JP2001252883A - Movable robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten time necessary for correcting the position of an action point of a robot arm in stopping a movable robot at a stop position to perform work. SOLUTION: A CCD camera 11 is provided at a tip part of the robot arm 6 of the movable robot 1, and two projectors 15 are provided to be fixed on the side of a fixed facility 3. As the movable robot 1 is stopped at a stop position in front of the fixed facility 3, two radiation marks M are radiated on a mark radiation part 8a on an automated guided vehicle 5 by the projector 15. A robot controller of the movable robot 1 lets the CCD camera 11 to photograph the part 8a where the radiation marks M are radiated, lets an image processing device to detect positions of the radiation marks M, compares the detected positions with positions of the radiation marks M at the time of teaching to determine position deflection quantity of the automated guided vehicle 5 from a regular stop position, and lets the robot arm 6 execute work while correcting an action point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot system in which a mobile robot is moved along a traveling path, and is stopped at a predetermined stop position in front of a fixed facility so that work can be performed by a robot arm.

[0002]

In recent years, for example, in a production line of automobile parts, etc., a mobile robot equipped with a robot arm on an unmanned carrier is moved in front of each fixed facility (work station) while traveling on a traveling path. ), A system has been provided in which operations such as assembly are automatically performed. In this case, the controller (control device) mounted on the mobile robot detects a stop marker provided on the traveling path with a sensor,
The automatic guided vehicle is stopped at a stop position. Further, the controller controls the robot arm based on the data of the operation points taught in advance according to the control program, and performs a predetermined operation on the fixed equipment in a state where the robot arm is stopped at the stop position.

However, when the automatic guided vehicle is stopped at the stop position based on the detection of the stop marker as described above, the normal stop position (at the time of teaching the operation point) may be determined due to, for example, slippage of the drive wheels. It may not always be possible to stop with high precision at the stop position), and for example, it may stop in a state where a shift of about several mm in the left-right and front-rear directions (further, a shift in the rotation direction) has occurred. When the displacement of the automatic guided vehicle with respect to such a stop position (fixed equipment) occurs, the robot arm executes the work in a state including the displacement, and the work at the taught operation point is performed successfully. There is a risk of disappearing.

For example, Japanese Patent Publication No. Hei 8-9151 discloses that when a mobile robot is stopped, a CCD camera provided at the end of a robot arm is used to control two positioning units provided on the upper surface of a work table on the fixed equipment side. There is disclosed a technique in which a marker portion is photographed, a position shift amount of a mobile robot with respect to equipment is detected by image processing, and work is performed while correcting an operation point taught according to the position shift amount. According to this, it is possible to correct the positional deviation of the stop position and execute a highly accurate operation.

However, in such a system, while the mobile robot is traveling, there is a situation in which the robot arm does not protrude from the space above the unmanned carrier to ensure safety. after,
CCD camera shooting position (directly above the positioning marker)
It was necessary to move the robot arm to move it up.

[0006] In this case, immediately after the operation of the robot arm is stopped, the arm vibrates. Therefore, it is necessary to wait for the photographing to stop until the vibration subsides. In some cases, only a positioning marker can be provided, and in this case, the robot arm must be largely moved. As described above, in the conventional configuration, there is a problem that a so-called useless time is required from the stop of the mobile robot to the actual photographing of the positioning marker by the CCD camera, and the work efficiency is reduced.

The present invention has been made in view of the above circumstances, and has as its object to reduce the time required for correcting the position of the operating point of a robot arm when a mobile robot is stopped at a stop position to perform work. It is to provide a mobile robot system that can be shortened.

[0008]

In order to achieve the above-mentioned object, a mobile robot system according to the present invention includes a light projecting means for irradiating an irradiation mark composed of spot light onto an unmanned transport vehicle of a mobile robot stopped at a stop position. A fixed device is fixedly provided on the fixed equipment side, while the mobile robot is provided with a visual device for photographing an irradiation portion of the irradiation mark by the light projecting means on the unmanned carrier, and a photographed image of the visual device is processed to process the irradiation mark. The present invention is characterized in that a position detecting means for detecting a position and a position shift correcting means for correcting an operating point of the robot arm based on the detection of the position detecting means are provided (the invention of claim 1).

According to this, the absolute position with respect to the fixed equipment is indicated as the irradiation mark on the unmanned transport cart of the mobile robot. Then, based on photographing the irradiated portion of the irradiation mark by the visual device of the mobile robot, the position of the irradiation mark
That is, the position of the automatic guided vehicle with respect to the fixed facility can be detected. Further, based on the position detection, the operating point of the robot arm can be corrected by the position correcting means.

At this time, the positioning marker attached to the fixed equipment side comes to be on the automatic guided vehicle, so that the irradiation mark portion is located very close to the position of the visual device when the mobile robot stops. Photographing can be performed, and the amount of movement of the visual device (robot arm) required for photographing can be reduced or made zero. As a result, according to the first aspect of the present invention, the time required for correcting the position of the operating point of the robot arm when the mobile robot is stopped at the stop position to perform the work can be shortened. The effect can be obtained.

Here, in general, the visual device is mounted on a robot arm, and the robot arm is located at a reference position which does not protrude from the space above the unmanned carrier when the mobile robot moves. At this time, at the reference position of the robot arm, the irradiation portion of the irradiation mark can be photographed from above (the invention of claim 2). According to this, when the mobile robot stops, it is possible to photograph the irradiated portion of the irradiation mark without moving the robot arm (moving the visual device), which is necessary for correcting the position of the operation point of the robot arm. The time can be further shortened.

If a plurality of the above-mentioned irradiation marks are irradiated and the position is detected from the plurality of irradiation marks, the position detection accuracy can be improved as compared with the case where only one irradiation mark is provided. Although it is possible, when the irradiation mark comes to the end of the visual field (photographing screen) of the visual device, the visual mark may be easily affected by distortion of the lens of the visual device. In view of this, a plurality of irradiation marks are radiated point-symmetrically with respect to the virtual center point, and the visual field of the visual device is set so that the virtual center point is substantially at the center of the screen. Invention),
Highly accurate position detection can be performed with less influence of lens distortion.

It is desirable that the light projecting means irradiate the irradiation mark vertically on the horizontal plane on the automatic guided vehicle from directly above, and the visual device photographs the irradiation mark from directly above. It is desirable to do. However, when the visual device is placed right above the irradiation mark,
Depending on the configuration, vision device (or robotic arm)
May become a shadow, making it impossible to irradiate the irradiation mark vertically from directly above. Therefore, the light projecting means can be configured to irradiate the plurality of irradiation marks from obliquely above such that the optical axes thereof are line-symmetric with respect to a vertical line passing through the virtual center point. ). According to this, for example, even if the height of the automatic guided vehicle fluctuates, the virtual center point always comes to a fixed position, so that it is possible to irradiate the irradiation mark avoiding the visual device and the robot arm. However, the accuracy of position detection can be ensured.

[0014] Alternatively, a plurality of irradiation marks may be radiated to positions spaced apart from each other on the automatic guided vehicle, and a plurality of visual devices may photograph the respective irradiation mark portions. 5 invention). According to this, the position of the mobile robot with respect to the fixed equipment can be detected with higher accuracy based on the position detection of the plurality of irradiation marks, and the time required for position detection can be shortened.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a mobile robot system (assembly line) for assembling automobile parts using a mobile robot (corresponding to claims 1 to 3).
Will be described with reference to FIGS. 1 to 5. First, although not shown in detail, the configuration of the mobile robot system according to the present embodiment will be briefly described. As shown in FIG. 1, the mobile robot system includes a traveling path on which a mobile robot 1 travels on a floor. 2 and a plurality of fixed facilities (work stations) 3 (only one is shown) along the travel path 2.

Each fixed facility 3 is provided with a work table 4 for performing, for example, a work of assembling parts, and the mobile robot 1 moves between the fixed facilities 3 along the traveling path 2 in the front-rear direction. While moving in the direction indicated by the arrow A and in the direction opposite thereto, it is stopped at a predetermined stop position in front of each fixed facility 3, and operations such as assembly of parts are automatically executed.
Note that, for example, a plurality of mobile robots 1 are loaded,
The work is performed simultaneously by a plurality of fixed facilities 3.

Here, the mobile robot 1 will be described. As shown in FIG. 1, the mobile robot 1 is configured by mounting a robot arm 6 on a rear part on an unmanned transport vehicle 5. Although not shown in detail, the automatic guided vehicle 5 includes a traveling mechanism 7 (shown only in FIG. 2) including a plurality of wheels and a traveling and steering motor for driving the wheels at the bottom. Although not shown, a pair of front and rear guide sensors for detecting a guide line laid along the traveling path 2 are provided at the bottom of the automatic guided vehicle 5,
A stop marker sensor for detecting a stop marker provided in front of each of the fixed facilities 3 is also provided.

On the upper surface of the automatic guided vehicle 5, there is provided a loading platform 8, which is located in front of the robot arm 6 and on which a pallet, a jig and the like (not shown) are placed. The upper surface of the bed 8 is a horizontal plane, and a part of the area is used as a mark irradiation section 8a, as described later. The mark irradiation unit 8a is configured so that a pallet or the like is not placed. Further, an optical communication device 9 (shown only in FIG. 2) for performing optical communication with the fixed facility 3 is provided on a side wall of the automatic guided vehicle 5.

On the other hand, the robot arm 6 is a vertical articulated type (6-axis type) robot in this case, and a hand 10 for gripping parts or the like is attached to the tip of the robot arm 6. At the end of the robot arm 6, a CCD camera 11 as a visual device is attached. The image signal from the CCD camera 11 is transmitted to an image processing device 12 incorporated in the unmanned transport vehicle 5.
(See FIG. 2) for processing. As described later, the image processing device 12 functions as a position detecting unit.

Further, in this automatic guided vehicle 5, FIG.
As shown in FIG. 1, a robot controller 13 for controlling the entire mobile robot 1 is provided. The robot controller 13 is mainly configured by a microcomputer including a CPU, a ROM, a RAM, an input / output circuit, and the like, and according to a control program stored in advance, the robot arm 6, the traveling mechanism 7, the optical communication device 9, the hand 10, and the like. Control the
A series of assembling work and the like are executed. The image processing device 12 is connected to the robot controller 13.

At this time, the robot controller 13
Each guide sensor controls the traveling mechanism 7 based on the detection of the guide line, and moves the automatic guided vehicle 5 along the traveling path 2, and the stop marker sensor detects the stop marker. Based on this, the automatic guided vehicle 5 is stopped at a stop position in front of the fixed facility 3. During the traveling of the mobile robot 1, as shown in FIG. 1, the robot arm 6 is positioned at a reference position that does not protrude from the space above the automatic guided vehicle 5 to ensure safety. .

Then, the robot controller 13 controls the operation of the robot arm 6 in accordance with the control program and the operation points taught (teaching) in advance in a state where the automatic guided vehicle 5 is stopped at the stop position, and performs a part assembling operation. And so on. In this case, a teaching pendant 14 (see FIG. 2) is connected to the robot controller 13, and the teaching of the operation point is performed by an operator who operates the teaching pendant 14 while the automatic guided vehicle 5 is stopped at the stop position. The operation is performed by manually operating the robot arm 6 using the robot.

The position of the automatic guided vehicle 5 at the time of this teaching is a regular stop position. As will be described later, the CCD camera 11 also shoots the irradiation mark at the regular stop position at this teaching, as described later. The position is detected and stored. When the automatic guided vehicle 5 is stopped at the stop position, the optical communication device 9 can communicate with an optical communication device (not shown) provided on the fixed facility 3 side (work table 4). And the robot controller 13 controls the mobile robot 1
Is notified to the fixed facility 3 by the optical communication device 9 that has arrived at the fixed facility 3 (and that the work has been completed and leaves).

In this embodiment, as shown in FIG.
In the upper part of the fixed equipment 3, a light emitting means 2
A plurality of projectors 15 are provided. These light projectors 15 are composed of, for example, a laser device similar to a laser pointer (laser marker) or the like, and, as shown also in FIG. 5, output a laser beam L narrowed down so that the light beam cross section has a small diameter, vertically downward. It has become. At this time, these projectors 15
Is the bed 8 of the automatic guided vehicle 5 stopped at the stop position.
4 is fixedly disposed at a position directly above the mark irradiating section 8a, and as shown in FIG. 4, spot light is formed at two relatively close positions on the upper surface of the mark irradiating section 8a. The two irradiation marks M are irradiated from directly above.

Although not shown, the fixed equipment 3 is provided with a control device for controlling the turning on and off of the light projector 15, and this control device is provided with the optical communication device 9 as described above.
When the mobile robot 1 is notified that the mobile robot 1 has arrived at the fixed facility 3, the projector 15 is operated to emit the laser light L (irradiation mark M). When the completion of the work is notified from the optical communication device 9, the irradiation of the laser light L is stopped.

On the other hand, as will be described later, the robot controller 13 of the mobile robot 1 will be described.
The software configuration allows the CCD camera 11 to shoot the irradiation part (the mark irradiation part 8a) of the irradiation mark M from directly above when stopping at the work position and starting the work. . The data of the captured image is processed by the image processing device 12, the position (center position) of each irradiation mark M is detected, and the center point O (see FIG. 5) between each irradiation mark M is obtained. Has become. The method of recognizing the irradiation mark M at this time may be binarization processing, gray processing, or another method.

At this time, as shown in FIG. 4, the two irradiation marks M fall within the visual field screen V of the CCD camera 11, and the virtual center point between the two irradiation marks M at that time is displayed on the screen. It is designed to be shot almost in the center. In this case, since there are two irradiation marks M, they are irradiated point-symmetrically with respect to the virtual center point.

In this embodiment, the robot arm 6 at the reference position, that is, the robot arm 6
The CCD camera 11 is configured to be able to photograph the irradiated portion of the irradiation mark M from directly above without moving the (CCD camera 11) from the reference position. That is, at the reference position of the robot arm 6, the CCD camera 11 is located directly above the mark irradiating section 8a and points vertically downward, and the optical axis of the laser light L output from the projector 15 is (Robot arm 6) is configured to pass by avoiding the side.

Then, the robot controller 13
Is the position (center point O) of each detected irradiation mark M,
When the automatic guided vehicle 5 stops at the proper stop position, that is, from the position of the irradiation mark M whose position has been detected and stored during the teaching, the front, rear, left, and right directions (X, The amount of displacement (difference) in the Y direction) and the rotation direction (θ direction) is calculated, and the operation by the robot arm 6 is executed while correcting the operation point based on the amount of displacement. Therefore, the robot controller 13 functions as a displacement correcting means.

Next, the operation of the above configuration will be described with reference to FIG. As described above, the mobile robot 1 travels (moves) along the guide line on the traveling path 2 by the automatic guided vehicle 5, stops at a predetermined stop position in front of the fixed facility 3, and executes the work by the robot arm 6. I do. At this time, for example, if the drive wheels slip or run idle immediately before stopping, a positional deviation of the automatic guided vehicle 5 from the normal stop position (stop position during teaching) occurs at the stop position. When the automatic guided vehicle 5 is stopped in a state where the position shift has occurred, the robot arm 6 executes the work including the position shift as it is, and the work with respect to the taught operation point is not performed well. There is a fear.

Therefore, in this embodiment, the robot arm 6
When the mobile robot 1 (the unmanned transport vehicle 5) stops at a predetermined stop position in order to perform the operation according to (1), the robot controller 13 (and the control device on the fixed facility 3 side)
The processing shown in the flowchart of FIG. That is, when the mobile robot 1 stops at the stop position in front of the predetermined fixed facility 3 (step S1), the mobile robot 1 stops at step S2.
The optical communication device 9 notifies the fixed facility 3 of the arrival.

Then, the control device on the side of the fixed facility 3 operates the two projectors 15 to irradiate the two irradiation marks M to the mark irradiation section 8a of the automatic guided vehicle 5. At this time,
Laser light L (irradiation mark M) output from projector 15
Is applied to a fixed (always the same) position with respect to the fixed equipment 3. That is, the irradiation position of the irradiation mark M on the mark irradiation unit 8a relatively changes according to the change of the stop position of the mobile robot 1. Since the laser beam L (irradiation mark M) is emitted vertically, even if the height position of the unmanned transport vehicle 5 (the loading platform 8) changes,
The irradiation position of the irradiation mark M on the mark irradiation unit 8a in the horizontal direction does not change.

In the next step S3, the CCD camera 11
Thereby, the irradiation mark M on the mark irradiation unit 8a is photographed. At this time, as described above, the irradiation part of the irradiation mark M can be photographed by the CCD camera 11 as shown in FIG. 4 without moving the robot arm 6 (CCD camera 11) from the reference position. You can shoot immediately.

In step S4, the image processing device 1 is operated based on the image data captured by the CCD camera 11.
2, the position of the irradiation mark M (center point O) is detected (recognized). Here, when the irradiation mark M may come to the end of the field of view (photographing screen) V of the CCD camera 11, there is a situation that the lens is easily affected by distortion of the lens. However, as shown in FIG. 4, the two irradiation marks M are radiated point-symmetrically with respect to a virtual center point substantially at the center of the photographing screen V, so that the influence of lens distortion is reduced and high accuracy is achieved. Position detection can be performed. In addition, it is needless to say that the position detection accuracy can be improved by the two irradiation marks M as compared with the case where the number of the irradiation marks M is one.

In step S5, the position detection result of the irradiation mark M (center point O) by the image processing device 12, the position of the irradiation mark M (center point O) at the time of teaching (regular stop position) stored in advance, and Then, the amount of displacement in the X, Y, and θ directions is calculated, and the teaching operation point is corrected. In this case, since the irradiation mark M is irradiated to an absolute position, the displacement amount of the irradiation mark M detected based on the visual recognition becomes the displacement amount of the stop position of the automatic guided vehicle 5 as it is, and the displacement is The operating point is corrected so as to be eliminated.

Then, work is performed by the robot arm 6 (step S6). Since this operation is performed based on the corrected operation point, the operation can be performed satisfactorily. When the operation by the robot arm 6 is completed (Yes in step S7), the optical communication device 9 notifies the fixed facility 3 of the completion of the operation in step S8. At this time, the control device on the fixed facility 3 side is:
The irradiation of the irradiation mark M by the light projector 15 is stopped. Thereafter, the mobile robot 1 starts moving to the next operation (the fixed facility 3) (step S9).

As described above, according to the present embodiment, the fixed equipment 3
The unmanned transport vehicle 5 based on the image of the irradiation mark M emitted from the projector 15 fixedly provided on the side by the CCD camera 11 provided on the robot arm 6.
Since the amount of displacement from the normal stop position is calculated and the operating point of the robot arm 6 is corrected, highly accurate work can be performed. Unlike a conventional CCD camera (robot arm) which is moved to a positioning marker portion provided on the fixed facility side to perform photographing, the robot arm 6 can be largely operated for photographing the irradiation mark M. No longer needed. As a result,
According to this embodiment, there is obtained an excellent effect that the time required for correcting the position of the operation point of the robot arm 6 when the mobile robot 1 is stopped at the stop position to perform the operation can be shortened. be able to.

Further, in the present embodiment, in particular, the irradiation portion of the irradiation mark M can be photographed without moving the robot arm 6 (CCD camera 11) from the reference position. The amount of movement of the CCD camera 11 (robot arm 6) required for photographing, and thus the dead time, can be reduced to zero. Further, the two irradiation marks M are radiated point-symmetrically with respect to the virtual center point, and the visual field V of the CCD camera 11 is set such that the virtual center point is substantially at the center of the screen. Can be obtained with high accuracy.

In the above embodiment, the projector 15 irradiates the irradiation mark M vertically downward from directly above the mark irradiating section 8a.
It is also conceivable that (or the robot arm 6) becomes a shadow and cannot irradiate the irradiation mark M vertically from directly above. Therefore, as in another embodiment of the present invention shown in FIG.
A plurality of light projectors 21 as light projecting means are radiated from a plurality of irradiation marks M obliquely from above such that two irradiation marks M are line-symmetric with respect to a vertical line P passing through a virtual center point. (Corresponding to claim 4).

With this configuration, the virtual center point (center point O) always comes to a fixed position even if the height of the bed 8 (mark irradiation part 8a) of the automatic guided vehicle 5 varies. Therefore, the irradiation mark M (laser light L) can be irradiated while avoiding the CCD camera 11 and the robot arm 6, but the accuracy of position detection can be ensured.

In the above embodiment, the robot arm 6
The CCD camera 11 can photograph the irradiation part (the mark irradiation part 8a) of the irradiation mark M in a state where the robot arm 6 is not moved from the reference position during traveling. , CCD camera 1
1, the mark irradiation unit 8a may be photographed. This also achieves the intended purpose of reducing the amount of movement of the robot arm 6 and shortening the time required for position correction because the mark irradiation unit 8a is at least at a position closer to the fixed facility 3. can do.

In the above embodiment, the two irradiation marks M are radiated to the close positions. However, although not shown, the plurality of irradiation marks M are separated from each other on the automatic guided vehicle 5. In addition to irradiating the position, each of the irradiation marks M may be photographed by a plurality of visual devices (CCD cameras) (corresponding to claim 5). According to this, the position of the mobile robot 1 with respect to the fixed facility 3 can be detected with higher accuracy based on the position detection of the plurality of irradiation marks M, and the time required for position detection can be shortened. .

Further, in the above embodiment, two irradiation marks M are irradiated, but three or more irradiation marks M may be irradiated. Also in the case of irradiating three or more irradiation marks M, it is desirable to irradiate them in point symmetry (for example, in the case of three irradiation marks M, each position is a vertex of an equilateral triangle). Although the accuracy may be slightly lowered, a configuration in which one irradiation mark M is irradiated may be adopted, and the configuration can be simplified (the cost of the light projector can be reduced). Even when one irradiation mark M is used, if the shape of the irradiation mark M is not circular but has directionality (rectangular shape, isosceles triangle, arrow, etc.), not only the X and Y directions but also the rotation (θ) direction can be used. Needless to say, the displacement can also be detected.

In the above embodiment, the arrival and departure of the mobile robot 1 is notified to the fixed equipment 3 by the optical communication device 9 and the fixed equipment 3 turns the light emitter 15 on and off based on the notification. However, for example, a configuration in which the light emitter 15 is turned on for a certain period of time after the arrival of the mobile robot 1 may be employed. In this case, a sensor (proximity sensor or the like) for detecting the arrival of the mobile robot 1 may be provided on the fixed facility 3 side instead of the notification by the optical communication device 9. Instead of the optical communication device 9, it may be configured to perform communication by radio waves.

In addition, the present invention is not limited to the above embodiment. For example, the robot arm is not limited to the six-axis articulated type but may be a four-axis type. It is not limited. Further, the light projecting means may be configured to irradiate two or three or more irradiation marks from one light projector, or may be configured to supply the power or light source of the light projector from the mobile robot side. Furthermore, the present invention is not limited to an assembly line for automobile parts, and can be applied to any system using a mobile robot, for example, and can be appropriately modified and implemented without departing from the gist of the invention.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing an embodiment of the present invention, in which a mobile robot is stopped at a fixed facility part.

FIG. 2 is a block diagram schematically showing an electric configuration of the mobile robot.

FIG. 3 is a flowchart showing a processing procedure executed by a robot controller of the mobile robot.

FIG. 4 is a diagram exemplifying a field of view (photographing screen) of a CCD camera.

FIG. 5 is a diagram showing the directionality of irradiation of an irradiation mark by a projector.

FIG. 6 is a view corresponding to FIG. 5, showing another embodiment of the present invention.

[Explanation of symbols]

In the drawing, 1 is a mobile robot, 2 is a traveling path, 3 is a fixed facility, 5 is an unmanned carrier, 6 is a robot arm, 11 is C
A CD camera (visual device), 12 is an image processing device (position detecting means), 13 is a robot controller (positional deviation correcting means), 15 and 21 are light projectors (light emitting means), and M is an irradiation mark.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (reference) G05D 1/02 G05D 1/02 K F term (reference) 3F059 AA13 BA03 BA08 BB07 DA02 DA09 DB02 DB05 DB09 DD12 FA03 FA05 FB01 FB16 FB26 FC02 FC13 3F060 AA01 CA12 CA21 DA09 EB03 EB13 EC13 FA03 GA05 GA13 GD05 GD13 GD14 HA02 HA05 5H269 AB33 BB03 BB05 CC09 CC11 EE03 EE05 GG01 GG09 JJ09 KK09 5H301 AA02 FF03 DD07 FF05 DD03 HZ23 KZ54

Claims (5)

[Claims] 1. A mobile robot having a robot arm on an unmanned transport vehicle is moved along a traveling path and stopped by a predetermined stop position in front of a fixed facility to perform work by the robot arm. In the mobile robot system, the light emitting means is provided fixedly on the fixed facility side, and irradiates an irradiation mark composed of spot light onto an unmanned carrier of the mobile robot stopped at the stop position, A visual device provided on a mobile robot for photographing an irradiation part of the irradiation mark on the automatic guided vehicle; position detecting means for processing a photographed image of the visual device to detect the position of the irradiation mark; A mobile robot system comprising: a position shift correcting unit that corrects an operation point of the robot arm based on detection of a moving object. 2. The visual device is attached to the robot arm, and at a reference position where the robot arm is located when the automatic guided vehicle is traveling, an image of an irradiation portion of the irradiation mark is photographed from above. The mobile robot system according to claim 1, wherein the mobile robot system is configured to be capable of being operated. 3. A plurality of the irradiation marks are radiated point-symmetrically with respect to a virtual center point, and the visual device includes:
3. The mobile robot system according to claim 1, wherein the visual field is set such that the virtual center point is substantially at the center of the screen. 4. The light projecting means irradiates a plurality of irradiation marks obliquely from above such that their optical axes are line-symmetric with respect to a vertical line passing through a virtual center point. The mobile robot system according to any one of claims 1 to 3, wherein 5. The irradiation mark is configured such that a plurality of the irradiation marks are radiated to positions separated from each other on the automatic guided vehicle, and a plurality of visual devices are configured to photograph respective irradiation mark portions. The mobile robot system according to claim 1 or 2, wherein: