JP3307288B2 - Mobile robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot having an unmanned transport vehicle that moves between a plurality of facilities and a robot arm for performing various operations.

[0002]

In recent years, mobile robots having a robot arm mounted on an unmanned carrier have been used in, for example, an assembly line for parts for automobiles. In this type of mobile robot, for example, Japanese Utility Model Laid-Open No. 6-332
As disclosed in Japanese Patent Application Laid-Open No. 10, a safety function that stops the operation of a person or another mobile robot when approaching is considered.

[0003] More specifically, as shown partially in FIG. 11, in this type of assembly line, a plurality of facilities 2, 3, 4 (only three are shown) are provided along a traveling path 1. A plurality of mobile robots 5 and 6 (only two robots are shown) move (self-run) on the traveling path 1 in the direction of arrow a. Each of the mobile robots 5 and 6 receives, for example, a workpiece in the facility 2, moves to the next facility 3 while inspecting the workpiece, performs an assembling work of the workpiece that has been inspected in the facility 3, and further performs a next facility. The work of receiving another work at 4 is performed.

[0004] Each of the mobile robots 5 and 6 includes a robot arm 8 on an unmanned transport vehicle 7 and photoelectric sensors 9 (for detecting obstacles) at front, rear, left and right sides of the unmanned transport vehicle 7. Only the front photoelectric sensor 9 is shown). In this case, each photoelectric sensor 9 is mounted so as to be directed parallel (horizontally) to the transport path 1. When an obstacle such as a worker is detected in the detection range A of the photoelectric sensor 9, the safety function is realized by stopping the operations of the automatic guided vehicle 7 and the robot arm 8.

In the prior art, as shown in FIG.
For example, in a state where the preceding mobile robot 5 is stopped at the facility 4, the later mobile robot 6 is stopped between the facility 2 and the facility 3, and the preceding mobile robot 5 moves toward the next facility. Later, the later mobile robot 6 will move to the equipment 3. However, during the waiting time during which the mobile robot 6 is stopped between the equipment 2 and the equipment 3, the work of the robot arm 8 is stopped although the work of the robot arm 8 can be performed safely. As a result, there is a problem that the work is stagnated and the operation rate is reduced.

As shown in FIG. 12, there are cases where the mobile robots 5 and 6 face each other on a traveling path 1 having two lanes as shown by arrows b and c.
For example, it is conceivable that one of the mobile robots 5 moves to the equipment 3 while one of the mobile robots 5 stops at the equipment 2 and is working with the robot arm 8.

At this time, if the width of the traveling path 1 is relatively narrow,
Both mobile robots 5 and 6 will enter each other within the detection range A of the photoelectric sensor 9 for detecting an obstacle on the side of the automatic guided vehicle 7. For this reason, the operation of the robot arm 8 of the mobile robot 5 which has been stopped previously at the facility 2 is stopped halfway, and at the same time, the operation of the robot arm 8 of the other mobile robot 6 is also stopped. However, there is also a problem that the user cannot move while both are stopped.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mobile robot that can efficiently perform work by a robot arm while realizing a safety function for obstacles.

[0009]

SUMMARY OF THE INVENTION A mobile robot according to the present invention detects an obstacle in a traveling direction of an unmanned transport vehicle and an obstacle detection sensor for a vehicle, and detects an obstacle around an operation area of a robot arm. It provided the obstacle detecting sensor arm separately, on the basis of their detection signals of the obstacle detection sensor, with each independently a configuration for executing the secure operation with respect to the unmanned conveyance carriage and robot arm, no
When the human transport trolley is at a predetermined position near the equipment,
The detection range of the obstacle detection sensor for
It is characterized in that a sensor control means for stopping the output operation is provided (the invention of claim 1).

According to this, the safety assurance operation is performed based on the detection signals of the trolley obstacle detection sensor and the arm obstacle detection sensor, so that accidents such as contact between the automatic guided vehicle and the robot arm can be prevented. Can be prevented and work can be performed safely. Then, the detection range of the obstacle of the trolley obstacle detection sensor and the detection range of the obstacle of the arm obstacle detection sensor can be separately set. Even if there is an object, when the obstacle detection sensor for the arm does not detect an obstacle, the operation of the robot arm can be continued. At this time, the arm obstacle detection
The intellectual sensor has been installed at an angle so that it points upward.
Is different from the setting of the detection range in the horizontal direction.
Detection area in the actual robot arm operation area.
For example, the robot arm malfunctioned
In such cases, the robot arm itself detects the obstacle
Operation stops when it enters the detection range
Function as a safety screen
And ensure the safety associated with the operation of the robot arm
And below the operating area of the robot arm
In this case, the horizontal detection range does not need to be greatly expanded.
For example, passing by other unmanned transport vehicles, etc.
It will not cause any trouble.

Then, the obstacle detecting sensor for the arm is moved upward.
With the tilted mounting so that
The human carrier stops in front of the equipment and the robot arm is
Arm for obstacle detection
Sensors may detect equipment, or the robot arm may
The body may enter the detection range of the obstacle detection sensor for the arm.
However, an unmanned carrier is installed by the sensor control means.
Obstacle detection for the arm when it is at a predetermined position near the
The detection range of the sensor is reduced or the detection operation stops.
Because sealed by, for example, when the robot arm in the equipment parts are working, such himself its operation is stopped <br/> by entering the detection range of the obstacle detecting sensor arm Inconvenience can be prevented beforehand. As a result, according to the mobile robot of the first aspect of the present invention, while realizing the safety function for obstacles,
Work by the robot arm can be performed efficiently.

In this case, it is effective to set the obstacle detection distance in the traveling direction of the truck obstacle detection sensor longer than the obstacle detection distance of the arm obstacle detection sensor in the same direction. Invention). Thus, for example, even when there is an obstacle such as another unmanned carrier in the forward direction of the unmanned carrier, the unmanned carrier is stopped before the obstacle enters the detection range of the arm obstacle detection sensor. As a result, the operation can be continued without executing the operation for ensuring the safety of the robot arm.

Further, the sensor control means may be unmanned
When the carriage is located on a predetermined course, the carriage
The detection range of the obstacle detection sensor for use or detect
The operation may be stopped.
Invention). According to this, the sense of the trolley obstacle detection sensor is
The degree is changed according to the position of the automatic guided vehicle.
For example, when an unmanned transport vehicle turns a curve,
Equipment etc. are within the detection range of the trolley obstacle detection sensor.
Prevent inconvenience such as entering and stopping
Will be able to

Further, a detection range changing means for changing the detection range of the arm obstacle detection sensor according to the position and speed of the robot arm may be provided. According to this, it is possible to prevent a problem in which the operation of the robot arm is stopped by the robot arm entering the detection range of the arm obstacle detection sensor while the robot arm is working.

By the way, if, for example, the sensitivity of the obstacle detection sensor for the arm is reduced or the detection range is changed while the robot arm is working in the equipment portion, an operator or the like enters the equipment portion. Also, there is a case where the obstacle detection sensor for the arm cannot detect the obstacle as an obstacle.
Therefore, equipment-side obstacle detection means provided on the equipment side and detecting that an obstacle has entered the vicinity of the equipment is provided, and the detection signal is received by the obstacle signal reception means, and the reception signal is provided. If the safety operation executing means is configured to execute the safety ensuring operation based on the above (invention of claim 5), the safety can be further improved.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention (corresponding to claims 1 to 3) will be described below with reference to FIGS. 1 to 3 schematically show the configuration of a mobile robot 11 according to the present embodiment. The mobile robot 11 has a robot arm 13 mounted on an unmanned carrier 12.
It is configured with.

As is well known, the automatic guided vehicle 12 (hereinafter referred to as the "transported vehicle 12") has a substantially rectangular box shape as a whole, and a bottom portion of a main body 12a having an upper surface serving as a work table (mounting table). And a wheel 12b (see FIG. 2). Although not shown, the wheels 12b are driven by a drive motor or a steering motor using a battery as a power source, and these constitute a traveling unit 14 shown in FIG.

Then, as shown in FIG.
4 is controlled by the traveling controller 15. In this case, the transport carriage 12 moves in the forward and backward directions. At this time, as will be described later, a guide line 28 (shown only in FIG. 8) made of a guide tape, a guide wire, or the like is provided on the floor of the travel path 18, and a guide line 28 is provided on the floor at the end of the travel path 22. A guide line 29 (shown only in FIG. 9) is provided so as to extend along the traveling direction of the transport vehicle 12. Although not shown, a guide sensor for detecting the guide lines 28, 29 and the like is provided at the bottom of the transport trolley 12 (main body 12a), so that the transport trolley 12 (mobile robot 11) is provided.
Move along the guide lines 28, 29 and the like.

On the other hand, the robot arm 13 (hereinafter abbreviated as "arm 13") is composed of, for example, an articulated arm, and has a hand 16 at its tip for gripping a work (not shown) and performing a predetermined work. It is configured. The arm 13 (and the hand 16) is controlled by an arm controller 17 shown in FIG. Thus, the arm 13 can be attached to the workpiece, for example,
Operations such as processing and inspection are performed.

Note that the mobile robot 11 according to the present embodiment
For example, it is used in an assembly line for automotive parts, and a plurality of units work simultaneously in the assembly line. This assembly line includes a plurality of facilities along a traveling path on which the mobile robot 11 travels, and FIGS. 6 and 7 each show a part of the assembly line.

Here, in the vicinity of the traveling path 18 shown in FIGS. 6 and 8, three facilities 19, 20, and 21 are provided along the traveling path 18 in order from the left side in the figure. The plurality of mobile robots 11 receive a work at the equipment 19, for example, while moving in the direction of the arrow a, move to the next equipment 20 while inspecting the work, and assemble the work that has been inspected at the equipment 20. Work is performed, and another work is received at the adjacent facility 21.

The traveling path 22 shown in FIG. 7 has two lanes, so to speak, as shown by arrows b and c, the mobile robot 11 moves facing each other, and the equipment 23,
At 24, predetermined operations are performed. Further, as shown in FIG. 9, at the end of the traveling path 22, the mobile robot 11 moves in a U-turn shape as shown by an arrow d. At this time, traveling path 2
An obstacle 30 exists outside the end of the second part.

At the front and rear portions of the main body 12a of the carriage 12, an obstacle detection sensor 25 for the carriage for detecting obstacles in the traveling direction (forward and backward directions) of the carriage 12 is provided. Two are provided on each side. These trolley obstacle detection sensors 25 (hereinafter referred to as “trolley sensor 2
5) is a non-contact type object detection sensor, for example, an ultrasonic sensor, and an obstacle (a person or another mobile robot 1) within a set detection range A1 (only the front is shown).
1 transport cart 12 etc.).
Note that the detection range A1 of the bogie sensor 25 is the travel path 1
It is set substantially parallel (horizontal) to the road surfaces 8 and 22.

The main body 12a of the carrier 12 has
An arm obstacle detection sensor 26 for detecting an obstacle around the arm 13 is provided. This arm obstacle detection sensor 26 (hereinafter referred to as “arm sensor 2”)
6 "), which is also formed of a non-contact type, for example, an ultrasonic sensor, and is located at the center of each of the front part and the rear part of the main body 12a, one each at the front and rear of the left and right side wall parts. A total of six of each two are provided.

These arm sensors 26 detect an obstacle (such as a person or the arm 13 of another mobile robot 11) within the set detection range A2. At this time, in this embodiment, FIG. As shown in FIG.
The obstacle detection distance in the traveling direction 5 (the direction of arrow a in FIG. 1) is set longer than the obstacle detection distance of the arm sensor 26 in the same direction (front horizontal direction).
Further, in the present embodiment, as shown in FIG. 2, the arm sensors 26 are attached at an angle θ so as to point obliquely upward, and the detection range A2 is It is set up to the height.

On the other hand, as shown in FIG. 3, a control device 27 for controlling each mechanism is provided in the main body 12a of the transport carriage 12.
Is provided. The control device 27 includes a microcomputer and the like, and includes an arithmetic processing unit 27a, an input / output port unit 27b.
And the like. The control device 27 supplies a control signal to the traveling controller 15 and the arm controller 17 according to a preset work program to execute an assembling work. The control device 27 receives signals from the bogie sensor 25, the arm sensor 26, and the guidance sensor, and turns on the bogie sensor 25 and the arm sensor 26. , And OFF are individually controlled, and the detection ranges A1 and A2 are adjusted.

At this time, as will be described in the following description of the operation, the control device 27 is operated by the software configuration when the obstacle detection signal is input from the bogie sensor 25 and the safety operation of the transport bogie 12 is performed. In this case, the operation is stopped. When an obstacle detection signal is input from the arm sensor 26, the arm 1
In this case, the operation is stopped in order to execute the safety operation 3. Accordingly, the control device 27 functions as the carrier control means and the robot control means according to the present invention.

Further, the control device 27 controls the transport vehicle 12 to change the guide line 2 in accordance with the previously input course information.
When the vehicle is located on the predetermined course of No. 8, the detection operation of changing the sensitivity of the predetermined one of the six arm sensors 26 is temporarily stopped (turned off) in this case. More specifically, as shown in FIG.
8, a guide line 28 is provided. The guide line 28 is provided with several courses 1, course 2, course 3,... Divided along the traveling direction. When the transport vehicle 12 is located on the course 2 (shown as hatched for convenience) near the device 19, the arm sensor 26 on the facility 19 side (rightward in the traveling direction)
Is turned off.

Further, in this embodiment, the control device 27 determines the sensitivity of the bogie sensor 25 when the transport bogie 12 is positioned on a predetermined course of the guide line 29 in accordance with the previously input course information. In this case, the detection range A
1 is made smaller (shorter). Specifically, as shown in FIG. 9, the U-turn guide line 29 at the end of the traveling path 22 is also set along the traveling direction such as course 11, course 12, course 13, and course 14. The transfer truck 12 is placed on a course 13 near the obstacle 30 (shown by hatching for convenience).
Is located, the detection range A1 of the bogie sensor 25 on the side of the obstacle 30 (right side) is made small enough not to reach the obstacle. Therefore, the control device 27 also functions as the sensor control means according to the present invention.

Next, the operation of the above configuration will be described with reference to FIGS. When the power of the mobile robot 11 is turned on and the work program is started, the bogie sensor 25 and the arm sensor 26 are turned on according to a command in the program. The flowchart of FIG.
Control device 2 when power supply of cart sensor 25 is turned on
7 shows a control procedure executed by the control unit 27. The flowchart of FIG. 5 shows a control procedure executed by the control device 27 when the power of the arm sensor 26 is turned on.

Here, as shown in the flowchart of FIG. 4, when the power supply of the bogie sensor 25 is turned on, the current course of the transport bogie 12 is constantly monitored, and the transport bogie 12 is moved to a predetermined course. It is determined whether the process has entered (step S1). In this case, the predetermined course is, for example, a place where an obstacle at an inherently safe position enters the detection range of the bogie sensor 25 and stops when the transport bogie 12 turns a curve, that is, the course shown in FIG. 13 is set in advance near the obstacle 30 or the like.

When the transport vehicle 12 is located outside the predetermined course (No in step S1), the ON state of the vehicle sensor 25 is maintained (step S1).
2) When the transport trolley 12 is located on a predetermined course (Yes in step S1), the detection range A1 of the predetermined trolley sensor 25 is reduced (or turned off).
Control is performed (step S3). Therefore, as shown in FIG. 9, when the transport vehicle 12 approaches the obstacle 30 when making a U-turn, the detection range A1 of the vehicle sensor 25 on the obstacle 30 side (right side) is reduced, and the obstacle 30 is There is no detection.

At the same time, the detection signal of the bogie sensor 25 is constantly monitored, and the bogie sensor 25 does not detect an obstacle (No in step S4), and
Only when the arm sensor 26 does not detect an obstacle (No in step S5), the transport trolley 12 can move (run), and the transport trolley 12 is started (step S6).

On the other hand, if there is a person or another transport vehicle 12 within the detection range A1 of the vehicle sensor 25, the vehicle sensor 25 detects the obstacle and outputs a detection signal (step S4). Yes). Then, the transport carriage 12 is temporarily stopped (Step S7). At this time, even when the arm sensor 26 is turned on and an obstacle is detected (Yes in step S5), the transport vehicle 1
2 is temporarily stopped (step S
7). Thus, when there is an obstacle within a predetermined distance in the traveling direction of the transport vehicle 12, the transport vehicle 12 is stopped, and when there is no obstacle, the transport vehicle 12 is moved.

On the other hand, as shown in the flowchart of FIG. 5, when the power of the arm sensor 26 is turned on, it is always monitored which course the transport vehicle 12 is currently in, and the transport vehicle 12 is moved to a predetermined course. It is determined whether it has entered (step S11). In this case, the predetermined course is, for example, a place where the operation of the arm 13 is likely to be stopped by entering the detection range A2 of the arm sensor 26 when the arm 13 performs a work, that is, a part shown in FIG. Is set in advance in the vicinity of equipment 19 such as course 2 shown in FIG.

When the transport vehicle 12 is located outside the predetermined course (No in step S11),
The on state of the arm sensor 26 is maintained (step S
12) When the transport trolley 12 is located on a predetermined course (Yes in step S11), the predetermined arm sensor 26 is turned off (or the sensitivity is reduced to reduce the detection range A2). (Step S1
3). Therefore, as shown in FIG. 6 and FIG.
2 is stopped near the equipment 19, 20, 21, 23, 24, etc., the equipment 19, 20, 21, 23, 23
Arm sensor 26 located on the 24 side (the two arm sensors 26 on the right side in the traveling direction of the transport trolley 12)
Is put into a dormant state, and no equipment is detected.

At the same time, the detection signals of the six arm sensors 26 (four in the predetermined course, the front and rear and the left in the traveling direction of the transport vehicle 12) are constantly monitored,
Only when the arm sensor 26 does not detect an obstacle (No in Step S14), the arm 13 is operated (Step S15), and the detection range A of the arm sensor 26 is set.
2 when an obstacle is detected (Ye in step S14).
s) The arm 13 is temporarily stopped (step S16).

In this manner, the carrier 12 and the arm 1
3 is controlled, for example, as shown in FIG. 6, while the preceding mobile robot 11 is stopped at the facility 21 and performing work, the later mobile robot 11 is moved from the facility 19 to the facility 20.
When the mobile robot 11 is moving toward the vehicle, the preceding mobile robot 11 (transfer vehicle 12)
In the detection range A1. For this reason, the transport vehicle 12 of the mobile robot 11 is stopped, and contact and the like are prevented beforehand.

At this time, the previous mobile robot 11
Is within the detection range A1, the arm sensor 2
6 is stopped when it does not enter the detection range A2.
(Inspection work) is continuously executed. When the preceding mobile robot 11 moves out of the facility 21 and moves out of the detection range A1 of the trolley sensor 25, the transport trolley 12 of the subsequent mobile robot 11 moves to reach the facility 20. In this case, even when the transport trolley 12 is temporarily stopped, the work by the arm 13 can be performed, so that efficient work can be performed without time loss.

As shown in FIG. 7, for example, when two mobile robots 11 move face-to-face on a relatively narrow travel path 22, one of the mobile robots 11
It is conceivable that the other mobile robot 11 moves to the equipment 24 while stopping at a part and performing the work with the arm 13. However, at this time, since the detection range A2 of the arm sensor 26 is set obliquely upward, the two mobile robots 11 do not enter each other within the detection range A2 of the arm sensor 26. Each of the mobile robots 11 can execute a task.

As shown in FIG. 9, in the mobile robot 11, when the transport vehicle 12 makes a U-turn at a predetermined course, that is, at the end of the traveling path 22, the vehicle for the vehicle on the obstacle 30 side is used. The detection range A1 of the sensor 25 is reduced. As a result, it is possible to prevent the inconvenience that the obstacle 30 or the like, which is originally at a safe position, enters the detection range A1 of the bogie sensor 25 and the transport bogie 12 is stopped.

Further, as shown in FIGS. 6 to 8, in each of the mobile robots 11, when the transport carriage 12 is located at a predetermined course, that is, in the vicinity of the facilities 19, 20, 21, 23, 24, etc. The arm sensor 26 on the equipment side (the right side in the traveling direction) is turned off. Accordingly, the work can be performed by extending the arm 13 to the facility side, and the inconvenience of stopping the operation of the arm 13 itself by entering the detection range A2 of the arm sensor 26 can be prevented. Will be able to

Here, if there is an error in the work program or the like, there is a possibility that the arm 13 may perform an erroneous operation such as moving to the opposite side of the facility. However, in the present embodiment, since the detection range A2 of the arm sensor 26 is set up to the height of the operation area around the arm 13,
When the arm 13 enters the detection range A2 due to an erroneous operation of the arm 13, the operation of the arm 13 is stopped by the arm 13 itself, so that the arm 13 functions as a safety screen.

As described above, according to this embodiment, the following excellent practical effects can be obtained. That is, by performing the safety ensuring operation based on the detection signals of the bogie sensor 25 and the arm sensor 26, a safety function for an obstacle can be realized. Since the transport trolley 12 and the arm 13 are independently controlled based on the trolley sensor 25 and the arm sensor 26 provided separately, even when the trolley sensor 25 detects an obstacle, As long as there is no detection by the arm sensor 26, the operation by the arm 13 can be continuously executed,
The operation by the arm 13 can be performed efficiently.

Moreover, the sensitivity of the bogie sensor 25 (detection range A1) and the sensitivity of the arm sensor 26 (on, off)
Is changed according to the position of the transport vehicle 12, so that when the transport vehicle 12 turns a curve, the obstacle 30 or the like which is originally at a safe position enters the detection range A1 of the vehicle sensor 25 and stops. That is, the inconvenience of stopping the operation of the arm 13 itself when the arm 13 enters the detection range A2 of the arm sensor 26 can be prevented.

In the above-described embodiment, the trolley sensor 25 and the arm sensor 2 are set in accordance with the position of the transport trolley 12.
The sensitivity of both 6 was changed,
A configuration for changing at least the sensitivity of the arm sensor 26 ;
Just do it. Further, as a form of changing the sensitivity of the sensor, the bogie sensor 25 may be turned off, or the detection range A2 of the arm sensor 26 may be reduced.

In the above embodiment, as shown in FIG. 8, for example, when the arm 13 is working at the equipment 19, the arm sensor 26 of the equipment 19 is turned off. Therefore, even if a worker or the like enters the vicinity of the facility 19, it cannot be detected as an obstacle by the arm sensor 26, and the work by the arm 13 is continued.

Therefore, as in another embodiment of the present invention shown in FIG. 10 (corresponding to claim 5), for example, a pressure switch type safety device as an equipment-side obstacle detecting means is provided on the left and right floors of the equipment 19. Mats 31 may be provided to detect intrusion of an operator or the like. At the same time, although not shown in detail, a detection signal from the safety mat 31 is transmitted using a means such as optical communication or radio waves, and the mobile robot 11
On the side, an obstacle signal receiving means for receiving the detection signal is provided. And in the mobile robot 11,
The control device (safety operation execution means) 27 may be configured to execute the operation of ensuring the safety of the arm 13 based on receiving the detection signal.

According to this, the arm 1 in the equipment 19 part
3, even if the arm sensor 26 on the equipment 19 side is turned off, it is possible to detect that the worker or the like has approached the vicinity of the equipment 19, and the safety of the mobile robot 11 is determined based on the detection. The securing operation can be performed, and the safety can be further improved.
As the equipment-side obstacle detection means, a pressure switch-type safety fence, an obstacle detection sensor using infrared rays, or the like may be employed.

Although illustration and detailed explanation are omitted,
A detection range changing means for changing the detection range of the arm obstacle detection sensor according to the position and speed of the robot arm may be provided (corresponding to claim 4). According to this, it is possible to prevent a problem in which the operation of the robot arm is stopped by the robot arm entering the detection range of the arm obstacle detection sensor while the robot arm is working.

In addition, in the above-described embodiment, the transport vehicle 12 and the arm 13 are stopped as a safety ensuring operation. However, as the safety ensuring operation, the transport vehicle 12 is decelerated or the arm 13 is moved to a predetermined retreat position. It is also conceivable to perform an operation such as moving to a position. Further, the non-contact type object detection sensor is not limited to an ultrasonic sensor, and a sensor using light, such as an infrared sensor, may be employed. In addition, when an obstacle is detected, a visual or audible alarm may be issued, for example, and the present invention can be appropriately modified and implemented without departing from the gist.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a plan view schematically showing a configuration of a mobile robot together with a detection range.

FIG. 2 is a side view schematically showing a configuration of a mobile robot together with a detection range.

FIG. 3 is a block diagram schematically showing an electrical configuration.

FIG. 4 is a flowchart showing a control procedure when the bogie sensor is turned on.

FIG. 5 is a flowchart showing a control procedure when an arm sensor is turned on.

FIG. 6 is a plan view schematically showing a part of an assembly line.

FIG. 7 is a plan view schematically showing another part of the assembly line.

FIG. 8 is a plan view showing a state of a guide line on a traveling path near the facility.

FIG. 9 is a plan view showing a state of a guide line at an end of a traveling path.

FIG. 10 is a diagram corresponding to FIG. 8, showing another embodiment of the present invention.

FIG. 11 is a diagram corresponding to FIG. 6 showing a conventional example.

FIG. 12 is a diagram corresponding to FIG. 7;

[Explanation of symbols]

In the drawing, 11 is a mobile robot, 12 is an unmanned carrier, 1
3 is a robot arm, 18 and 22 are running paths, 19 and 2
Reference numerals 0, 21, 23, 24 denote equipment, 25 denotes an obstacle detection sensor for a trolley, 26 denotes an obstacle detection sensor for an arm, 27 denotes a control device (transportation trolley control means, robot control means, sensor control means), 28, 29 Is a guidance line, 30 is an obstacle, 3
1 is a safety mat (equipment side obstacle detection means), A1, A2
Indicates a detection range.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 13/08 B25J 5/00

Claims (5)

(57) [Claims] 1. An unmanned carrier having a robot arm mounted thereon and performing operations by the robot arm while moving between a plurality of facilities, wherein the robot is provided on the unmanned carrier and has a moving direction. A non-contact type trolley obstacle detection sensor for detecting an obstacle, and a transport trolley control means for executing a safety ensuring operation of the unmanned transport trolley based on an obstacle detection signal of the trolley obstacle detection sensor; A non-contact type arm obstacle detection sensor which is attached to the automatic guided vehicle so as to be directed upward and detects an obstacle around the operation area of the robot arm; Robot control means for executing a safety ensuring operation of the robot arm based on a detection signal of a detection sensor, and when the automatic guided vehicle is at a predetermined position near the equipment
The detection range of the arm obstacle detection sensor
A mobile robot, comprising: a sensor control unit that stops or stops a detection operation . 2. An obstacle detection distance in the traveling direction of the truck obstacle detection sensor is set longer than an obstacle detection distance in the same direction of the arm obstacle detection sensor. The mobile robot according to 1. 3. The unmanned transfer table according to claim 1, wherein the sensor control means includes :
When the car is on the predetermined course,
Decreasing the detection range of the harmful object detection sensor or detecting operation
The mobile robot according to claim 1, wherein the mobile robot is configured to stop . 4. The apparatus according to claim 1, further comprising a detection range changing unit that changes a detection range of the arm obstacle detection sensor according to a position and a speed of the robot arm. Mobile robot. 5. An obstacle signal receiving means provided on the equipment side for receiving a signal transmitted from the equipment side obstacle detection means for detecting that an obstacle has entered the vicinity of the equipment, and the obstacle signal The mobile robot according to any one of claims 1 to 4, further comprising a safe operation execution unit that executes a safety ensuring operation based on a reception signal of the reception unit.