JP2007260837A - Carrier robot and carrier program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrier robot which changes a holding way of an object to carry in accordance with weight of the object. <P>SOLUTION: This carrier robot is furnished with: a plurality of arm parts 12 to lift up the object 8 to carry; a carrier means to carry the object lifted up by the arm parts 12; a carrier condition information acquiring means 16 to acquire carrier condition information of the object; a lift-up method selection means 18 to select a lift-up method of the object 8 by using the arm parts 12 in correspondence with the acquired carrier information of the object 8 or the arm parts 12 to use to lift up the object 8; and a control means 900 to command the arm parts 12 to lift up the object 8 by the lift-up method selected by the lift-up method selecting means 18 and to command the carrier means 14 to carry the lifted-up object 8. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a transfer robot that lifts and transfers an object and a transfer program used for the transfer robot.

  In recent years, robots acting on behalf of human tasks have been developed, and the number of robots that can be used in areas where people live is increasing.

  Generally, when a robot automatically lifts and conveys an object, the object is held in a specified manner.

  Conventionally, when transporting a heavy workpiece such as a large motor or engine parts, an invention of an apparatus that changes the posture of a workpiece to a desired posture and does not apply an excessive load to the wrist axis of the robot. Is known (for example, see Patent Document 1).

The workpiece transfer device described in Patent Document 1 is a robot used in, for example, a factory and an area where human entry is prohibited. Since the workpiece to be transferred is also a known workpiece, the weight of an unknown workpiece or There was no need to change the way the workpiece was held according to the shape.
Japanese Patent Laying-Open No. 2005-81442 (FIG. 4)

  The present invention acquires the conveyance condition information of an object, the weight of the object, the ease of slipping, the presence or absence and number and the position of the handle, the fragility of the object, whether the object is supported on the upper side, the object is supported on the lower side, etc. It is an object of the present invention to provide a transport robot and a transport program that can adjust an object lifting method and a transport speed according to the transport condition information.

  Another object of the present invention is to provide a general-purpose and safe transfer robot that can be used in an area where people live.

  In order to solve the above-mentioned problem, the invention according to claim 1 is an arm that lifts an object to be transported, a transport unit that transports an object lifted by the arm, and a transport that acquires transport condition information of the object. Condition information acquisition means, lifting method selection means for selecting the object using the arm or the arm according to the acquired object conveyance condition information, and the lifting method selection means Control means for instructing the arm to lift the object by the lifting method and instructing the transport means to transport the lifted object, and transporting the lifted object.

  According to a second aspect of the present invention, there are provided a plurality of arm portions for lifting an object to be transported, a transport means for transporting an object lifted by the arm portion, and a transport condition information acquiring means for acquiring transport condition information of the object. And a lifting method of either lifting the object using one arm or lifting the object using a plurality of arms according to the acquired transport condition information of the object is selected. A lifting method selecting unit; and a control unit that commands the arm to lift the object by the lifting method selected by the lifting method selecting unit, and commands the transport unit to transport the lifted object. The lifted object is transported.

  According to a third aspect of the present invention, there is provided an arm portion for lifting an object to be transported, a body portion for contacting the lifted object, a transport means for transporting the object lifted by the arm portion, and transport of the object. Conveying condition information acquisition means for acquiring condition information; and holding the lifted object using the arm according to the acquired conveying condition information of the object or holding the lifted object using the arm A lifting method selecting means for selecting one of the lifting methods to be held in contact with the body part, and a command for lifting the object by the lifting method selected by the lifting method selecting means to the arm part And a control unit that commands the transport unit to transport the lifted object, and transports the lifted object.

  The invention according to claim 4 is characterized in that the control means of the transfer robot commands a transfer speed or a transfer acceleration according to the transfer condition information acquired by the transfer condition information acquisition means.

  Further, the invention according to claim 5 is characterized in that, in the transport robot, a gripping means for gripping the object when the transported object is lifted, and a grip instruction for gripping the object is voiced from an operator, a switch, or the like And a gripping command output means for outputting a gripping command for causing the gripping means to grip the object.

  According to a sixth aspect of the present invention, an electric motor is used as an actuator for operating the arm portion, and the control means executes control of an electric current applied to the electric motor when lifting the object. The method selecting means detects a current value to be applied to the electric motor, and when the current value exceeds an allowable range, the method selecting means lifts the object using a plurality of the arm portions, or uses the arm portions. Any one of the lifting methods for holding the lifted object in contact with the body portion is selected.

  Further, the invention according to claim 7 is a tag information acquisition unit in which the transfer condition information acquisition unit of the transfer robot acquires transfer condition information including the weight of the object from a tag in which the weight information of the object is recorded. The lifting method selection means selects the lifting method of the object according to the acquired weight.

  In the invention according to claim 8, the transfer condition information acquisition unit of the transfer robot captures an image of the appearance of the object, and weight storage that stores the appearance of the object and the weight of the object in association with each other. And a weight search means for acquiring a weight stored in association with the appearance imaged by the imaging means from the weight storage means, and the lifting method selection means is configured to select the object according to the acquired weight. The lifting method is selected.

  The invention according to claim 9 is characterized in that the transfer condition information acquisition means of the transfer robot includes weight measurement means for measuring and acquiring the weight of the lifted object, and the lifting method selection means includes the acquisition The method of lifting the object is selected according to the weight that has been obtained.

  According to a tenth aspect of the present invention, the conveyance condition information acquisition unit of the transfer robot records the weight of the lifted object by actual measurement, and the object conveyance condition information is recorded in advance. Tag information acquisition means for acquiring conveyance condition information including the weight of the object from the tag, and the weight of the object actually measured by the weight measurement means is different from the weight of the object acquired by the tag information acquisition means. If the transfer condition information is not recorded on the tag, tag information writing means for writing the weight actually measured by the weight measurement means to the tag is provided.

  The invention according to claim 11 is characterized in that the transfer condition information acquisition means of the transfer robot measures and acquires the weight of the lifted object, the imaging means that images the appearance of the object, Weight storage means for preliminarily associating and storing the appearance of the object and the weight of the object, and weight search means for acquiring the weight stored in association with the appearance imaged by the imaging means from the weight storage means If the weight of the object actually measured by the weight measuring means is different from the weight of the object acquired by the weight search means, or if the weight of the object is not stored in the weight storage means, the weight Weight measuring means is provided for storing the weight actually measured by the measuring means in the weight storage means in association with the appearance of the object.

  The invention according to claim 12 is a plurality of arm portions for lifting an object to be transported, a transport means for transporting an object lifted by the arm portion, and a transport condition information acquiring means for acquiring transport condition information of the object. A transfer program executed by an information processing unit of a transfer robot including an information processing unit that controls the arm unit and the transfer unit and acquires the transfer condition information of the object from the transfer condition information acquisition unit, The information processing means has a function of acquiring the conveyance condition information of the object from the conveyance condition information acquisition means, and a method of lifting the object using the arm portion or the arm according to the acquired conveyance condition information of the object A function of selecting a part and a function of instructing the arm to lift the object by the selected lifting method and instructing the transport means to transport the lifted object. Characterized in that to.

  The invention according to claim 13 is a plurality of arm portions for lifting an object to be transported, a transport means for transporting an object lifted by the arm portion, and a transport condition information acquiring means for acquiring transport condition information of the object. A transfer program executed by an information processing unit of a transfer robot including an information processing unit that controls the arm unit and the transfer unit and acquires the transfer condition information of the object from the transfer condition information acquisition unit, The information processing means lifts the object using one arm according to the function of acquiring the conveyance condition information of the object from the conveyance condition information acquisition means and the acquired conveyance condition information of the object, or A function of selecting either a lifting method of lifting the object using a plurality of the arm parts, and a finger for lifting the object by the selected lifting method. The conveying of the lifted object, characterized in that to realize the function of instructing said conveying means.

  The invention according to claim 14 is an arm portion that lifts an object to be transported, a trunk portion that abuts the lifted object, a transport means that transports the object lifted by the arm portion, and transport of the object. Information processing of a transfer robot comprising transfer condition information acquisition means for acquiring condition information, and information processing means for controlling the arms and the transfer means and acquiring transfer condition information of an object from the transfer condition information acquisition means A transfer program executed by the means, wherein the information processing means has a function of acquiring the transfer condition information of the object from the transfer condition information acquisition means, and the arm unit according to the acquired transfer condition information of the object. A function of selecting either a lifting method of holding the lifted object using the arm part or holding the lifted object in contact with the body part using the arm part; Characterized in that to realize a function for instructing the conveyance of the object the lifted instruction to lift the said arm portions of said object by lifting method the selected said conveying means.

  According to the first aspect of the present invention, the transport condition information includes the weight of the object, the ease of slipping, the presence / absence and number of handles, the fragility of the object, whether the object is supported on the upper side, or the object is supported on the lower side, etc. Acquire information, the number of arms used to transport the object, whether to use arms with hooks, whether to use arms with gripping means with anti-slip, or using arms A lifting method such as whether to hold the lifted object in contact with the body portion is selected, and the lifted object can be transported.

  According to the invention of claim 2, whether to lift an object using one arm or to lift an object using a plurality of arms according to the transport condition information of the object acquired by the transport condition information acquisition means Therefore, for example, when the weight of the object to be transported is light, the object can be lifted and transported using one arm. In addition, the plurality of arms can transport a plurality of objects at a time by lifting and transporting separate objects.

  On the other hand, when the object to be transported is heavy, the object can be lifted and transported using a plurality of arms according to the weight of the object. Even when a weak power source is used for the arm, a heavy object can be lifted and conveyed by using a plurality of arms. As a result, it is possible to use a weak power source for the arm, and it is possible to provide a transfer robot that saves power and is highly safe with respect to the surroundings.

  Also, as the transport condition information, an arm used for transporting the object by acquiring information such as slipperiness, presence / absence and number and position of the handle, fragility of the object, whether the object is supported on the upper side or the object is supported on the lower side The number of parts can be selected and the lifted object can be conveyed.

  According to the invention of claim 3, according to the conveyance condition information of the object acquired by the conveyance condition information acquisition means, the object lifted using the arm is held or the object lifted using the arm is Either lifting method is selected to abut on the body part and held, and the lifted object is conveyed. Therefore, for example, when an object to be transported is heavy, it can be transported with the lifted object in contact with the body portion. Thereby, even a heavy object can be transported while maintaining a state where it is lifted with a small amount of power. By holding the object to be transferred between the arm part and the body part of the transfer robot, it is possible to hold the object near the center of gravity of the transfer robot and use a weak power source for the arm part. It is possible to provide a transfer robot with high safety against the above.

  When the weight of the object to be transported is light, the object can be lifted and transported using the arm, and the arm can lift and transport the object with a simple operation.

  Also, as transport condition information, information such as the ease of slipping, the presence or absence and number and position of the handles, the fragility of the object, whether the object is supported on the upper side or the object is supported on the lower side, and the arm part is used. Either a lifting method of holding the lifted object or holding the lifted object in contact with the trunk portion using the arm portion is selected, and the lifted object can be transported.

  According to the invention of claim 4, the control means of the transfer robot commands the arm part or the transfer means to transfer speed or transfer acceleration according to the transfer condition information acquired by the transfer condition information acquisition means. Therefore, for example, when the weight of the lifted object is heavy, the object can be transported slowly. Thus, a light object can be transported quickly, and a heavy object can be transported slowly and safely without the transport robot falling.

  According to the fifth aspect of the present invention, when a gripping instruction for gripping an object is input from the operator by voice or an operation of a switch or the like in the transport robot, a grip command for gripping the transported object is issued. Since the data is output, the object can be conveyed after waiting for an instruction from the operator.

  According to the invention of claim 6, an electric motor is used as an actuator for operating the arm portion, and the lifting method selection means monitors the current value applied to the electric motor, and the object is detected when the current value exceeds the allowable range. Since the way of holding is changed, the way of holding the object can be adjusted automatically.

  According to the seventh aspect of the invention, since the transfer condition information acquisition means of the transfer robot is configured to acquire the weight of the object from the tag in which the weight information of the object is recorded, the weight of the object is measured. It is possible to shorten the time required to carry the object and to quickly convey the object.

  According to the eighth aspect of the invention, the transfer condition information acquisition unit of the transfer robot images the appearance of the object to be transferred, and acquires the weight stored in association with the imaged appearance from the weight storage unit. Therefore, even when there is no tag that records the weight of the object, it is possible to determine how to lift the object according to the weight of the object stored in advance in the weight storage means. Therefore, the time for actually measuring the weight of the object can be shortened and the object can be transported quickly.

  According to the ninth aspect of the present invention, the transfer condition information acquiring means of the transfer robot is configured to include the weight measuring means for measuring and acquiring the weight of the lifted object. Even when there is no object or when the weight of the object is unknown, the object lifting method can be determined by actually measuring the weight of the object. Then, when the weight of the object is light, it can be transported quickly, and when the object is heavy, it can be transported slowly to prevent the transport robot from falling.

  According to the invention of claim 10, when the weight of the object actually measured by the weight measuring means is different from the weight of the object acquired by the tag information acquiring means, or the conveyance condition information is not recorded on the tag. In this case, the weight measured by the weight measuring means is written to the tag. Therefore, even if the weight of the object is not recorded on the tag, or the weight of the object recorded on the tag is different from the actual weight, the measured weight is automatically written on the tag, and the weight information is recorded. Can be corrected.

  According to the invention of claim 11, when the weight of the object actually measured by the weight measuring means is different from the weight of the object acquired by the weight search means, or the weight of the object is stored in the weight storage means. If not, the weight measured by the weight measuring means is stored in the weight storage means in association with the appearance of the object. Therefore, even if the weight of the object is not recorded in the weight storage means or the weight of the object recorded in the weight storage means is different from the actual weight, the actually measured weight is automatically stored in the weight storage means. You can write and modify information about the weight of the object.

  According to the twelfth aspect of the invention, the transport condition information includes the weight of the object, the ease of slipping, the presence / absence and number of handles, the fragility of the object, whether the object is supported on the upper side, or the object is supported on the lower side. Such as the number of arms used to convey the object, whether to use arms with hooks, whether to use arms with gripping means with anti-slip, or It is possible to select one of the lifting methods for holding the object lifted using the body part so that the object is brought into contact with the body part and transporting the lifted object.

  According to the invention of claim 13, the object is lifted by using one arm part or a plurality of arm parts is used according to the object transport condition information acquired by the transport condition information acquiring unit. Since the lifting method of either lifting the object is selected and the lifted object is transported, for example, when the weight of the transported object is light, the object is lifted using one arm. The plurality of arms can convey a plurality of objects at a time by lifting and conveying the separate objects.

  On the other hand, when the object to be transported is heavy, the object can be lifted and transported using a plurality of arms according to the weight of the object. Even when a weak power source is used for the arm, a heavy object can be lifted and conveyed by using a plurality of arms. As a result, it is possible to use a weak power source for the arm, and it is possible to provide a transfer robot that saves power and is highly safe with respect to the surroundings.

  Also, as the transport condition information, an arm used for transporting the object by acquiring information such as slipperiness, presence / absence and number and position of the handle, fragility of the object, whether the object is supported on the upper side or the object is supported on the lower side The number of parts can be selected and the lifted object can be conveyed.

  According to the fourteenth aspect of the present invention, the object lifted using the arm is held or lifted using the arm in accordance with the object transport condition information acquired by the transport condition information acquiring means. Either lifting method is selected to hold the object in contact with the body, and the lifted object is transported. Therefore, when the object to be transported is heavy, it can be transported with the lifted object in contact with the body portion. Thereby, even a heavy object can be transported while maintaining a state where it is lifted with a small amount of power. By holding the object to be transferred between the arm part and the body part of the transfer robot, it is possible to hold the object near the center of gravity of the transfer robot and use a weak power source for the arm part. It is possible to provide a transfer robot with high safety against the above.

  Also, as transport condition information, information such as the ease of slipping, the presence or absence and number and position of the handles, the fragility of the object, whether the object is supported on the upper side or the object is supported on the lower side, and the arm part is used. Either a lifting method of holding the lifted object or holding the lifted object in contact with the trunk portion using the arm portion is selected, and the lifted object can be transported.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is an external view showing a state where the transfer robot 10 of the present invention is about to hold an object 8 to be transferred.

  In the embodiment shown in FIG. 1, the object 8 transported by the transport robot 10 is a cylindrical container having a handle 9, and the weight of the object 8 when the contents are not filled and when the contents are filled. Are objects that may differ greatly. A tag 25 such as RFID (Radio Frequency Identification) in which the name, contents, weight information, etc. of the object is recorded is attached to the object 8.

  The transport robot 10 includes a gripping unit 22 that grips the handle 9 of the object 8, a weight sensor 36 that actually measures the weight of the gripped object 8 (including the function of the transporting condition information acquisition unit 16), and a gripping unit 22. A plurality of arm portions 12 that are rotatably supported with a plurality of degrees of freedom with respect to the portion 20, and a transport means 14 that transports the object 8 lifted by the arm portions 12 to another place.

  In addition, the transfer robot 10 includes a sound collecting unit 953 such as a microphone that collects a voice command such as a grip instruction issued by the user, and an imaging unit 950 that captures the appearance of the object 8 and acquires image data of the object 8. And processing of the collected sound, processing of the captured image, processing of instructing the arm 12 to lift the object 8, selection processing of the lifting method of the object 8, acquisition processing of the weight information of the object 8, and processing of the lifted object A control means 900 is provided for carrying processing, communication processing with the tag 25, and other various processing. In the control unit 900, a lifting method selection unit 18 that performs a process for selecting a method for lifting the object 8, a conveyance condition information acquisition unit 16 that performs a process for acquiring the weight information of the object 8, and the like may be provided independently. .

  Next, the configuration of the control means 900 that controls the entire transfer robot 10 will be described with reference to the signal processing system block diagram of FIG.

  As shown in FIG. 2, the control unit 900 performs image processing such as image size change, sharpness correction, gamma correction, contrast correction, white balance correction, and compression processing on the video signal output from the imaging unit 950. At the same time, the image processing means 951 for converting an analog image signal into digital image data and the sound signal collected by the sound collection means 953 are amplified and subjected to filter processing, and the analog sound signal is converted into digital sound data. Input voice processing means 954.

  In addition, the control unit 900 provides an analog signal such as a speed signal or an acceleration signal to the motor driver 40 that drives a plurality of motors 42 provided in each joint unit including the arm unit 12 of the transport robot 10 and the transport unit 14. A D / A converter 959 that outputs the drive signal of the motor 42, a counter 969 that counts the drive amount of each motor 42 by obtaining drive pulses of the motor 42 from the encoder 44 that detects the drive amount of the motor 42, and the like. And an A / D converter 958 for inputting an analog current signal from the current sensor 38 for detecting a current value supplied to the digital signal and converting it into digital data. The D / A converter 959 includes a plurality of analog output ports and can output drive signals to the plurality of electric motor drivers 40. Further, the A / D converter 958 has a plurality of analog input ports, and can input weight information of the object 8 from the weight sensor 36 that actually measures the weight of the object 8 and convert it into digital data. Yes.

  The control unit 900 transmits and receives information using a wireless LAN or a dedicated frequency band as a communication unit, and an antenna 960 that inputs and outputs radio waves for controlling the transport robot 10 from an external communication device, and an external device A wireless transmission / reception unit 961 that transmits / receives information to / from a communication device, and a tag reader 26 (including a tag information acquisition unit function) that receives tag information such as the product name, contents, weight information, or conveyance condition information of the object 8 from the tag 25. ), A tag writer 28 (including a function of weight writing means) that performs processing for writing tag information such as the weight of the actually measured object 8 to the tag 25, and the tag reader 26 and the tag writer 28. The serial interface 964 can instruct the tag reader 26 to acquire tag information and can instruct the tag writer 28 to output tag information. An input unit 970 configured by a keyboard, a switch, and the like, and an input interface 971 for transmitting various instruction information input from the user by the input unit 970 to an information processing unit 980 configured by a CPU or the like via a bus 999; A display unit 972 for displaying characters and images to the user, and a display interface 973 for acquiring display information from the information processing unit 980 via the bus 999, converting the display information into a video signal, and outputting the video signal to the display unit 972 are provided. ing.

  The control unit 900 also includes a storage unit 984 such as a hard disk or a semiconductor memory having the function of the weight storage unit 30 that stores the appearance of the object 8 photographed by the imaging unit 950 and the weight of the object 8 in association with each other. It has. The storage unit 984 stores various processing programs and constants and can be used as a work area for the information processing unit 980.

  The control unit 900 temporarily stores various processing programs, constants, and the like, and can be used as a work area for the information processing unit 980, and a BIOS (basic input output system) executed by the information processing unit 980. A ROM 983 for storing various information such as programs and constants, and a timer 990 for measuring time.

  The control unit 900 also performs wireless communication processing, processing of information input from the input unit 970, display processing for displaying various information on the display unit 972, writing of information to the storage unit 984, the RAM 981, the ROM 983, or the like. Based on the program, the reading process, the process of acquiring the transport condition information of the object 8, the process of selecting the lifting method of the object 8, the process of lifting the object, the process of lowering the object, the process of transporting the object, or other various processes Information processing means 980 is provided.

  The information processing unit 980 of the control unit 900 and its peripheral circuits are connected by a bus 999 and can transmit high-speed information to each other. The information processing unit 980 can control peripheral circuits based on an instruction of a program operating on the information processing unit 980.

  The program executed by the information processing unit 980 can be provided by a recording medium or communication. In addition, each peripheral circuit can be configured by an ASIC or the like.

  In the example shown in FIG. 2, the embodiment has been described in which the weight storage unit 30 is provided inside the storage unit 984. However, the weight storage unit 30 is provided in an external communication device, The weight corresponding to the appearance of 8 may be acquired.

[Conveying condition information acquisition means 16]
The transport condition information acquisition means 16 acquires transport condition information such as the weight of the object 8, the ease of sliding, the presence / absence and number and position of the handle, the fragility of the object, whether the object is supported on the upper side, or the object is supported on the lower side. To do.

  For example, a tag reader 26 (tag information acquisition unit) that acquires the weight of the object 8 from the tag 25 in which the weight information of the object 8 is recorded can be used as the transport condition information acquisition unit 16. Before the information processing unit 980 lifts the object 8 through the tag reader 26, the weight of the object 8 is acquired, so that how to lift the object according to the weight of the object 8 can be determined.

  Thereby, the time for actually measuring the weight of the object 8 can be shortened, and the object 8 can be quickly transported to the target location. The tag reader 26 is preferably a non-contact type using wireless communication or an image process using a two-dimensional code, but the present invention is not limited to a non-contact type.

  Further, as the conveyance condition information acquisition unit 16, the imaging unit 950 is used to image the appearance of the object 8, the image processing is performed on the image to extract the appearance of the object 8, and the appearance of the object 8 and the object 8 are detected. The weight search means 32 for acquiring the weight stored in association with the appearance of the object 8 imaged by the imaging means 950 can be used by referring to the weight storage means 30 that stores the weight of the object 8 in advance. Good. The function of the weight search means 32 may be realized using a program executed by the information processing means 980 or may be realized using a dedicated processing circuit.

  By acquiring the weight of the object 8 using the weight search means 32, even if the tag 25 that records the weight of the object 8 does not exist, the object according to the weight acquired with reference to the weight storage means 30 How to lift 8 can be determined. Therefore, the time for actually measuring the weight of the object 8 can be shortened and the object 8 can be transported to a predetermined place quickly.

  In addition, a weight sensor 36 (including a function of a weight measuring unit) such as a load sensor that measures and acquires the weight of the lifted object 8 is used as the transport condition information acquiring unit 16, and the information processing unit 980 is configured to use the weight sensor 36. May be configured to acquire the weight information output by the A / D converter 958.

  Further, by using the weight sensor 36 as the transport condition information acquisition means 16, even if there is no tag 25 that records the weight of the object 8, or even if the weight of the object 8 is unknown, the object The weight of 8 can be actually measured to determine how to lift the object 8. And when the weight of the object 8 is light, it can convey quickly, and when the object 8 is heavy, it can convey slowly.

  In addition, the information processing unit 980 acquires the current value applied to the electric motor 42 functioning as an actuator that operates the arm unit 12 via the current sensor 38 and the A / D converter 958, and the acquired current value. May be calculated and calculated as the weight of the object 8. Further, instead of the information processing unit 980 realizing the function of the transport condition information acquisition unit 16, a dedicated element may be provided. In addition, since the electric current value applied to the electric motor 42 is converted into torque and thrust by the electric motor 42, the weight of the object 8 can be calculated indirectly. Further, since the current value in the feedback loop varies greatly, it is preferable to calculate the weight of the object 8 by appropriately performing an averaging process or the like.

[About lifting method selection means 18]
The lifting method selection means 18 has a function of selecting a method for lifting the object 8 using the arm portion 12 according to the conveyance condition information of the object 8. Further, the lifting method selection means 18 determines the quantity of the arm parts 12 used when lifting the object, whether to use the arm parts 12 with hooks, or the gripping means with anti-slip according to the conveyance condition information of the object 8. A function of selecting a lifting method such as whether or not to use the arm portion 12 provided with 22 or whether or not the object 8 lifted using the arm portion 12 is held in contact with the body portion 20. Yes.

  The lifting method selecting means 18 either lifts the object 8 using one arm 12 or lifts the object 8 using a plurality of arms 12 according to the weight of the object 8 to be lifted. It has a function to select the lifting method.

  When the object 8 to be transported is heavy, the arm 8 can be lifted and transported by using a plurality of arm portions 12 according to the weight of the object 8 or the like. Even when it is used, a heavy object can be lifted and conveyed by using the plurality of arms 12. Therefore, it is possible to use the electric motor 42 having a weak output for the arm portion 12, and it is possible to provide the transfer robot 10 that saves power and has high safety with respect to the surroundings.

  Further, the lifting method selection means 18 either holds the lifted object 8 by the arm portion 12 or holds the arm portion 12 and the body portion 20 in combination according to the weight of the object 8. It has a function to select the lifting method.

  By holding the object 8 to be transferred between the arm portion 12 and the body portion 20 of the transfer robot 10 according to the weight of the object 8 and the like, the object is held near the center of gravity of the transfer robot 10 and is weak to the arm portion 12. It is possible to use a power source, and it is possible to provide the transfer robot 10 that saves power and has high safety with respect to the surroundings.

  Note that the function of the lifting method selection means 18 may be realized by the information processing means 980 or may be realized by using a dedicated processing circuit.

[About the control means 900]
The control unit 900 executes various processes such as control of the entire transfer robot 10 and communication processes based on the processing program. Further, the information processing unit 980 can realize a part of the function of the transport condition information acquisition unit 16 and the function as the lifting method selection unit 18 based on the processing program.

  Next, processing in which the transfer robot 10 selects a lifting method according to the weight of the object 8 will be described with reference to FIG.

  FIG. 3 is a flowchart of a process for selecting a method for lifting the object 8. In the following description, the processing for selecting the method for lifting the object 8 will be described as an embodiment in which the information processing unit 980 of the control unit 900 executes.

  When the object lifting process is executed, the process executed by the information processing means 980 proceeds to the determination in step S102 “Grip command input?” (Hereinafter abbreviated as S102), and the object 8 A process of waiting for an instruction for gripping is performed.

  When the operator of the transport robot 10 instructs to grip and transport the object 8 by operating voice or an external communication device, the processing executed by the information processing means 980 is the next S104 “object position recognition”. Proceed to

  When the operator instructs to hold the object 8 by voice, the voice collected by the operator is collected by the sound collecting means 953 and converted into a voice signal. The audio signal is input by the input audio processing unit 954, converted into digital audio data, and output to the information processing unit 980. The information processing unit 980 that has input the voice data performs a voice recognition process and determines whether or not a gripping command has been input.

  Further, when a gripping instruction for the object 8 is issued from an external communication device, the information processing unit 980 acquires the gripping instruction issued by the external communication device via the antenna 960 and the wireless transmission / reception unit 961, It is determined whether the acquired information is a grip command.

  In step S104, the information processing unit 980 analyzes the image data obtained by the imaging unit 950 and performs processing for recognizing the gripped object 8 and its position. If the object 8 is recognized, the process proceeds to the next step S106 “move to grippable position”.

  In S106, the information processing unit 980 generates a speed curve for moving to the location of the recognized object 8, and sends a speed command corresponding to the time to the motor driver 40 of the transport unit 14 via the D / A converter 959. And the process of moving the transfer robot 10 is performed. When it arrives at the predetermined position, the process proceeds to the next S108 “object recognition” process.

  In S108, the information processing unit 980 analyzes the image data obtained by the imaging unit 950 and performs processing for recognizing the object 8 to be grasped.

  In the next S110 “query weight storage means”, the information processing means 980 acquires transport condition information including information on the weight of the recognized object 8. In S110, a process of acquiring the weight stored in association with the appearance of the object 8 is performed from the weight storage means 30 that stores the appearance and the weight of one or more types of objects in association with each other.

  In the next determination of S112 “Weight known?”, It is determined whether or not the weight of the object 8 has been acquired as a result of referring to the weight storage means 30. If the weight of the object 8 cannot be acquired from the weight storage means 30 (S112; No), the processing executed by the information processing means 980 branches to the determination of S114 "Is the tag weight information?" If the weight of the object 8 can be acquired (S112; Yes), the process branches to the process of S130 “object weight determination”.

  In S114, the information processing means 980 communicates with the tag 25 via the serial interface 964 and the tag reader 26, and tries to obtain weight information. When the weight information is recorded on the tag 25 (S114; Yes), the process executed by the information processing unit 980 branches to S130. If the weight information of the object 8 cannot be acquired by referring to the tag 25 (S114; No), the process proceeds to S116 “automatic adjustment of lifting method”. The process of S116 will be separately described with reference to FIG.

  When the holding method of the object 8 is determined in S116, the process proceeds to S144 “gripping”, and the information processing unit 980 generates a speed curve for driving the arm 12 via the D / A converter 959. Then, a speed command corresponding to the time is output to the motor driver 40 of the arm unit 12 via the D / A converter 959, and a process of gripping and lifting the object 8 is performed. When the gripping and lifting processing of the object 8 is completed, the process proceeds to S146 “End of gripping” and proceeds to a separate transport process.

  When the object 8 is transported, the information processing unit 980 generates a speed curve incorporating a transport speed or transport acceleration for transporting according to the weight of the object 8, and converts the speed command according to the time to D / A conversion. It outputs to the electric motor driver 40 of the conveyance means 14 via the device 959, and the process which moves the conveyance robot 10 is performed. When the vehicle arrives at a predetermined position, a process of lowering the object 8 is performed, and the conveyance process of the object 8 is ended.

  Next, the processing after S130 will be described.

  When the weight of the object 8 is known (S112; Yes), a process of selecting a holding method according to the weight of the object 8 is performed. For example, when the weight limit when using one arm portion 12 is limited to 1 kgf due to the ability of an actuator or driver that drives the arm portion 12, the weight X of the object 8 is 1 kgf or less. If so, the process branches to S132, and a lifting method for gripping the handle 9 of the object 8 using one arm 12 is selected.

  FIG. 4 shows a state where the lifting method is selected and the transfer robot 10 grips the object 8. In this state, it is possible to grip another object using the arm portion 12 that is not used, and it is possible to efficiently transport a plurality of objects with a simple operation.

  In S130, when the limit weight when using the plurality of arms 12 provided in the transfer robot 10 is 5 kgf and the weight X of the object 8 is heavier than 1 kgf and 5 kgf or less, Branching to S134, a lifting method for gripping the object 8 using the plurality of arms 12 of the transfer robot 10 is selected, and the lifting process of the object 8 is attempted.

  FIGS. 5 and 6 show a state where the lifting method is selected and the transfer robot 10 grips the object 8. In the example shown in FIG. 5, the grip 9 of the object 8 is gripped by using two sets of arm portions 12 to lift the object. By performing this operation, heavier objects can be lifted and conveyed.

  Further, in the example shown in FIG. 6, the object 8 is held and held by using two sets of arm portions 12 and the object is lifted. By performing this operation, the moment M applied to the arm portion 12 can be reduced, and a heavy object can be lifted and conveyed. The operation sequence of holding the object 8 so as to hold it will be described separately with reference to FIGS.

  In S130, when the weight X of the object 8 is heavier than 5 kgf, the process branches to S136 “size to be held?” And the image data obtained by the imaging unit 950 is analyzed. It is determined whether or not the size can be lifted by the transfer robot 10.

  If the information processing unit 980 determines in S136 that the size of the object 8 is not the size that the transfer robot 10 can hold (S130; No), it determines that it cannot be gripped, and proceeds to S140. Finish the lifting process. Then, the display unit 972 displays that fact and notifies the operator, and outputs an error message to an external communication device via the wireless transmission / reception unit 961.

  On the other hand, if the information processing unit 980 determines in S136 that the size of the object 8 is the size that the transfer robot 10 can hold (S130; Yes), the process proceeds to S138, and the lifted object is transferred. A lifting method to be held in contact with the body 20 of the robot 10 is selected. Thereby, even if it is the heavy object 8, the object 8 can be conveyed, maintaining the state lifted with little power.

  FIG. 7 shows a state where the lifting method is selected and the transfer robot 10 grips the object 8. In the example shown in FIG. 7, the object 8 is brought into contact with the body portion 20 of the transport robot 10 using two sets of arm portions 12 to maintain the lifted object. By performing this operation, the moment M applied to the arm portion 12 can be further reduced, and even a heavier object can be lifted and conveyed. In addition, it is possible to reduce the possibility of the transfer robot 10 falling.

  When the selection of the lifting method is completed and the lifting process of the object 8 is executed, the process executed by the information processing unit 980 proceeds to the determination of S142 “Can it be held (current allowable range?)”. In S <b> 142, the information processing unit 980 acquires the current value supplied to each electric motor 42 disposed in each indirect portion of the arm portion 12 via the current sensor 38 and the A / D converter 958. When the acquired current value is within the allowable current value (S142; Yes), a process of gripping and transporting the object 8 as it is is performed.

  On the other hand, if the current value acquired in S142 exceeds the allowable current value range, the processing executed by the information processing means 980 branches to S116, and the lifting method is automatically adjusted. Do. As described above, the processing from S130 to S138 is processing when the weight of the object 8 is known. However, even if the weight of the object 8 is known, if the object 8 is, for example, a liquid container and the total weight of the object 8 varies greatly depending on the presence of the contents, the process branches to S116 and is held. The top method can be adjusted automatically.

  Next, processing for automatically adjusting the lifting method of the object 8 will be described with reference to FIG.

  FIG. 8 is a flowchart of the lifting method automatic adjustment process executed by the information processing unit 980 when the weight of the object 8 is unknown.

  When the process executed by the information processing means 980 branches to S116 shown in FIG. 3, the process to be executed next proceeds to S204 shown in FIG. 8, and as shown in FIG. An attempt is made to grip the handle 9 of the object 8 using. Then, the process proceeds to the next determination of S206 “Can it be held (current allowable range?)”.

  In S206, the information processing means 980 obtains the current value supplied to each motor 42 arranged in each indirect portion of the arm portion 12 through the current sensor 38 and the A / D converter 958 in this lifting method. To do. When the acquired current value is within the allowable current value (S206; Yes), the process proceeds to S216 “store way of holding”.

  On the other hand, when the acquired current value exceeds the allowable current value range (S206; No), the process proceeds to S208, and as shown in FIGS. A lifting method for gripping the object 8 using the plurality of arm portions 12 is selected, and a lifting process of the object 8 is attempted. Then, the process proceeds to the next determination of S210 “Can it be held (current allowable range?)”.

  In S210, the information processing means 980 obtains a current value supplied to each motor 42 arranged in each indirect portion of the arm portion 12 in this lifting method, and whether or not this current value is within an allowable range. Make a decision. If the current value is within the allowable current value (S210; Yes), the process proceeds to S216 “stores how to hold”.

  On the other hand, when the acquired current value exceeds the allowable current value range (S210; No), the process proceeds to S212, and as shown in FIG. A lifting method for holding the body body 20 in contact with the 10 body parts 20 is selected, and a lifting process of the object 8 is attempted. Then, the process proceeds to the next determination of S214 “Can it be held (current allowable range?)”.

  In S214, the information processing means 980 obtains the current value supplied to each motor 42 arranged in each indirect portion of the arm portion 12 in this lifting method, and whether or not this current value is within an allowable range. Make a decision. When the current value is within the allowable current value (S214; Yes), the process proceeds to S216 “store how to hold”.

  On the other hand, when the acquired current value exceeds the allowable current value range (S214; No), the process proceeds to S220 “end of gripping end”, and the lifting process of the object 8 is ended. . Then, the display unit 972 displays that fact and notifies the operator, and outputs an error message to an external communication device via the wireless transmission / reception unit 961.

  In S216, the information processing unit 980 selects the lifting method of the object 8, and stores the determined lifting method in the storage unit 984 in association with the name and appearance of the object. The information processing unit 980 (including the function of the weight writing unit), when there is a tag 25 in which information about the object 8 is stored, displays the actually measured weight information of the object 8 and the selected lifting method, A process of outputting to the serial interface 964 and the tag writer 28 and writing to the tag 25 is performed. Then, the processing executed by the information processing means 980 proceeds to S144 shown in FIG. 3, and ends the lifting method automatic adjustment processing.

  In detecting the weight of the object 8, a process of determining using the weight actually measured by the weight sensor 36 may be adopted, or the current value supplied to the motor 42 by the information processing unit 980 may be detected. Then, the weight of the object 8 may be converted and acquired.

  By automatically adjusting the lifting method as described above, an appropriate lifting method can be determined even for an object of unknown weight. Further, even when the weight of the object is not stored in the tag 25 or when the weight information stored in the tag is different from the actual weight, the actually measured weight information is recorded in the tag 25 as a history, An object can be conveyed.

  9 to 11 show an operation sequence from when the transfer robot 10 lifts the large object 108 using the plurality of arm parts 12 to when the object 108 is held in contact with the body part 20.

  When the transport robot 10 inputs a grip command for the object 108 and recognizes the position of the object 108, the transport robot 10 can grip the object 108 using a plurality of arms 12, as shown in FIG. To move to the correct position.

  When the transfer robot 10 arrives at a predetermined position, as shown in FIG. 10, the transfer robot 10 performs an operation of gripping the object 108 using a plurality of arm portions 12.

  When the information processing unit 980 determines that the object 108 is large and cannot be gripped by the gripping unit 22, the arm unit is lifted only by the arm unit 12 because the object 108 is heavy. When the information processing unit 980 determines that an excessive moment is applied to the object 12, the object 108 is a slippery object, the handle 9 is not present, the handle 9 is small, and the handle 9 is present at an appropriate position. Otherwise, if the object 108 is a fragile object or if it is necessary to support the object 108 from below, the lifted object 108 is held in contact with the body 20 as shown in FIG.

  By controlling the transfer robot 10 in this manner, even a heavy object that is large or difficult to transfer can be safely lifted and transferred.

It is an external view which shows the state which the conveyance robot 10 which concerns on embodiment of this invention is going to have the object 8 to convey. It is a signal processing system block diagram of the control means 900 which concerns on embodiment of this invention. It is a flowchart of the process which the conveyance robot 10 which concerns on embodiment of this invention selects the lifting method of the object 8. FIG. It is a figure which shows the state in which the conveyance robot 10 lifts the object 8 using one arm part. It is a figure which shows the state in which the conveyance robot 10 lifts the object 8 using the some arm part 12. FIG. It is a figure which shows the state which the conveyance robot 10 lifts so that it may hold | maintain the object 8 using the several arm part 12. FIG. FIG. 3 is a diagram illustrating a state in which the transport robot 10 holds an object 8 lifted using a plurality of arm portions 12 in contact with a body portion 20. It is a flowchart of the process which adjusts a lifting method automatically, when the weight of the object 8 is unknown. FIG. 4 is a diagram showing a state where the transfer robot 10 is approaching the object 108 in order to lift the object 108 using a plurality of arms 12. FIG. 3 is a diagram illustrating a state where the transport robot 10 is holding an object 108 using a plurality of arm units 12. FIG. 6 is a diagram illustrating a state in which the transport robot 10 holds an object 108 lifted using a plurality of arm portions 12 in contact with a body portion 20.

Explanation of symbols

8, 108 Object 9 Handle 10 Transfer robot 12 Arm unit 14 Transfer unit 16 Transfer condition information acquisition unit 18 Lifting method selection unit 20 Body unit 22 Grasping unit 25 Tag 26 Tag reader 28 Tag writer 30 Weight storage unit 32 Weight search unit 36 Weight sensor 38 Current sensor 40 Motor driver 42 Motor 44 Encoder 900 Control means 950 Imaging means 951 Image processing means 953 Sound collection means 954 Input sound processing means 958 A / D converter 959 D / A converter 960 Antenna 961 Wireless transmission / reception means 964 Serial interface 969 Counter 970 Input unit 971 Input interface 972 Display unit 973 Display interface 980 Information processing unit 981 RAM
983 ROM
984 Storage means 990 Timer 999 bus

Claims (14)

An arm that lifts the object to be conveyed;
Transport means for transporting the object lifted by the arm,
Transport condition information acquisition means for acquiring transport condition information of the object;
A lifting method selecting means for selecting the method of lifting the object using the arm or the arm according to the acquired conveyance condition information of the object;
Control means for instructing the arm portion to lift the object by the lifting method selected by the lifting method selection means, and for instructing the conveying means to convey the lifted object;
A transport robot comprising the lifted object. A plurality of arms for lifting an object to be conveyed;
Transport means for transporting the object lifted by the arm,
Transport condition information acquisition means for acquiring transport condition information of the object;
In accordance with the acquired transport condition information of the object, a lifting method is selected from either lifting the object using one arm or lifting the object using a plurality of arms. Lifting method selection means;
Control means for instructing the arm portion to lift the object by the lifting method selected by the lifting method selection means, and for instructing the conveying means to convey the lifted object;
A transport robot comprising the lifted object. An arm that lifts the object to be conveyed;
A body part for contacting the lifted object;
Transport means for transporting the object lifted by the arm,
Transport condition information acquisition means for acquiring transport condition information of the object;
Whether to hold the lifted object using the arm or to hold the lifted object in contact with the torso using the arm according to the acquired transport condition information of the object A lifting method selecting means for selecting any lifting method of
Control means for instructing the arm portion to lift the object by the lifting method selected by the lifting method selection means, and for instructing the conveying means to convey the lifted object;
A transport robot comprising the lifted object.   The transfer robot according to claim 1, wherein the control unit commands a transfer speed or a transfer acceleration according to the transfer condition information acquired by the transfer condition information acquisition unit. Gripping means for gripping the object when lifting the object to be transported;
When a gripping instruction for gripping the object is input from an operator by an operation such as a voice or a switch, gripping command output means for outputting a gripping command for causing the gripping means to grip the object is provided. The transfer robot according to claim 1, wherein: An electric motor is used as an actuator for operating the arm, and the control means performs control of a current applied to the electric motor when lifting the object,
The lifting method selecting means detects a current value to be applied to the electric motor, and when the current value exceeds an allowable range, lifts the object using a plurality of the arm parts, or the arm parts The transfer robot according to any one of claims 1 to 5, wherein one of the lifting methods is selected by using to hold the lifted object in contact with the body portion.   The transport condition information acquisition means includes tag information acquisition means for acquiring transport condition information including the weight of the object from a tag in which the weight information of the object is recorded, and the lifting method selection means includes the acquisition The transfer robot according to claim 1, wherein a lifting method of the object is selected according to the weight that has been obtained.   The transport condition information acquisition unit stores a weight storage unit that stores the appearance of the object and the weight of the object in association with each other, an imaging unit that images the appearance of the object, and stores the image in association with the appearance captured by the imaging unit. A weight search means for acquiring a weight being stored from the weight storage means, and the lifting method selection means selects a lifting method of the object according to the acquired weight. The transfer robot according to any one of 1 to 6.   The transport condition information acquisition unit includes a weight measurement unit that measures and acquires the weight of the lifted object, and the lifting method selection unit selects the lifting method of the object according to the acquired weight. The transfer robot according to claim 1, wherein The transport condition information acquisition means acquires weight condition means for measuring and acquiring the weight of the lifted object and transport condition information including the weight of the object from a tag in which the transport condition information of the object is recorded in advance. Tag information acquisition means,
If the weight of the object actually measured by the weight measuring unit is different from the weight of the object acquired by the tag information acquiring unit, or if no conveyance condition information is recorded on the tag, the weight measurement is performed. The transfer robot according to claim 1, further comprising tag information writing means for writing the weight actually measured by the means to the tag. The transport condition information acquisition means stores in advance a weight measurement means for measuring and acquiring the weight of the lifted object, an imaging means for imaging the appearance of the object, and the appearance of the object and the weight of the object in association with each other. Weight storage means, and weight search means for acquiring the weight stored in association with the appearance imaged by the imaging means from the weight storage means,
When the weight of the object actually measured by the weight measuring means is different from the weight of the object acquired by the weight search means, or when the weight of the object is not stored in the weight storage means, The transport robot according to claim 1, further comprising a weight writing unit that stores the weight actually measured by the weight measuring unit in the weight storage unit in association with the appearance of the object. While controlling the arm part which lifts the object to convey, the conveyance means which conveys the object which the arm part lifted, the conveyance condition information acquisition means which acquires the conveyance condition information of the object, and the arm part and the conveyance means A transfer program executed by an information processing means of a transfer robot comprising information processing means for acquiring transfer condition information from the transfer condition information acquiring means,
In the information processing means,
A function of acquiring transport condition information of the object from the transport condition information acquiring means;
A function of selecting the method of lifting the object using the arm or the arm according to the acquired conveyance condition information of the object;
A function of instructing the arm to lift the object by the selected lifting method, and a function of instructing the transport means to transport the lifted object;
A conveyance program characterized by realizing the above. A plurality of arms for lifting an object to be transported, transport means for transporting an object lifted by the arm, transport condition information acquiring means for acquiring transport condition information of the object, and controlling the arm section and the transport means And a transfer program executed by the information processing means of the transfer robot comprising information processing means for acquiring transfer condition information from the transfer condition information acquiring means,
In the information processing means,
A function of acquiring transport condition information of the object from the transport condition information acquiring means;
In accordance with the acquired transport condition information of the object, a lifting method is selected from either lifting the object using one arm or lifting the object using a plurality of arms. Function and
A function of instructing the arm to lift the object by the selected lifting method, and a function of instructing the transport means to transport the lifted object;
A conveyance program characterized by realizing the above. An arm part for lifting an object to be conveyed; a body part for contacting the lifted object; a conveying means for conveying the object lifted by the arm part; and a conveyance condition information acquiring means for acquiring conveyance condition information of the object A transfer program executed by an information processing unit of a transfer robot including an information processing unit that controls the arm unit and the transfer unit and acquires the transfer condition information of the object from the transfer condition information acquisition unit,
In the information processing means,
A function of acquiring transport condition information of the object from the transport condition information acquiring means;
Whether the arm is used to hold the lifted object or the arm is used to hold the lifted object in contact with the body according to the acquired object transport condition information A function to select one of the lifting methods,
Commanding the arm to lift the object by the selected lifting method, and commanding the transport means to transport the lifted object;
A conveyance program characterized by realizing the above.

Images