to the item being transported, making it easy to inform those around the mobile robot 100 of the item being transported. Here, there can be a one-to-one relationship between the type of item and the light emission pattern, but too many light emission patterns may confuse people in the vicinity. Therefore, there does not have to be a one-to-one relationship between the type of item and the light emission pattern.

[0108] Furthermore, as mentioned above, the transport status may include information indicating the type of wagon 500 mounted on the contact part when the mobile robot 100 is transporting goods. Here, the type of wagon 500 may, for example, indicate the attributes of the goods it contains. Examples of attributes in a hospital setting include medical equipment, specimens, pharmaceuticals, and food. This allows for the changing of a predetermined light emission pattern or the light emission pattern of the wagon-side light emission unit 513 according to the type of wagon 500, making it easy to inform those around the mobile robot 100 of the type of wagon 500 it is transporting. While there may be a one-to-one relationship between the type of wagon 500 and the light emission pattern, too many light emission patterns could confuse those nearby. Therefore, the relationship between the type of wagon 500 and the light emission pattern does not necessarily have to be one-to-one.

[0109] Furthermore, as described above, the first light-emitting unit 11 is a light-emitting unit arranged around the contact area that comes into contact with the transported object when the transported object is loaded and transported. In other words, the mobile robot 100 positions the light-emitting unit considering the location where the transported object is loaded, as illustrated by the positional relationship between the first light-emitting unit 11 and the lifting stage. As a result, the mobile robot 100 is easily visible from the surroundings when a transported object is loaded, and even more easily visible when no transported object is loaded, so that even if only the first light-emitting unit 11 is used, it is possible to clearly inform those around the mobile robot 100 whether or not a transported object is being transported. In addition, when the area around the contact area is illuminated as in this example and a wagon 500 is used for transport, the underside of the wagon 500 can be made mirrored to further improve visibility 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 allows the mobile robot 100 to clearly indicate to those around it whether or not it is transporting an object, even from directions where the loading position of the object, such as a wagon 500, may be difficult to see.

[0111] Furthermore, especially when transporting using the wagon 500, the inside of the wagon 500 is not visible to the operator. Therefore, the control computer 101 may perform control that indicates the presence or absence of transported items inside the wagon 500 by changing the light emission pattern, thereby providing useful information to the operator. In such control, the control computer 101 may change a predetermined light emission pattern based on whether or not there is content inside the wagon 500.

[0112] Furthermore, the control to make the light emission patterns different in the first light-emitting unit 11, the second light-emitting unit 12, and the wagon-side light-emitting unit 513 may include the control to make at least one of the luminance, hue, saturation, and lightness of the light emitted different. Also, the control to make the light emission patterns different between light-emitting units may include, for example, the control to make the light emission parameters different between the first light-emitting unit 11 and the second light-emitting unit 12, or between the first light-emitting unit 11 and the wagon-side light-emitting unit 513, which are located at a distance from each other. Here, the light emission parameter can be at least one of the luminance, hue, saturation, and lightness mentioned above.

[0113] Furthermore, it is possible to make different light-emitting units illuminate simultaneously among the three light-emitting units. For a certain predetermined illumination pattern, all positions of the first light-emitting unit 11, the second light-emitting unit 12, and the wagon-side light-emitting unit 513 can be illuminated, while for other predetermined illumination patterns, all positions can be kept off. In this way, the first light-emitting unit 11, the second light-emitting unit 12, and the wagon-side light-emitting unit 513 can all express illumination patterns by changing the on / off state of their illumination.

[0114] Furthermore, the first light-emitting unit 11 and the second light-emitting unit 12 can also be configured to emit light at multiple different positions in synchronous manner in order to differentiate the light-emitting patterns for the mobile robot 100. In either case, the wagon-side light-emitting unit 513 is controlled to emit light according to the light-emitting pattern corresponding to the first light-emitting unit 11.

[0115] Examples of such light emission patterns are given below. In one light emission pattern, only the first light-emitting unit 11 is illuminated; in another light emission pattern, only the second light-emitting unit 12 is illuminated; and in yet another light emission pattern, the first light-emitting unit 11 and the second light-emitting unit 12 are illuminated in sync. Examples of syncing the illumination of both include the "Normal (Autonomous Movement Mode)" example and the "Normal (User Operation Mode)" example in Figure 5. In the example where the mobile robot 100 is equipped with three or more light-emitting units, a light emission pattern can be selected from many light emission patterns obtained from various combinations of the three or more light-emitting units provided.

[0116] Conversely, an example of emitting light without synchronizing the two is the "abnormal" example in Figure 5. In the "abnormal" 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. In this way, the control computer 101 can control the emission of light from the first light-emitting unit 11 and the second light-emitting unit 12 so that their emission timings are swapped, that is, their emission times are reversed, as a certain emission pattern.

[0117] 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.

[0118] Furthermore, in the light-emitting units mounted on the mobile robot 100, multiple positions that emit light synchronously can be illuminated using mutually complementary light-emitting patterns. Mutually complementary light-emitting patterns include patterns in which the light-emitting color of the first light-emitting unit 11 and the light-emitting color of 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.

[0119] By using the various light emission patterns described above, the mobile robot 100 can more clearly communicate its status to those around it, and this effect is further enhanced when combined with the light emission control of the wagon-side light emission unit 513.

[0120] 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.

[0121] In this example, as part of the system control, the control computer 101 performs pattern change control to change a predetermined light emission pattern in the first light-emitting unit 11 when the wagon 500 is placed on the contact area and makes contact.

[0122] For example, the pattern change control may be configured to change a predetermined light emission pattern in the first light emission unit 11 so as to reduce power consumption in the first light emission unit 11 when the wagon 500 is mounted on the contact area compared to when the wagon 500 is not mounted. In other words, the control computer 101 can reduce power consumption by making the predetermined light emission pattern less conspicuous and lowering its brightness when the wagon 500 is mounted.

[0123] This allows the status of the mobile robot 100 to be clearly communicated to the surroundings while minimizing unnecessary power consumption, even when the mobile robot is transporting the wagon 500. Power consumption can be reduced by lowering the brightness of the light emission or limiting the illumination to a partial state. At least when such control is performed, it is advisable to indicate the status of the mobile robot 100 with the illumination pattern of the second light-emitting unit 12. Of course, if such control is not performed, the second light-emitting unit 12 can be turned off.

[0124] For this type of control, the control computer 101 determines the state of the mobile robot 100 in the same way as in step S11 in Figure 4 (step S21). However, in step S21, the presence or absence of the wagon 500 is also determined as one of the states of the mobile robot 100.

[0125] Following step S21, the control computer 101 determines whether the mobile robot 100 is carrying the wagon 500 based on the acquired state (step S22). If it is determined in step S22 that the wagon is carrying the wagon, the control computer 101 sets a predetermined light emission pattern to a power-saving pattern (step S23) and causes the first light-emitting unit 11 to emit light with that predetermined light emission pattern (step S24). At this time, the second light-emitting unit 12 may also be controlled to emit light. Next, the control computer 101 causes the wagon-side light-emitting unit 513 to emit light with a light emission pattern corresponding to the predetermined light emission pattern (step S25), and the process ends.

[0126] On the other hand, if it is determined in step S22 that the device is not installed, the control computer 101 sets a predetermined light emission pattern to a normal power pattern (step S26), illuminates the first light emission unit 11 with that predetermined light emission pattern (step S27), and terminates the process. In step S27, the second light emission unit 12 may also be controlled to emit light. In this case, the wagon-side light emission unit 513 can be kept off, thereby reducing power consumption. Of course, such processing can be repeated, for example, whenever there is a change in the detection result of the sensor 105 used to determine the state of the mobile robot 100, or at predetermined intervals.

[0127] In steps S22 and S26, the control computer 101 can, for example, select a light emission pattern and control the light emission as follows. However, as described above, in step S22, for example, the light emission brightness of the first light emission unit 11 is controlled to be lower than in step S26. Here, we give an example in which the process in Figure 6 is repeated at predetermined intervals. For example, each time the process is repeated, that is, at predetermined intervals as shown above, the control computer 101 refers to the correspondence between the state and the light emission pattern in Figure 7, and makes the first light emission unit 11 and the second light emission unit 12 emit light according to the light emission pattern indicating the state, and also controls the light emission of the wagon-side light emission unit 513.

[0128] Figure 7 illustrates the light emission patterns defined by the light emission color and its illumination pattern for the first light emission unit 11 and the second light emission unit 12, respectively, for the same cases as in the example in Figure 5: "autonomous movement mode (normal)", "user operation mode (normal)", and "abnormal". Here, the illumination pattern is selected from a pattern of constant illumination, a pattern of flashing at short intervals, and a pattern of flashing at longer intervals. However, the flashing interval, or flashing interval, can be set to three or more levels.

[0129] Furthermore, as can be seen from the example of the light emission pattern in Figure 7, the second light emission unit 12, which is close to the control unit 130 and the stick unit 131, mainly represents the normal mode and abnormality of the mobile robot 100, while the first light emission unit 11 also represents the detailed state of the mobile robot 100 in autonomous movement mode.

[0130] Figure 7 illustrates the detailed operating states in autonomous movement mode by dividing the "autonomous movement mode and normal" state into the following four cases. Specifically, Figure 7 illustrates the lighting patterns for each of the following states: "Autonomous movement in progress," which indicates the state while autonomous movement is in progress; "Standby," which indicates that autonomous movement control is being performed but the robot is stopped and in standby mode; "Prompt for operation," which indicates a situation where the user is prompted to take some action; and "Warning," which indicates a situation where the user or the surroundings are warned. The "Standby" case can refer to, for example, when the mobile robot 100 is being charged by the charger or waiting for an elevator. The "Prompt for operation" case can refer to, for example, when the mobile robot 100 has arrived at its destination. The "Warning" case can refer to, for example, when the lifting mechanism 140 is being raised or lowered or when the mobile robot 100 is approaching an intersection. The "Autonomous movement in progress" case refers to any other autonomous movement in progress.

[0131] 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 lighting locations," which moves the lighting locations in a fluid manner. An example of a flow of lighting locations would be, for instance, the first light-emitting unit 11 lighting up so that the lighting locations rotate around the lifting mechanism 140, and the second light-emitting unit 12 lighting up so that the lighting locations rotate around the stick section 131. If the first light-emitting unit 11 is lit up so that the lighting locations rotate around the lifting mechanism 140, that is, to create a flow of lighting locations, then, for example, the wagon-side light-emitting unit 513 should similarly be lit up so that the lighting locations rotate around the wagon 500.

[0132] The examples of colors and lighting patterns shown in Figure 7 can, of course, be applied to the processing examples described in Figures 4 and 5, as well as other examples described later.

[0133] Conversely, when the wagon 500 is mounted, the control computer 101 can also increase the brightness of a predetermined light emission pattern to make it more noticeable and easier to inform those around it. In both cases, whether increasing or decreasing the brightness, the light emission pattern of the wagon-side light emission unit 513 can be changed according to the predetermined light emission pattern, and the second light emission unit 12 can also change its light emission pattern in the same way as the first light emission unit 11. This makes it easier to inform those around the mobile robot 100 of its status while it is transporting the wagon 500.

[0134] Furthermore, the pattern change control may be configured to stop the illumination of the first light-emitting unit 11 when the wagon 500 is mounted on the contact area and makes contact. With this configuration, the illumination of the first light-emitting unit 11, which becomes less visible to the surroundings when the wagon 500 is mounted compared to when it is not mounted, is stopped, allowing for more efficient use of power.

[0135] Alternatively, pattern change control can be performed based on the sum of the power consumption of the first light-emitting unit 11 and the power consumption of the wagon-side light-emitting unit 513 when the wagon 500 is mounted on the contact area and contact is made. Specifically, the pattern change control may be performed by changing a predetermined light-emitting pattern in the first light-emitting unit 11 so that the above sum falls within a predetermined range of difference compared to the power consumption of the first light-emitting unit 11 when the wagon 500 is not mounted on the contact area. With such a configuration, even when the mobile robot 100 is transporting the wagon 500, the status of the mobile robot 100 can be communicated to the surroundings in a more easily understandable way while efficiently using power.

[0136] Furthermore, in this pattern change control, if the wagon 500 is mounted on the contact area and makes contact, the first light-emitting unit 11 may be configured to stop emitting light. With this configuration, the first light-emitting unit 11, whose illumination becomes less visible to the surroundings when the wagon 500 is mounted compared to when it is not mounted, is stopped emitting light, thus allowing for more efficient use of power.

[0137] Next, we will explain an example of a wagon different from that in Figure 2, using Figure 8. Figure 8 is a perspective view showing the mobile robot 100 in Figure 1 transporting a wagon of a different configuration example.

[0138] The wagon 500a shown in Figure 8 is the same as the wagon 500 in Figure 2, but with a wagon-side light-emitting unit 513a instead of the wagon-side light-emitting unit 513. The wagon-side light-emitting unit 513a is supported on the upper surface of the support member 513b, which is attached to the upper surface of the side plate 504. In Figure 8, the wagon-side light-emitting unit 513a is shown as an example in which its light-emitting area is spherical and the light-emitting area is arranged in all directions horizontally. Naturally, the parts of the wagon-side light-emitting unit 513a that are supported by the support member 513b will not emit light.

[0139] Power can be supplied to the wagon-side light-emitting unit 513a in the same way as power can be supplied to the wagon-side light-emitting unit 513, provided that a power supply cable is provided inside the support member 513b. Light emission control of the wagon-side light-emitting unit 513a can also be basically performed in the same way as light emission control of the wagon-side light-emitting unit 513, provided that a cable for transmitting control signals is provided inside the support member 513b. Although the light emission areas of the four wagon-side light-emitting units 513a exemplified in Figure 8 are not spatially continuous, it is possible to move the illuminated locations. For example, one can light up one wagon-side light-emitting unit 513a, then light up the adjacent wagon-side light-emitting unit 513a, and so on, moving the wagon-side light-emitting unit 513a to be lit clockwise or counterclockwise when viewed from above the wagon 500a.

[0140] By providing the wagon-side light-emitting unit 513a in the wagon 500a, the box-side light-emitting unit 513a can be made even easier to recognize from the surroundings compared to cases where the wagon-side light-emitting unit 513 is provided on the side of the wagon 500 or on the top surface of the wagon 500, as shown in Figure 2.

[0141] Furthermore, in the example shown in Figure 8, a total of four sets of wagon-side light-emitting units 513a and support members 513b are provided near the four corners when viewed from the top side of the wagon 500a body, but at least one set is sufficient. Even if only one set is provided, the flow of the illuminated areas described above can be achieved by changing the illuminated area of ​​that one wagon-side light-emitting unit 513a clockwise or counterclockwise.

[0142] Furthermore, the support member 513b can be attached to a location other than the side plate 504 on the wagon 500a. Also, the support member 513b may be detachable from the wagon 500a, and the wagon-side light-emitting unit 513a may be detachable from the support member 513b. Note that the wagon-side light-emitting unit 513 in Figure 2 may also be detachable from the wagon 500.

[0143] Furthermore, while the example in Figure 8 shows a spherical light-emitting section 513a on the wagon side, its shape is not limited to this, nor is the light-emitting area of ​​the wagon side light-emitting section 513a limited to extending horizontally in all directions. For example, as illustrated in Figure 8, when multiple wagon side light-emitting sections 513a are arranged on the wagon 500a, the light-emitting area of ​​each wagon side light-emitting section 513a may be limited to the area located outside the wagon 500a when viewed from the top surface of the wagon 500a. Alternatively, each wagon side light-emitting section 513a can be configured to have a light-emitting area extending horizontally in all directions, and the light-emitting area can be adjusted to emit light only in the area located outside the wagon 500a.

[0144] Next, further examples of light emission processing that can be employed in this embodiment will be described using Figures 9 and 10. Figure 9 is a flowchart illustrating further examples of light emission processing performed by the mobile robot 100. Figure 10 is a schematic diagram showing a specific example of the light emission processing in Figure 9. In the following examples, including those described using Figures 9 and 10, we will give examples of transporting the wagon 500, but of course, these can also be applied to transporting the wagon 500a.

[0145] In this example, as part of system control, the control computer 101 controls the mobile robot 100 so that when it is traveling close to a wall, the power consumption of the light-emitting parts on the wall side is reduced compared to when it is not traveling close to a wall.

[0146] Specifically, as part of system control, the control computer 101 performs pattern change control to modify a predetermined light emission pattern in the first light emission unit 11 in order to reduce power consumption at the wall-side light emission points of the first light emission unit 11 when the vehicle is traveling close to a wall. Alternatively, as part of system control, the control computer 101 performs pattern change control to modify a predetermined light emission pattern in the first light emission unit 11 and the light emission pattern in the wagon-side light emission unit 513 in order to reduce power consumption at the wall-side light emission points of both the first light emission unit 11 and the wagon-side light emission unit 513 when the vehicle is traveling close to a wall.

[0147] In any pattern change control, when traveling near a wall, the amount of light emitted from the wall-side light source can be reduced to conserve power. In other words, by employing this type of pattern change control, even when the mobile robot 100 is transporting the wagon 500, it is possible to efficiently use power while clearly communicating the status of the mobile robot 100 to its surroundings.

[0148] For the sake of simplicity, this explanation of control will assume that the Wagon 500 is installed; however, if it is not installed, the various examples described above can generally be applied.

[0149] The control computer 101 determines the state of the mobile robot 100 in the same way as in step S11 of Figure 4 (step S31). However, in step S31, the position and orientation of the mobile robot 100 are also determined. The position and orientation of the mobile robot 100 can be determined by obtaining image information from cameras installed in the facility, or by obtaining image information from camera 104, or by obtaining position information from a position information acquisition unit installed on the mobile robot 100. Of course, the position and orientation of the mobile robot 100 can also be determined from any combination of these, and map data can also be referenced.

[0150] Following step S31, the control computer 101 determines whether the mobile robot 100 is close to a wall, that is, whether it is near a wall, based on the acquired position and orientation of the mobile robot 100 (step S32). Whether or not it is close to a wall can be determined, for example, by finding the distance between the part of the mobile robot 100 closest to the wall and the wall, and comparing that distance with a predetermined threshold. The part of the mobile robot 100 closest to the wall can be determined, for example, from a camera image, or from the position information of the mobile robot 100, the orientation information of the mobile robot 100, and the shape of the area around the mobile robot 100 acquired by a sensor.

[0151] If it is determined in step S32 that the location is near a wall, the control computer 101 sets a predetermined light emission pattern to a power-saving pattern at the wall-side light emission location (step S33), and causes the first light emission unit 11 to emit light with that predetermined light emission pattern (step S34). Next, the control computer 101 causes the wagon-side light emission unit 513 to emit light with a light emission pattern corresponding to the predetermined light emission pattern (step S35), and terminates the process.

[0152] For example, let's consider a simple example of steps S34 and S35, using the example of traveling along passage R in Figure 10. When the mobile robot 100 is at the position of mobile robot 100-3 in Figure 10, the luminescence of the first light-emitting unit 11 and the wagon-side light-emitting unit 513 in that area, which is to the left of the direction of travel indicated by the white arrow and is therefore drawn in black, can be reduced compared to the position of mobile robot 100-1 to save power. Similarly, when the mobile robot 100 is at the position of mobile robot 100-2 in Figure 10, the luminescence of the first light-emitting unit 11 and the wagon-side light-emitting unit 513 in that area, which is to the right of the direction of travel indicated by the white arrow and is therefore drawn in black, can be reduced compared to the position of mobile robot 100-1 to save power. In step S34, the second light-emitting unit 12 may also be controlled to emit light.

[0153] On the other hand, if it is determined in step S32 that the robot is not in a position near a wall, the control computer 101 sets a predetermined light emission pattern to a normal power pattern (step S36), executes the processes described in steps S34 and S35, and terminates the process. In this case, the luminescence of either the first light-emitting unit 11 or the wagon-side light-emitting unit 513 should not be reduced, as in the case where the mobile robot 100 is in the position of mobile robot 100-1 in Figure 10. Of course, such processing can be repeated, for example, when the position of the mobile robot 100 is changed or at predetermined intervals.

[0154] Furthermore, the control computer 101 can also cause the wall-side portion of the first light-emitting unit 11 to emit light in a power-saving manner even when the wagon 500 is not mounted.

[0155] In the above description, an example was given in which the transport system mainly consists of a mobile robot 100 and a wagon 500, 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.

[0156] Below, using Figure 11, 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 11 is a schematic diagram showing an example of the overall configuration of a transport system including the mobile robot 100.

[0157] As shown in Figure 11, 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.

[0158] 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.

[0159] 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.

[0160] The transport system 1 can efficiently control multiple mobile robots 100 while autonomously moving them within a designated facility in autonomous movement mode. The term "facility" can refer to various types of facilities, including medical and welfare facilities such as hospitals, rehabilitation centers, nursing homes, and elderly care facilities; hotels, restaurants, office buildings, event venues, shopping malls and other commercial facilities; and other mixed-use facilities.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] The user terminal device 300 is a device that remotely controls the mobile robot 100 via the higher-level management device 2 or directly when in user operation mode, and can be equipped with communication functions and a display unit 304. Various types of terminal devices can be used as the user terminal device 300, such as a tablet computer or a smartphone. The user terminal device 300 can also accept switching operations between user operation mode and autonomous movement mode, and when this switching operation is performed, the mode can be switched on the mobile robot 100 via the higher-level management device 2.

[0165] Here, we give an example in which the user terminal device 300 is equipped with a joystick device. In addition to the main body 31, the user terminal device 300 may be equipped with a stick part 302 and a button 303 as part of the joystick device. This joystick device is a device that, in user operation mode, moves the mobile robot 100 in the direction intended by the user. Directional control can be accepted by tilting the stick part 302 in the direction to be moved. This joystick device can also be controlled so that a confirmation operation is performed by pressing the button 303 downwards. The button 303 can also be used for the above switching operation. Furthermore, the button 303 can be configured to function as an emergency stop button when pressed downwards for a predetermined period of time. When assigning multiple operations to the button 303, it is sufficient that a predetermined period corresponding to each operation is set. Also, if the user terminal device 300 is equipped with a joystick device, the user can perform the same operation even if the mobile robot 100 is not equipped with a joystick device. In a configuration where the transport system 1 manages multiple mobile robots 100, in user operation mode, the user terminal device 300 can select the mobile robot 100 to be remotely controlled.

[0166] 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.

[0167] 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.

[0168] Furthermore, the control system in the transport system 1 can perform the following determination process when at least the higher-level management device 2 is unable to communicate with the mobile robot 100. That is, in such a case of communication failure, the control system can perform a determination process to determine the state of the mobile robot 100 based on the light emission pattern shown in the image captured by the environmental camera 5. Note that this image may be an image captured by a camera of another mobile robot provided in the transport system 1, in addition to or instead of the image captured by the environmental camera 5.

[0169] With this configuration, the control system of the transport system 1 allows the higher-level management device 2 to determine the status of the mobile robot 100 even when communication between the mobile robot 100 and the higher-level management device 2 is impossible.

[0170] This allows, for example, if the mobile robot 100 is in an abnormal state and unable to communicate, the user can be instructed to retrieve or inspect the mobile robot 100, and the user can perform the task according to those instructions. Also, for example, if the mobile robot 100 is carrying transported goods, or transported goods that require urgent attention, the user can be instructed to retrieve the transported goods and deliver them to their destination, and the user can perform the task according to those instructions.

[0171] Here, we will explain how the mobile robot 100 acquires information about the transported object as one of its states. In the transport system 1, the mobile robot 100 can also acquire information about the transported object in the same way as described in Figure 1, etc.

[0172] As an alternative method of acquisition, the mobile robot 100 can also determine the transported object information from images captured by the environmental camera 5 and transmitted directly to the mobile robot 100 or via the higher-level management device 2. Here, instead of the environmental camera 5, images captured by cameras of other mobile robots can also be used for determination. In other words, the control computer 101 can determine the transported object information based on images captured by cameras installed in the facility where the mobile robot 100 is operated, such as the environmental camera 5 or cameras of other mobile robots. Furthermore, the control unit 2a of the higher-level management device 2 can also perform such determination, in which case it is advisable to transmit the transported object information to the mobile robot 100 in advance to prepare for any failure in wireless communication with the higher-level management device 2.

[0173] In addition, as a method of acquisition other than those mentioned above, the mobile robot 100 can acquire transported object information from the higher-level management device 2. When the mobile robot 100 acquires transported object information from the higher-level management device 2, the higher-level management device 2 only needs to update the transported object information according to the transport status. For example, the higher-level management device 2 can update information indicating the current position of the mobile robot 100 or information indicating the transport status of the transported object by receiving it from the mobile robot 100 or by determining it from images obtained from the environmental camera 5.

[0174] Furthermore, information indicating the status of the mobile robot 100, other than information about the transported object, can also be acquired in various ways. Even in a configuration where the mobile robot 100 acquires information about the transported object and other status information from the higher-level management device 2, the mobile robot 100 can acquire the 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.

[0175] Next, we will explain an example of processing in the higher-level control device 2 in the transport system 1 using Figure 12. Figure 12 is a flowchart illustrating the example of processing in the higher-level control device 2 in the transport system 1 shown in Figure 11.

[0176] First, the higher-level management device 2 monitors the communication unit (not shown) of the control unit 2a, checks the communication status with the mobile robot 100 (step S41), and determines whether communication is possible (step S42). If the control unit 2a determines that communication with the mobile robot 100 is possible, it returns to step S41 and continues monitoring. If the control unit 2a determines that communication with the mobile robot 100 is impossible, it acquires images from a camera (step S43). This camera can be the environmental camera 5, a camera on another mobile robot traveling near where communication with the mobile robot 100 was interrupted, or both.

[0177] Next, the control unit 2a analyzes the light emission pattern of the mobile robot 100 based on the acquired image, determines the state of the mobile robot 100 (step S44), and terminates the process. The control unit 2a can also be configured to use a learning model obtained through machine learning to acquire information indicating the state from the image when analyzing the light emission pattern and determining the state.

[0178] In this way, even when communication between the mobile robot 100 and the higher-level management device 2 is impossible, the control system of the transport system 1 allows the higher-level management device 2 to determine the state of the mobile robot 100 as indicated by its light emission pattern.

[0179] 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, information about the transported object and other status information can also be determined from images obtained from the environmental camera 5.

[0180] Furthermore, each of the devices 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 a hardware configuration such as the following. Figure 13 shows an example of the hardware configuration of the device.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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]

[0185] 1. Conveying System 2 Upper management device 3 Network 4. Communication Unit 5. Environmental Cameras 11. First light-emitting section 12 Second light-emitting section 100 Mobile Robots 101 Control Computer 104 Camera 110 chassis 111 Wheels 120 stands 130 Operation section 131 Stick section 140 Lifting mechanism 141 Recess 300 User terminal devices 500 Wagon (transport box) 501 Cover 502 wheels 513, 513a Wagon-side light-emitting part (box-side light-emitting part) 513b Support member

Claims

1. Performs system control to control a system including a mobile robot capable of autonomous movement and transporting objects. The mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The system control includes, when the transport box is mounted on the contact portion, control to cause the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, and also includes pattern change control to change the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. Control system.

2. The pattern change control modifies the predetermined light emission pattern in the first light emission unit so as to reduce power consumption in the first light emission unit when the transport box is mounted on the contact portion compared to when it is not mounted. The control system according to claim 1.

3. The pattern change control modifies the predetermined light emission pattern of the first light emission unit so that, when the transport box is mounted on the contact portion, the sum of the power consumption of the first light emission unit and the power consumption of the box-side light emission unit falls within a predetermined range of difference compared to the power consumption of the first light emission unit when the transport box is not mounted on the contact portion. The control system according to claim 1.

4. The pattern change control stops the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. The control system according to claim 2 or 3.

5. Performs system control to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The aforementioned system control is, When the transport box is mounted on the contact portion, the control includes causing the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, When the mobile robot is traveling in a position close to a wall, the power consumption at the wall-side light-emitting location in the first light-emitting unit or in the first light-emitting unit and the box-side light-emitting unit is reduced compared to when the mobile robot is not traveling in a position close to a wall, and the control includes pattern change control to change the predetermined light-emitting pattern in the first light-emitting unit or the predetermined light-emitting pattern and the light-emitting pattern in the box-side light-emitting unit. Control system.

6. The box-side light-emitting unit is provided on at least one of the side and top surfaces of the transport box. The control system according to claim 1 or 5.

7. The state of the mobile robot includes a transport state indicating whether or not the mobile robot is transporting an object. The control system according to claim 1 or 5.

8. The transport status includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot within the transport box. The control system according to claim 7.

9. The transport state includes information indicating the type of transport box mounted on the contact portion when the mobile robot is transporting an object. The control system according to claim 7.

10. When the transport box is mounted on the contact portion, it receives power from the mobile robot. The control system according to claim 1 or 5.

11. Performs system control to control a system including a mobile robot capable of autonomous movement and transporting objects. The mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The system control includes, when the transport box is mounted on the contact portion, control to cause the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, and also includes pattern change control to change the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. Control method.

12. The pattern change control modifies the predetermined light emission pattern in the first light emission unit so as to reduce power consumption in the first light emission unit when the transport box is mounted on the contact portion compared to when it is not mounted. The control method according to claim 11.

13. The pattern change control modifies the predetermined light emission pattern of the first light emission unit so that, when the transport box is mounted on the contact portion, the sum of the power consumption of the first light emission unit and the power consumption of the box-side light emission unit falls within a predetermined range of difference compared to the power consumption of the first light emission unit when the transport box is not mounted on the contact portion. The control method according to claim 11.

14. The pattern change control stops the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. The control method according to claim 12 or 13.

15. Performs system control to control a system including a mobile robot that is autonomously mobile and capable of transporting objects, The mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The aforementioned system control is, When the transport box is mounted on the contact portion, the control includes causing the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, When the mobile robot is traveling in a position close to a wall, the power consumption at the wall-side light-emitting location in the first light-emitting unit or in the first light-emitting unit and the box-side light-emitting unit is reduced compared to when the mobile robot is not traveling in a position close to a wall, and the control includes pattern change control to change the predetermined light-emitting pattern in the first light-emitting unit or the predetermined light-emitting pattern and the light-emitting pattern in the box-side light-emitting unit. Control method.

16. The box-side light-emitting unit is provided on at least one of the side and top surfaces of the transport box. The control method according to claim 11 or 15.

17. The state of the mobile robot includes a transport state indicating whether or not the mobile robot is transporting an object. The control method according to claim 11 or 15.

18. The transport status includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot within the transport box. The control method according to claim 17.

19. The transport state includes information indicating the type of transport box mounted on the contact portion when the mobile robot is transporting an object. The control method according to claim 17.

20. When the transport box is mounted on the contact portion, it receives power from the mobile robot. The control method according to claim 11 or 15.

21. 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 mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The system control includes, when the transport box is mounted on the contact portion, control to cause the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, and also includes pattern change control to change the predetermined light-emitting pattern of the first light-emitting portion when the transport box is mounted on the contact portion. program.

22. The pattern change control modifies the predetermined light emission pattern in the first light emission unit so as to reduce power consumption in the first light emission unit when the transport box is mounted on the contact portion compared to when it is not mounted. The program according to claim 21.

23. The pattern change control modifies the predetermined light emission pattern of the first light emission unit so that, when the transport box is mounted on the contact portion, the sum of the power consumption of the first light emission unit and the power consumption of the box-side light emission unit falls within a predetermined range of difference compared to the power consumption of the first light emission unit when the transport box is not mounted on the contact portion. The program according to claim 21.

24. The pattern change control stops the emission of light from the first light-emitting unit when the transport box is mounted on the contact portion. The program according to claim 22 or 23.

25. 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 mobile robot is equipped with a transport box for transporting an object, and includes a contact portion that comes into contact with the transport box when transporting the object, and a first light-emitting portion provided around the contact portion that emits light in a predetermined light-emitting pattern according to the state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit disposed in the transport box, The aforementioned system control is, When the transport box is mounted on the contact portion, the control includes causing the box-side light-emitting portion to emit light in a light-emitting pattern corresponding to the predetermined light-emitting pattern of the first light-emitting portion, When the mobile robot is traveling in a position close to a wall, the power consumption at the wall-side light-emitting location in the first light-emitting unit or in the first light-emitting unit and the box-side light-emitting unit is reduced compared to when the mobile robot is not traveling in a position close to a wall, and the control includes pattern change control to change the predetermined light-emitting pattern in the first light-emitting unit or the predetermined light-emitting pattern and the light-emitting pattern in the box-side light-emitting unit. program.

26. The box-side light-emitting unit is provided on at least one of the side and top surfaces of the transport box. The program according to claim 21 or 25.

27. The state of the mobile robot includes a transport state indicating whether or not the mobile robot is transporting an object. The program according to claim 21 or 25.

28. The transport status includes, when the mobile robot is transporting an object, information indicating the object being transported by the mobile robot within the transport box. The program according to claim 27.

29. The transport state includes information indicating the type of transport box mounted on the contact portion when the mobile robot is transporting an object. The program according to claim 27.

30. When the transport box is mounted on the contact portion, it receives power from the mobile robot. The program according to claim 21 or 25.

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