JP2002086377A - Locomotive robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform programming and debugging easily and efficiently. SOLUTION: An operation program for locomotive control of an automated guided vehicle 6 is describable in the same robot language system as an operation program for a robot arm 7, and the program for the locomotive control of the automated guided vehicle 6 and the operation program for the robot arm 7 are integrated into an operation program. In the operation program where positions A, B, C of markers to be detected that are provided on a runway are programmed to undergo position control as target positions (a stop position and via points) for the locomotive control of the automated guided vehicle 6, a distance to be traveled by the automated guided vehicle 6 to the position of the next marker to be detected and maximum speeds f12, f22, f32 are specified in variables. The distance to be traveled is corrected based on the detection of the marker, and the operation program is so constructed as to be capable of specifying operation for passing the specified marker.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle having a robot arm mounted thereon and moving on a traveling path provided along the equipment while sequentially detecting a plurality of markers.
The present invention relates to a mobile robot that performs work using a robot arm.

[0002]

In recent years, for example, in an assembly line of parts for automobiles or the like, a mobile arm (for example, a six-axis robot arm) is mounted on an automatic guided vehicle (AGV) having a traveling mechanism. Systems using robots have been adopted. In this system, the mobile robot moves along a traveling path provided along a plurality of facilities and stops at a predetermined work position in front of the facilities.
Various operations such as delivery and assembling of the work by the robot arm are performed.

At this time, the mobile robot includes an arm controller for controlling the operation of the robot arm (position / posture control) and controlling the movement of the automatic guided vehicle (speed control).
And a traveling controller for controlling the robot arm and the traveling mechanism in accordance with the operation program and the movement program, respectively. In addition, a guideline made of a magnetic guide tape is laid on the traveling path, and a plurality of markers are provided at predetermined positions such as a work position in front of each facility, and at the bottom of the automatic guided vehicle, A guide sensor for detecting the guide line and a marker sensor for detecting the marker are provided.

However, in a conventional mobile robot,
While there is a standard robot language for robot arm programming, there is no standard language for unmanned guided vehicles, and unmanned guided vehicles and robot arms are assembled after they are manufactured separately. Due to such circumstances, the program format (language system) was completely different. For this reason, the operator (user) must perform programming (teaching) for the robot arm and the automatic guided vehicle by two types of means (methods), respectively, and the operation is complicated and inefficient.

In particular, for example, in a system in which a mobile robot and a worker coexist partially, there is a demand that the moving speed of the automatic guided vehicle be reduced in the coexistence area.
Also, when moving a curve, or when performing operations with a robot arm while moving the automatic guided vehicle at the same time, if you want to lower the moving speed of the automatic guided vehicle by that part, There are cases where you want to perform control that changes. In such a case, in controlling the automatic guided vehicle, a plurality of command lines of the moving program are read at once to a stop portion and executed. For this reason, the operation of the automatic guided vehicle does not match the execution command line of the traveling controller, so that there is a problem that debugging work and the like become difficult and teaching time increases.

SUMMARY OF THE INVENTION 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 capable of performing programming and debugging operations easily and efficiently.

[0007]

Means for Solving the Problems The present inventor has provided a plurality of markers in a moving space (traveling path) of an automatic guided vehicle of a mobile robot, and provided the unmanned guided vehicle with a function of detecting the markers. By setting the detection position as a point sequence of the target position (reference position), the movement control of the automatic guided vehicle can be replaced with the position control similar to the operation control of the robot arm, instead of the conventional speed control. As a result, it has been confirmed that an operation program for controlling the movement of the automatic guided vehicle can be described in a robot language system equivalent to the operation program of the robot arm, and the present invention has been accomplished.

That is, the mobile robot of the present invention is configured to move the automatic guided vehicle while detecting a plurality of markers provided on the traveling path as target positions.
It is characterized in that the operation program for controlling the movement of the automatic guided vehicle can be described in the same robot language system as the operation program of the robot arm (the invention of claim 1).

According to this, the operator can perform programming (teaching) for the robot arm and the automatic guided vehicle by the same means (method),
The work can be performed simply and efficiently. Also, in the program described in the robot language system, the operation of the automatic guided vehicle can be matched with the execution command line of the controller, so that
Debugging work and the like can be facilitated.

Further, the operation program of the automatic guided vehicle and the operation program of the robot arm may be integrated, and the control thereof may be executed by one controller (the invention of claim 2). According to this, the operation program becomes one and more efficient programming becomes possible, and the hardware configuration can be simplified.

In this case, in the above operation program,
The moving distance and the maximum speed of the automatic guided vehicle to the next marker detection position can be specified by variables (the invention of claim 3). And the change of the target position can be easily performed. At this time, the movement distance may be corrected based on the detection of the marker (the invention of claim 4), whereby the positional accuracy can be improved.

In the above operation program, a path operation passing a specified marker can be specified (the invention of claim 5), whereby the automatic guided vehicle can be continuously connected between a plurality of markers. It is possible to shorten the moving time by moving the moving object, and to change the speed at that time easily and smoothly.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. First, FIG. 2 schematically shows a part of a system (for example, a production line for automobile parts or the like) in which the mobile robot 1 according to the present embodiment is operated. A plurality of facilities 2 and 2 (only two are shown) such as machines are provided, and a floor 3 along these facilities 2 is provided with a traveling path 3 extending in the left-right direction in this case and moving the mobile robot 1. Have been. Here, an operator passage 4 is provided so as to pass between the facilities 2 and 2 across the travel path 3.

At this time, guide lines 3a made of a magnetic guide tape are laid on the traveling path 3 along the moving direction of the mobile robot 1, and a plurality of magnetic guide tapes, for example, magnetic guide tapes are arranged along the guide lines 3a. A simple marker 5 (only one is shown) is provided. As will be described later, these markers 5 serve as target positions for movement of the mobile robot 1 and are provided at stop positions in front of the respective facilities 2 and at important points in the traveling path 3. In the present embodiment, the mobile robot 1 is moved to a stop position in front of each of the facilities 2 so as to perform a work of transferring a work to each of the facilities 2.

Here, the mobile robot 1 will be described. FIG. 4 shows an appearance of the mobile robot 1. The mobile robot 1 is placed on an automatic guided vehicle (AGV) 6 having a generally rectangular box shape slightly longer in the front and rear direction, for example, on an articulated type (6). (Axis type) robot arm 7 is mounted. Although not shown, a hand for gripping a work, for example, is detachably attached to the distal end of the robot arm 7.

Although a detailed description is omitted, the robot arm 7 includes first to sixth arms 13 to 13 on a base 12 fixed to a rear portion of the upper surface of the automatic guided vehicle 6.
18 are connected so as to be capable of turning or coaxial rotation about axes J1 to J6, respectively. Each axis motor (servo motor with a position detector) 19 (shown only in FIG. 3) for driving each axis (first to sixth arms 13 to 18) is incorporated in the robot arm 7. I have.

On the other hand, the automatic guided vehicle 6 has a mounting table 6a on which a work or the like is mounted on its upper surface, a plurality of wheels 8 on its bottom, and a plurality of wheels 8 for driving it.
Traveling mechanism 9 including a traveling motor and a steering motor
(Shown only in FIG. 3). Further, on the side wall (cover) of the automatic guided vehicle 6, a plurality of obstacle sensors 10 including infrared sensors for detecting that an obstacle has entered the surrounding detection area, and communication with the outside. An optical communication device 11 is provided as a means.

As shown only in FIG. 3, a guide sensor 20 for detecting the guide line 3a and a marker sensor 21 for detecting the marker 5 are provided at the bottom of the automatic guided vehicle 6. Although detailed illustration and description are omitted, the guide sensor 20 includes a large number of magnetic sensor elements arranged in a lateral direction (a direction orthogonal to the guide line 3a), and a pair is provided at front and rear portions. . When the automatic guided vehicle 6 moves, the steering is performed so that, for example, the guide line 3 a is detected at the center of the two guide sensors 20.

The marker sensor 21 is formed of a magnetic sensor, and detects that it is located just above the marker 5. As will be described later, the position at which the marker sensor 21 detects the marker 5 is set as a target position when controlling the position of the automatic guided vehicle 6. Further, a robot controller 22 mainly composed of a microcomputer (CPU) for controlling the whole is disposed in the automatic guided vehicle 6.

FIG. 3 shows a basic electrical configuration of the mobile robot 1 centered on the robot controller 22. The obstacle sensor 10, the optical communication device 11, the guide sensor 20, and the marker sensor 21 are connected to the controller 22 via an I / O 23.
The controller 22 controls the optical communication device 11 while receiving the detection signals 20 and 21.

The controller 22 controls each axis motor 19 of the robot arm 7 via a driver 24.
Is controlled, and the traveling mechanism 9 is controlled via a driver 25. The controller 22 is connected to a teaching pendant 26 for inputting an operation program (user program) described later and necessary data, and for manually operating the mobile robot 1. Although not shown, a personal computer for programming or the like can be connected to the controller 22.

Thus, the robot controller 22
While interpreting the operation program input in advance, based on position data such as operation points and detection signals, the traveling mechanism 9 and each axis motor 19 of the robot arm 7 are controlled.
Thus, the transfer of the work between the mobile robot 1 (the automatic guided vehicle 6) and the equipment 2 by the robot arm 7 in a state where the mobile robot 1 is stopped at a predetermined work position in front of the equipment 2 by moving the traveling path 3. And the like are automatically and repeatedly executed.

The operator (user) operates, for example, the teaching pendant 26 to move the mobile robot 1.
Is created (programming and debugging work) describing the operation procedure described above and input to the controller 22. In this embodiment, the operation program for controlling the movement of the automatic guided vehicle 6 is The robot program is written in the same robot language system as the operation program of the robot arm 7 (for example, a robot language based on “SLIM” (JIS standard robot language)). Further, in this embodiment, an operation program in which the program for controlling the movement of the automatic guided vehicle 6 and the operation program for the robot arm 7 are integrated.

At this time, as will be described later in a specific example of the operation, in the movement control of the automatic guided vehicle 6, the position of the marker provided on the traveling path 3 (the position of the marker 5 detected by the marker sensor 21) is determined. ) Is controlled to be a target position (stop position and passing point). In this case, in this operation program, the moving distance and the maximum speed of the automatic guided vehicle 6 to the next marker detection position are specified by variables. In addition, the movement distance is corrected based on the detection of the marker 5. Further, the operation program is configured so that a path operation passing through the specified marker 5 can be specified.

Next, the operation of the above configuration will be described with reference to FIG. Now, as a specific example, as shown in FIG.
It is assumed that the mobile robot 1 (the automatic guided vehicle 6) is stopped at the marker position C (the work position in front of the equipment 2) from the Start position, passes through the marker positions A and B, and performs the work by the robot arm 7. At this time, regarding the marker positions A and B, it is assumed that the mobile robot 1 is continuously moved (pass operation) without stopping. Marker position A
The travel speed of the mobile robot 1 is assumed to be low, for example, to cross the worker passage 4 between the marker position B and the marker position B.

In this case, the operation program (Program1)
Is described, for example, as follows. That is, Program1 travelg @ p @ m, f11, tspeed = f12 ... travelg @ p @ m, f21, tspeed = f22 ... travelg @ m, f31, tspeed = f32 ... move1, p1 ... end

Here, "travelg" is a command word for operating (moving) the automatic guided vehicle 6, "$ p" specifies a path operation, "$ m" specifies a marker position, and "tspeed" is a maximum speed. The setting of is shown. Further, f11, f21, f31 are variables indicating the moving distance, and f12, f22, f32 are variables indicating the maximum speed. Further, "move1" is a command word for operating the robot arm 7, and p1 indicates a movement point.

Therefore, the first line () shows the mobile robot 1
Is an operation command for moving the distance f12 to the marker position A at the maximum speed f12, and the second line () is an operation command for moving the mobile robot 1 at a distance f21 to the marker position B at the maximum speed f22. The third line () shows the distance f31 from the mobile robot 1 to the marker position C as the maximum speed f32.
This is an operation command to move and stop with. And
The fourth line () is an operation command for operating the robot arm 7 to the target point p1. As described above, the operation program can be described by a combination of simple command words, and the operation program of the automatic guided vehicle 6 and the operation program of the robot arm 7 are integrated.

The robot controller 22 sequentially reads the above-mentioned operation programs line by line, interprets the instructions, and executes the processing according to the following algorithm. here,
FIG. 1 shows a pattern of the moving speed of the mobile robot 1 (the automatic guided vehicle 6). That is, when the operation command of the first line () is read, the speed pattern a of the traveling motor of the traveling mechanism 9 is generated based on the distance f11 from the Start position to the marker position A and the maximum speed f12. I do.

The speed pattern a is obtained by accelerating at a constant acceleration from time t0 to the maximum speed f12,
And then (at time t1) decelerate at a constant acceleration.
A so-called trapezoid pattern is employed. Controller 22
Outputs a command signal to the driver 25 based on the speed pattern a, and controls the traveling mechanism 9 (motor for traveling). At this time, feedback control is performed based on a signal from the position detector of the traveling motor.

In the operation command on the first line (), the pass operation is specified (＠p). Therefore, at the start of deceleration (time t1), the operation command on the next line (second line) is read. Put in. Also in this case, similarly, the distance f21 and the maximum speed f22
Basically generates a trapezoidal speed pattern b on the basis of the maximum speed f22 and the speed f1
2, the speed pattern becomes such that the speed becomes the maximum speed f22 from the time (time t2) when the acceleration time of the second line () becomes the same as the remaining time of the operation of the first line. b is generated.

At this time, when the marker (＠m) specified in the first line (), that is, the marker position A is detected, correction is performed so that the target distance is again set to f21 at that time. As a result, the mobile robot 1 is continuously moved (passed) toward the marker position B without stopping at the marker position A. In this section, the moving speed becomes f22 and the low speed is maintained. You.

Further, since the pass operation is designated (で も p) in the second line (), the deceleration is started (time t 3).
The operation command of the next line (third line) is read into
A trapezoidal speed pattern c toward the marker position C is generated based on and the maximum speed f32. In this case, since the maximum speed f32 is sufficiently larger than the speed f22, this 2
The speed pattern c is generated such that the acceleration is started immediately from the start of the deceleration in the line () (time t3). When the marker (マ ー カ m) specified in the second line (), that is, the marker position B is detected, the target distance is again set to f31 at that time.
Is corrected.

The operation command in the third line () is an operation to stop at the marker position C, and the mobile robot 1 detects the marker position C and stops as it is (time t4). After the stop, the operation command on the fourth line () is read, and the operation by the robot arm 7 is executed. Although detailed description of the operation of the robot arm 7 is omitted, it is executed by generating a speed pattern for each axis motor 19 toward the target point p1 and outputting it to the driver 24.

As described above, according to this embodiment, the operation program for controlling the movement of the automatic guided vehicle 6 is stored in the robot arm 7.
The robot program is constructed so that it can be described in the same robot language system as the operation program of the above, and they are integrated. Therefore, unlike the conventional method in which programming for the robot arm and the automatic guided vehicle must be performed by two types of means, respectively, the operator Is a robot arm 7 and an automatic guided vehicle 6
Can be performed by similar means (method), and the work can be performed simply and efficiently.

In the above-described operation program, even when the moving speed of the automatic guided vehicle 6 is freely changed, the operation of the mobile robot 1 and the execution command line of the robot controller 22 are matched. Since the operation of the automatic guided vehicle and the execution command line of the traveling controller did not match,
Debugging work and the like can also be facilitated. Furthermore, in this embodiment, in particular, since the operation program is integrated into one and the control is executed by one controller 22, the hardware configuration can be simplified.

FIG. 5 shows another embodiment of the present invention, in which the moving speed and the target position, that is, the moving distance are changed during the operation of the mobile robot 1. Here, for example,
The next destination of the mobile robot 1 performing the work in the equipment 31 is changed from the equipment 32 to the equipment 33, and
The instruction is performed by communication from the optical communication device (not shown) provided in the facility 31 to the optical communication device 11 of the mobile robot 1.

In this case, the operation program of the mobile robot 1 is also described as Program1 travelg f11, tspeed = f12 end, and a variable f11 indicating the moving distance and a variable f12 indicating the maximum speed are specified by external instructions. By changing, the destination and speed can be easily changed.

In the above embodiment, the operation program for controlling the movement of the automatic guided vehicle 6 is integrated with the operation program for the robot arm 7. However, at least the description can be made in the same robot language system. If it is made possible, although a separate operation program (controller) is required, programming can be performed by one type of means, and the intended operation of programming and debugging can be performed simply and efficiently. The goal can be achieved.

In addition, the present invention is not limited to the above embodiment. For example, the marker may be not magnetic but optical or electrical.
In addition, various modifications can be made to the hardware configuration of the mobile robot, and the present invention can be applied not only to an assembly line for automobile parts but also to various systems using a mobile robot. The present invention can be carried out with appropriate changes within a range not departing from the above.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a diagram showing a relationship between a moving operation of a mobile robot and a speed pattern at that time.

FIG. 2 shows a part of the system.

FIG. 3 is a block diagram schematically showing an electric configuration of the mobile robot.

FIG. 4 is a side view showing the appearance of the mobile robot.

FIG. 5 is a view corresponding to FIG. 2, showing another embodiment of the present invention.

[Explanation of symbols]

In the drawing, 1 is a mobile robot, 2, 31, 32, and 33 are equipment, 3 is a traveling path, 5 is a marker, 6 is an unmanned carrier, 7 is a robot arm, 9 is a traveling mechanism, 11 is an optical communication device, and 19 Denotes each axis motor, 21 denotes a marker sensor, 22 denotes a controller, and 26 denotes a teaching pendant.

Claims (5)

[Claims] 1. A mobile robot having a robot arm mounted on an automatic guided vehicle and performing work by the robot arm while moving on a traveling path provided along facilities, Moving the robot while detecting a plurality of markers provided on the traveling path as target positions, and executing the operation program for controlling the movement of the automatic guided vehicle in the same robot language as the operation program of the robot arm. A mobile robot characterized in that it can be described in a system. 2. The mobile robot according to claim 1, wherein the operation program of the automatic guided vehicle and the operation program of the robot arm are integrated, and the control thereof is executed by one controller. 3. The mobile robot according to claim 1, wherein in the operation program, a moving distance and a maximum speed of the automatic guided vehicle to a next marker detection position are designated by variables. 4. The mobile robot according to claim 3, wherein the movement distance is corrected based on the detection of the marker. 5. The mobile robot according to claim 1, wherein the motion program can specify a path motion that passes through a specified marker.