JP7484227B2 - Mobile robot, and control method and program for mobile robot - Google Patents

Description

The present invention relates to a mobile robot, a control method for a mobile robot, and a program.

With recent advances in robotics and sensor technology, autonomously mobile robots equipped with various sensors are beginning to be used in the real world. For example, Patent Document 1 discloses a service providing robot that can move around hospital facilities, to users' homes, and to provide services.

On the other hand, when robots and humans begin to converse, there is a concern that the robot may directly or indirectly disclose the contents of that conversation to a third party, resulting in the sharing of information that the user does not intend. Patent Document 2 discloses a robot that has the function of accepting the specification of the disclosure range of at least one of messages or voice information, and controlling the output of personal information within that disclosure range.

Patent document 3 discloses a network robot device with a shopping support function that is equipped with a card reader capable of reading various cards and is capable of making payments, etc.

JP 2017-010179 A JP 2017-119337 A JP 2019-212326 A

The following analysis is provided by the inventor. Apart from the widespread use of robots, the idea of a sharing economy, where multiple users share and use goods and services, is becoming more widespread. In the future, it is expected that services will emerge in which multiple users share a single robot. In this case, the problem is how to handle personal information contained in the work instructions given to a mobile robot. For example, if a user instructs a robot to go to a facility to pick up an item and deliver it to the user's home, if the instructions themselves or the history are left on the robot, other users may become aware of the relationship between the user, the facility, the item, and the user's home. Similarly, if a corporate user gives some kind of instruction to a mobile robot, the instruction itself may be a corporate secret.

In this regard, Patent Documents 1 and 3 assume that the robot is exclusively owned by a single user, and therefore do not anticipate the above problems. Also, in Patent Document 2, the personal information that is protected is limited to information input as messages or voice information.

The present invention aims to provide a mobile robot, a control method for a mobile robot, and a program that can be used safely by multiple users.

According to a first aspect, there is provided a mobile robot comprising: a means for mounting a portable terminal; a means for identifying a destination using information stored in the portable terminal based on a work instruction from a user; and a means for moving to the destination and executing the work instruction , wherein the means for mounting the portable terminal has a drawer-type locking mechanism and is configured to allow the portable terminal to be stored in the drawer and removed from the drawer by password entry or biometric authentication .

According to a second aspect, there is provided a method for controlling a mobile robot, in which a mobile robot equipped with a means for mounting a mobile terminal identifies a destination using information stored in the mobile terminal based on a work instruction from a user, moves to the destination and executes the work instruction , the means for mounting the mobile terminal is equipped with a drawer-type locking mechanism, and the mobile terminal is stored in and removed from the drawer by password input or biometric authentication . This method is associated with a specific machine, that is, a mobile robot that may be used by multiple users.

According to a third aspect, a computer program for realizing the functions of the mobile robot described above is provided. This program is input to the computer device from an input device or from the outside via a communication interface, stored in a storage device, and drives the processor according to predetermined steps or processes. This program can also display the processing results, including intermediate states as necessary, at each stage via a display device, or can communicate with the outside via the communication interface. As an example, a computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and a display device as necessary, which are connectable to each other via a bus. This program can also be recorded on a computer-readable (non-transitive) storage medium.

The present invention makes it possible to provide an environment in which multiple users can use mobile robots with peace of mind.

FIG. 1 is a diagram showing a configuration of an embodiment of the present invention. FIG. 1 is a diagram for explaining a first embodiment of the present invention. 1 is a block diagram showing a configuration of a mobile robot according to a first embodiment of the present invention; FIG. 2 is a sequence diagram showing the operation of the mobile robot according to the first embodiment of the present invention. FIG. 11 is a diagram for explaining a second embodiment of the present invention. FIG. 11 is a sequence diagram showing the operation of the mobile robot according to the second embodiment of the present invention. FIG. 11 is a sequence diagram showing a specific operation of the mobile robot according to the second embodiment of the present invention. FIG. 11 is a sequence diagram showing another specific operation of the mobile robot according to the second embodiment of the present invention. 13 is a diagram for explaining another operation of the mobile robot according to the second embodiment of the present invention. FIG. 11 is a diagram for explaining a third embodiment of the present invention. FIG. 11 is a sequence diagram showing the operation of the mobile robot according to the third embodiment of the present invention. FIG. 2 is a diagram showing the configuration of a computer installed in the mobile robot of the present invention.

First, an overview of one embodiment of the present invention will be described with reference to the drawings. The reference symbols in the drawings are added to each element for convenience as an example to aid understanding, and are not intended to limit the present invention to the illustrated form. In addition, the connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional. One-way arrows are used to show the main signal (data) flow diagrammatically, and do not exclude bidirectionality. The program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and a display device as necessary. In addition, the computer device is configured to be able to communicate with devices (including computers) inside or outside the device via the communication interface, regardless of whether it is wired or wireless. In addition, although there are ports or interfaces at the connection points of the input and output of each block in the drawings, they are not shown. In addition, in the following description, "A and/or B" is used to mean A or B, or A and B.

In one embodiment, the present invention can be realized by a mobile robot 10 including a means for mounting a mobile terminal (terminal mounting unit 11) as shown in FIG. 1. More specifically, the mobile robot 10 further includes a means for specifying a destination using information stored in the mobile terminal based on a work instruction from a user (destination specifying unit 12), and a means for moving to the destination and executing the work instruction (instruction executing unit 13).

When a mobile terminal is mounted on the mobile robot 10, the destination specification unit 12 specifies the destination based on a work instruction from a user using information stored in the mobile terminal. Then, the instruction execution unit 13 moves to the destination and executes the work instruction.

In the above process, the mobile robot 10 reads the information stored in the mobile terminal from the mobile terminal and executes the instructions. Then, after executing the instructions, when the mobile terminal is removed from the mobile robot 10, no information that can identify the destination remains in the mobile robot 10. Therefore, such a mobile robot can be used by multiple users with peace of mind.

[First embodiment]
Next, a first embodiment of the present invention will be described in detail with reference to the drawings. Fig. 2 is a diagram for explaining the first embodiment of the present invention. In this embodiment, an example will be described in which a user 900 instructs a mobile robot 100 to move to a business destination 200 and requests the delivery of goods and data.

Figure 3 is a block diagram showing the configuration of a mobile robot according to a first embodiment of the present invention. Referring to Figure 3, a mobile robot 100 is shown that includes a terminal storage unit 101, an information reading unit 102, an instruction execution unit 103, a charging device 104, and a connector 105 for connecting a mobile terminal.

The terminal storage unit 101 is disposed in the housing of the mobile robot 100 and stores the mobile terminal entrusted to it by the user. For example, the terminal storage unit 101 preferably has a door that can be opened and closed, and a locking function that locks the door when the mobile terminal is stored therein. Having such a terminal storage unit 101 makes it possible to prevent the mobile terminal from being removed or stolen while the mobile robot 100 is moving. In the following embodiment, the terminal storage unit 101 corresponds to a means for mounting the mobile terminal.

Alternatively, the terminal storage section 101 may be configured with a locking mechanism such as a drawer type. For example, it is desirable that the mobile robot 100 has a function in which a drawer extends from the mobile robot 100 when a password or the like is entered from a keyboard or touch panel provided on the mobile robot 100, and the mobile terminal is stored inside the mobile robot 100 when the enter key is entered with the mobile terminal stored therein. In this case, the mobile terminal can be removed by entering a password or the like from the keyboard or touch panel. Of course, biometric authentication or the like may be used instead of a password or the like.

The information reading unit 102 reads out information stored in the mobile terminal based on a work instruction from the user, and transmits the contents to the instruction execution unit 103. In the following embodiment, the information reading unit 102 functions as a means for identifying the destination described above. When inputting a work instruction to the mobile robot 100, the user can specify which memory area of the mobile terminal the mobile robot 100 is allowed to access. This memory area can be specified on an arbitrary folder or file basis, etc.

The instruction execution unit 103 executes the work instruction from the user using the information stored in the mobile terminal transmitted from the information reading unit 102.

The connector 105 for connecting a mobile terminal is a connector for connecting a mobile terminal, and connects the charging device 104 and the information reading unit 102 to the mobile terminal. As the connector 105, various types of USB cable connectors or connectors compatible with Apple's Lightning (registered trademark) standard cables can be used.

The charging device 104 has a function of charging the mobile terminal via the connector 105. The charging device 104 may be independent of the power source of the mobile robot 100, or may receive power from the power source of the mobile robot 100. By providing such a charging device 104, the mobile robot 100 is configured to prevent the mobile terminal from running out of power while moving to execute instructions.

The mobile terminal may be a user's personal smartphone, tablet terminal, smartwatch, etc. Note that the mobile terminal is not limited to the above, as long as it stores the information necessary for issuing work instructions to the mobile robot 100 and is a device that can be connected to the connector 105 and read out. In addition, the mobile terminal does not need to be one that the user uses on a daily basis, and may be, for example, a sub-terminal purchased for issuing work instructions to the mobile robot 100.

Next, the operation of this embodiment will be described in detail with reference to the drawings. FIG. 4 is a sequence diagram showing the operation of the mobile robot of the first embodiment of the present invention. Referring to FIG. 4, first, a user connects a mobile terminal to the connector 105 of the mobile robot 100 and stores the mobile terminal in the terminal storage section 101 of the mobile robot 100 (step S001).

Next, the user requests the mobile robot 100 to read information from the set mobile terminal (step S002).

Next, the mobile robot 100 reads information from the set mobile terminal and prepares for input of work instructions from the user (step S003).

Next, the user inputs the contents of the work instruction to be requested to the mobile robot 100 (step S004). Here, the work instruction is input to instruct the robot to move to the business destination 1 and receive the goods. At that time, the mobile robot 100 uses the information read from the mobile terminal to present the user with candidate business destinations and accepts the user's selection. As the candidate business destinations, information on stores and places that the user has previously searched for can be used. As the candidate business destinations, information on the user's address book registered in the mobile terminal can also be used. For example, if the user has previously searched for "Store A" and "City Hall of B City", the mobile robot 100 can present "Store A" and "City Hall of B City" as candidate business destinations. Also, for example, if "Mr. C" and "Company D" are registered in the user's address book, the mobile robot 100 can present "Mr. C" and "Company D" as candidate business destinations.

In addition, information can be exchanged between the user and the mobile robot 100 in various ways, including the user accessing the mobile robot 100 using the short-range wireless function of a handheld terminal and sending and receiving information. Of course, the user can also input work instructions from the console (operation panel) of the mobile robot 100.

When the mobile robot 100 receives the contents of the work instruction from the user, it starts moving to the input destination 1 (step S005). After that, when the mobile robot 100 arrives at the destination 1, the mobile robot 100 executes the input work content (step S006). Here, since the work instruction is to receive the goods at the destination 1, the mobile robot 100 performs the operation of receiving the goods from the staff or robot at the destination 1. In addition, when receiving the goods here, the mobile robot 100 may present personal information of the user read from the mobile terminal in order to prove that the request is from the user. For example, by presenting an order form for the goods stored in the mobile terminal or an exchange voucher issued by the destination 1, the delivery of the goods can be ensured.

Then, the mobile robot 100 starts moving toward the user and returns to the user. When the user removes the mobile terminal from the mobile robot 100, the series of requests is completed.

As described above, according to this embodiment, it is possible to give instructions to the mobile robot 100 without leaving any information about the destination in the mobile robot 100. Therefore, even if another user uses the mobile robot 100 after the above-mentioned user, there is an advantage that the request made to the mobile robot 100 by the previous user will not be leaked from the input history, etc.

In the above description of the operation, it is assumed that the mobile robot 100 directly reads the information from the mobile terminal, and that no cache or other data remains in the mobile robot 100. If the mobile robot 100 has a cache or history storage function, the mobile robot 100 will delete this cache or history at any time after step S006.

Second Embodiment
Next, a second embodiment will be described in which a request for an additional work instruction (a second work instruction) can be made to the mobile robot 100 that is currently executing a first work instruction. Fig. 5 is a diagram for explaining the second embodiment of the present invention.

In the second embodiment below, as shown in FIG. 5, an example will be described in which a mobile robot 100 moving to a task destination 1 (201) based on a first task instruction is requested to perform an additional task that involves moving to a task destination 2 (202). The configuration of the mobile robot 100 may be the same as in the first embodiment, so the following description will focus on the differences in operation.

Figure 6 is a sequence diagram showing the operation of a mobile robot according to the second embodiment of the present invention. The operations from steps S001 to S004 in Figure 6 are the same as those in the first embodiment, and therefore will not be described. When the mobile robot 100 starts moving to the destination (step S005), a request is made to add a request (step S105), and the mobile robot 100 accepts the addition of the request from the user (steps S106, S107). The addition of the request here is performed in the same way as in the first embodiment, by presenting candidate destinations using information read from the mobile terminal and accepting a selection from the user.

Then, the mobile robot 100 arrives at the destination 1 and executes the work content that was initially input (step S006), and then the mobile robot 100 starts moving to the destination 2 that was input in order to execute the work content that was input in step S107. Then, when the mobile robot 100 arrives at the destination 2, it executes the work content that was input in step S107 (step S108).

Figure 7 is a sequence diagram showing the specific operation of the mobile robot 100 according to the second embodiment of the present invention. In the example of Figure 7, in step S003, the task requested is to pick up documents at a public institution. Thereafter, while the mobile robot 100 is moving to the public institution, the user makes an additional request to purchase a product at a store registered in the mobile terminal (step S107). Therefore, after picking up the documents at the public institution, the mobile robot 100 in Figure 7 does not return to the user, but goes to the specified store and purchases the product (step S108).

As described above, when a work instruction from a user involves payment at the destination, the mobile robot 100 may make the payment using information stored in a mobile terminal. As the information stored in the mobile terminal, information on various electronic IC cards for payment can be suitably used. Of course, it is also possible to have the mobile robot 100 carry cash or gift certificates, or to have the mobile robot 100 bring back a bill.

The tasks that can be requested of the mobile robot 100 of this embodiment are not limited to receiving and delivering goods and purchasing products. For example, by heading to a train station, the robot can guide a family member or acquaintance who is at the station to their home.

Figure 8 is a sequence diagram showing the specific operation of the mobile robot 100 that has been instructed to pick up a family member at a train station. In the example of Figure 8, similar to Figure 7, while the mobile robot 100 is moving to a public facility, the user makes an additional request and asks for movement to the station (step S107a). Therefore, after receiving the documents from the public facility in Figure 8, the mobile robot 100 does not return to the user, but goes to the station to meet up with the family member (step S108a).

As described above, the mobile robot 100 of this embodiment can efficiently perform a plurality of tasks. This is because it is configured to allow additional requests to be made to the mobile robot 100 while it is performing one task. Furthermore, the mobile robot 100 of this embodiment can also input additional tasks using information within the mobile terminal. This has the advantage that, without leaving destination information in the mobile robot 100, even if another user uses the mobile robot 100, the request made by the previous user to the mobile robot 100 will not be leaked from the input history, etc.

7 and 8, the mobile robot 100 is described as heading for the business destination 2 (store or station) after the business destination 1 (public institution), but the order of destinations can be changed depending on the positional relationship between the business destination 1 (public institution) and the business destination 2 (store or station). For example, if the overall travel time can be shortened by heading for the business destination 2 (station) before the business destination 1 (public institution), the mobile robot 100 may be operated to head for the station 203 before the public institution 201, as shown in FIG. 9. Of course, when inputting the additional request content in step S107 of FIG. 6, the user may input the priority of the business destinations. In addition, the user may be allowed to specify the location to which the mobile robot 100 returns after completing a series of work requests. In this way, the mobile robot 100 that requested the work can be made to wait in another location (a relative's house, a second user, etc.). In this case, the change instruction may be input in the same way as the additional request in the second embodiment.

In addition, if the mobile terminal stores user-specific map information and user-specific route search result history (route information), the mobile robot 100 may use this information to create a route to the destination. For example, if the user has a road (route) that he or she always uses to go to a favorite store, the mobile robot 100 may use that road (route) to go to the store. In this way, the user can know that the mobile robot 100 is moving along the same route as the user. Furthermore, this has the advantage that it becomes easier to predict the current location of the mobile robot 100, making it easier for the user to meet the mobile robot 100 along the route.

[Third embodiment]
Next, a third embodiment will be described in which a drone (Unmanned Aerial Vehicle) is used as the mobile robot. In this embodiment, it is assumed that the mobile robot is used for corporate activities, and the user is a corporate employee.

Figure 10 is a diagram for explaining the third embodiment of the present invention. In this embodiment, as shown in Figure 10, an example will be described in which a user 900 instructs a mobile robot (drone) 100a to move to a message destination 200 and take a photograph. The configuration of the mobile robot (drone) 100a is the same as the mobile robot 100 of the first embodiment, except for the means of movement, so the following explanation will focus on the differences in operation.

Figure 11 is a sequence diagram showing the operation of the mobile robot of the third embodiment of the present invention. Referring to Figure 11, first, a user connects a mobile terminal to the connector 105 of the mobile robot 100a, and stores the mobile terminal in the terminal storage section 101 of the mobile robot 100a (step S201).

Next, the user requests the mobile robot 100a to read information from the set mobile terminal (step S202).

Next, the mobile robot 100a reads information from the set mobile terminal and prepares for input of work instructions from the user (step S203).

Next, the user inputs the contents of the work instructions to be requested of the mobile robot 100a (step S204). Here, the work instructions are input to move to tower 1 as the destination 1 and take a photo of the tower. At that time, the mobile robot 100a uses information read from the mobile terminal to present the user with candidates for towers to take photos of and accepts a selection from the user. The list information of towers managed by the user in the mobile terminal can be used as the candidate destinations. The list information of towers includes the position information of each tower and information on the photography point.

When the mobile robot 100a receives the work instruction from the user, it starts moving to the input destination 1 (tower 1) (step S205). After that, when the mobile robot 100a is requested to add the request content (step S305), the mobile robot 100a receives the additional request content from the user (steps S306, S307). The request content can be added here in the same way as in the first embodiment, by presenting candidate towers using information read from the mobile terminal and receiving a selection from the user.

Then, the mobile robot 100a arrives at the task destination 1 (tower 1) and photographs it (step S206), and then the mobile robot 100a starts moving to the task destination 2 (tower 2) input in order to perform the work content input in step S307. Then, when the mobile robot 100a arrives at the task destination 2 (tower 2), it photographs the tower 2 (step S308).

Then, the mobile robot 100a starts moving towards the user and returns to the user. When the user removes the mobile terminal from the mobile robot 100a, the series of requests is completed. As explained in the second embodiment, the location to which the mobile robot 100a returns can also be changed. For example, after photographing tower 2, if the next day photographs are to be taken of more distant towers 3, 4, ..., it may be more effective to move to the nearest sales office, maintenance base, etc. to tower 3 and wait there, rather than returning to the user's location.

As explained above, according to this embodiment, even when a company uses a robot, it is possible to give instructions to the mobile robot 100a without leaving any destination information in the mobile robot 100a, as in the first and second embodiments. Therefore, even if another user uses the mobile robot 100a after the above-mentioned user, there is an advantage that the contents of the request made by the previous user to the mobile robot 100a will not be leaked from the input history, etc.

In the above embodiment, the mobile robot 100a is described as being requested to take a photograph, but it may be possible to instruct it to take a video as necessary. Also, in the above embodiment, the mobile robot 100a is described as being a drone (UAV), but the mobile robot 100a may be a walking robot or a crawling robot.

Although each embodiment of the present invention has been described above, the present invention is not limited to the above-mentioned embodiments, and further modifications, substitutions, and adjustments can be made without departing from the basic technical concept of the present invention. For example, the device configuration, the configuration of each element, and the order of operation shown in each drawing are examples to aid in understanding the present invention, and are not limited to the configurations shown in these drawings.

For example, the information that the mobile robot reads from the mobile device is not limited to the examples of each of the above-mentioned embodiments. For example, information stored in the mobile device, including geographical location, such as information on a favorite supermarket, a home address, the nearest train station entrance and location information, menu ingredient information, emergency contact information, and robot store information, can be used.

In the above embodiment, the mobile robot reads the information inside the mobile terminal and the user then refers to it to input the request details, but the form of inputting the request details can be modified in various ways. For example, the user can input the request details first, and then the mobile robot can refer to data inside the mobile terminal that matches the user's request. In this case, the mobile robot will receive an instruction from the user, for example, to "pick up the order from my favorite supermarket," and then read information about the favorite supermarket from the mobile terminal.

The procedures shown in the first to third embodiments can be realized by a program that causes a computer (9000 in FIG. 12) functioning as the mobile robot 100, 100a to realize the functions of the mobile robot 100, 100a. Such a computer is exemplified by a configuration including a CPU (Central Processing Unit) 9010 in FIG. 12, a communication interface 9020, a memory 9030, and an auxiliary storage device 9040. That is, the CPU 9010 in FIG. 12 executes an instruction input reception program and a terminal information reading program, and autonomous movement, etc. is performed according to the results.

In other words, each part (processing means, function) of the mobile robot 100, 100a shown in the first to third embodiments described above can be realized by a computer program that causes a processor installed in these devices to execute each of the above-mentioned processes using its hardware.

Finally, preferred embodiments of the present invention will be summarized.
[First embodiment]
(See the mobile robot from the first viewpoint above.)
[Second embodiment]
The mobile robot described above is
A connector for connecting to the mobile terminal by wire,
A configuration may be adopted in which power can be supplied to the mobile terminal via the connector until the work instruction is completed.
[Third embodiment]
The mobile robot described above is
In a case where route information to the destination is stored in the mobile terminal, a configuration can be adopted in which the route information is used to move to the destination.
[Fourth embodiment]
The mobile robot described above is
A configuration can be adopted in which, after accepting a work instruction from the user, a second work instruction involving movement to a second destination using information stored in the mobile terminal can be accepted until the first work instruction is completed.
[Fifth embodiment]
The mobile robot described above is
When the work instruction from the user requires payment at the destination, a configuration can be adopted in which payment is made using information stored in the mobile terminal.
[Sixth embodiment]
(See the mobile robot control method according to the second aspect above.)
[Seventh Form]
(See the third perspective program above)
The sixth to seventh embodiments can be expanded to the second to fifth embodiments in the same manner as the first embodiment.

The disclosures of the above patent documents are incorporated herein by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the entire disclosure of the present invention (including the scope of claims), and further based on the basic technical ideas, modifications and adjustments of the embodiments and examples are possible. Furthermore, within the framework of the disclosure of the present invention, various combinations or selections (including partial deletions) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art would be able to make in accordance with the entire disclosure, including the scope of claims, and the technical ideas. In particular, with regard to the numerical ranges described in this document, any numerical value or small range included within the range should be interpreted as being specifically described even if not otherwise specified. Furthermore, the disclosures of the above cited documents may be used in part or in whole in combination with the descriptions in this document as part of the disclosure of the present invention in accordance with the spirit of the present invention as necessary, and are considered to be included in the disclosures of this application.

REFERENCE SIGNS LIST 10, 100, 100a Mobile robot 11 Terminal mounting unit 12 Destination specification unit 13 Instruction execution unit 101 Terminal storage unit 102 Information reading unit 103 Instruction execution unit 104 Charging device 105 Connector 200 Message destination 201 Message destination 1 (public institution)
202 Destination 2 (Store)
203 Destination 2 (Station)
900 User 9000 Computer 9010 CPU
9020 Communication interface 9030 Memory 9040 Auxiliary storage device

Claims (7)

A means for mounting a mobile terminal;
A means for specifying a destination using information stored in the mobile terminal based on a work instruction from a user;
a means for moving to the destination and executing the work instruction;
Equipped with
The mobile robot is configured such that the means for mounting the portable terminal is provided with a drawer-type locking mechanism, and the portable terminal can be stored in the drawer and removed from the drawer by entering a password or biometric authentication. Further, the device has a connector for connecting to the mobile terminal by wire,
2. The mobile robot according to claim 1, wherein power can be supplied to the mobile terminal via the connector until the task instruction is completed. The mobile robot of claim 1 or 2, which, if route information to the destination is stored in the mobile terminal, moves to the destination using the route information. A mobile robot according to any one of claims 1 to 3, capable of accepting a second work instruction involving movement to a second destination using information stored in the mobile terminal after accepting a work instruction from the user and before completing the first work instruction. A mobile robot according to any one of claims 1 to 4, in which, when a work instruction from the user involves payment at the destination, payment is made using information stored in the mobile terminal. A mobile robot having a means for mounting a mobile terminal,
Identifying a destination using information stored in the mobile terminal based on a work instruction from a user;
Move to the destination and execute the work instruction;
A method for controlling a mobile robot, wherein the means for mounting the portable terminal is provided with a drawer-type locking mechanism, and the portable terminal is stored in the drawer and removed from the drawer by password entry or biometric authentication. A computer mounted on a mobile robot having a means for mounting a mobile terminal,
A process of specifying a destination using information stored in the mobile terminal based on a work instruction from a user;
A process of moving to the destination and executing the work instruction;
Run the command,
The means for mounting the portable terminal includes a drawer-type lockable mechanism, and a program for storing and removing the portable terminal in and from the drawer by entering a password or biometric authentication.

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