JP2019153252A - Work system and control method by work system - Google Patents

Abstract

To provide a remote control work system having a remotely controllable master part and slave part and capable of efficiently performing communication connection between the master part and the slave part.SOLUTION: A work system has a plurality of slave device; at least one master device; and a control device, each of the plurality of slave devices includes: a gripping mechanism that grips an object and moves the object to a predetermined position based on a grip control signal received from the master device; a travel mechanism capable of gripping the object and moving the object to the predetermined position and traveling to a travel destination; and a travel control part controlling the travel by the travel mechanism, the master device includes a grip control part that detects operation performed by an operator and transmits a grip control signal according to the detected operation to the slave device, and the control device includes a communication control part that determines, as the slave device that has completed the travel to the travel destination, the transmission destination to which the master device transmits the grip control signal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work system and a control method using the work system.

There are various types of robots that can grasp an object such as a robot that autonomously grasps an object and a robot that grasps an object based on remote operation.
Patent Document 1 describes a technique related to a mobile robot as a related technique.

Japanese Patent No. 5429901

By the way, a mobile robot that is remotely operated includes a master unit and a slave unit. When the object is gripped by remote operation, the efficiency in the work system varies depending on the combination of connection between the master unit and the slave unit.
Therefore, there is a need for a technique that can efficiently perform communication connection between a master unit and a slave unit in a work system.

  An object of this invention is to provide the working system which can solve said subject, and the control method by a working system.

  According to the first aspect of the present invention, the work system is a work system having a plurality of slave devices, at least one master device, and a control device, wherein each of the plurality of slave devices is the master device. A gripping mechanism that grips an object and moves it to a predetermined position based on a grip control signal received from the apparatus, and a travel mechanism that can travel to a travel destination that can grip the object and move it to a predetermined position And a traveling control unit that controls traveling by the traveling mechanism, and the master device detects an operation performed by an operator and transmits the grip control signal according to the detected operation to the slave device. A control unit, wherein the control device determines that a transmission destination to which the master device transmits the grip control signal is the slave device in a state where traveling to the traveling destination is completed. A communication control unit which comprises a.

  According to the second aspect of the present invention, in the work system according to the first aspect, the communication control unit has completed traveling to the travel destination as a transmission destination to which the master device transmits the grip control signal. The slave device may be determined in the order of the slave devices.

  According to a third aspect of the present invention, in the work system according to the first aspect, the communication control unit obtains a destination to which the master device transmits the grip control signal, and an order for the object is acquired. The slave device may be determined as the slave device in the order of the slave device that has traveled to the travel destination where the object is placed in the order in which the order is acquired.

  According to a fourth aspect of the present invention, in the work system according to the first aspect or the third aspect, at least one of the plurality of slave devices is a current state of the slave device based on the travel destination. A travel control signal identifying unit that identifies a travel control signal that causes the slave device to travel from a position to the travel destination, and the travel control unit included in at least one of the plurality of slave devices includes the travel control signal You may output to the said travel mechanism.

  According to a fifth aspect of the present invention, in the work system according to the fourth aspect, the control device specifies a route for causing the slave device to travel from the current position of the slave device to the destination. A transmission unit that transmits the route to the slave device, and the traveling control unit may control traveling by the traveling mechanism based on the route transmitted by the transmitting unit.

  According to a sixth aspect of the present invention, in the work system according to the fifth aspect, the control device includes an order acquisition unit that acquires an order for the object, and the route specifying unit includes the order acquisition. The route may be specified based on the order acquired by the department.

  According to a seventh aspect of the present invention, in the work system according to any one of the first aspect to the sixth aspect, the communication control unit is configured such that when the slave device is in a predetermined state, A slave device other than the slave device, the slave device that has completed the travel to the travel destination by the travel mechanism is identified, and the master device transmits the grip control signal to the identified slave device The transmission destination slave device may be determined.

  According to an eighth aspect of the present invention, in the work system according to any one of the first aspect to the seventh aspect, the grip control unit includes artificial intelligence, based on a calculation result by the artificial intelligence. The gripping mechanism may grip the object.

  According to the ninth aspect of the present invention, the control method by the work system includes gripping that grips an object and moves it to a predetermined position based on at least one master device and a grip control signal received from the master device. A control method by a work system having a mechanism, a plurality of slave devices having a travel mechanism capable of traveling to a travel destination that can be gripped and moved to a predetermined position by the gripping mechanism, and a control device Each of the plurality of slave devices controls traveling by the traveling mechanism, and the control device completes traveling to the traveling destination as a transmission destination to which the master device transmits the grip control signal. The master device is determined to be the slave device in a state, and the master device detects an operation performed by an operator and sends the grip control signal corresponding to the detected operation to the thread device. And transmits it to the blanking apparatus.

  According to the aspect of the present invention, in a remote work system having a remotely operable master unit and slave unit, communication connection between the master unit and the slave unit can be efficiently performed.

It is a figure which shows an example of a structure of the work system by the 1st Embodiment of this invention. It is a figure which shows an example of a structure of the slave part by the 1st Embodiment of this invention. It is a figure for demonstrating specification of the traveling control signal by the 1st Embodiment of this invention. It is a figure which shows an example of a structure of the master part by the 1st Embodiment of this invention. It is a figure which shows an example of a structure of the management server by the 1st Embodiment of this invention. It is the 1st figure showing the processing flow of the work system by a 1st embodiment of the present invention. It is a 2nd figure which shows the processing flow of the work system by the 1st Embodiment of this invention. It is a figure which shows an example of the slave part by the 2nd Embodiment of this invention. It is a 1st figure which shows the processing flow of the work system in the 3rd Embodiment of this invention. It is a 2nd figure which shows the processing flow of the work system in the 3rd Embodiment of this invention. It is a figure which shows an example of the master part in another embodiment of this invention. It is a schematic block diagram which shows the structure of the computer which concerns on at least 1 embodiment.

<First Embodiment>
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
In the first embodiment of the present invention, a plurality of shelves are placed in a work place where the work system 1 is provided. An article is placed on each shelf, and the slave unit travels to the target shelf in the work place and grips the target object. An object is an ordered item. The gripping by the slave unit is remotely operated by the master unit.
(Configuration of work system 1)
A configuration of the work system 1 according to the first embodiment of the present invention will be described.
The work system 1 according to the first embodiment of the present invention is a system that stores a communication connection between the slave unit 10 and the master unit 20 in association with each other. As shown in FIG. 1, the work system 1 includes a plurality of slave units 10 (an example of a slave device), a master unit 20 (an example of a master device), a management server 30 (an example of a control device), a network NW, .

(Configuration of slave unit 10)
Each slave unit 10 is a robot arranged in a place different from the master unit 20 (in the warehouse A in the example shown in FIG. 1). The slave unit 10 travels to the position where the object I is placed in the warehouse A (for example, the position of the shelf where the object I is placed). The object I here is, for example, a product ordered via a communication line.
When the travel to the position where the object I is placed is completed, the master unit 20 is connected to the slave unit 10 by the management server 30 via the network NW. The slave unit 10 to which the master unit 20 is connected operates according to a grip control signal received from the master unit 20 via the network NW. The operation here is an operation of moving the object I to a predetermined position (for example, in the container M for shipping the ordered product). When the slave unit 10 receives a grip control signal from the master unit 20 and the slave unit 10 operates according to the grip control signal, the slave unit 10 and the master unit 20 constitute a master-slave type remote work system. As shown in FIG. 2, the slave unit 10 includes a communication unit 101, an imaging unit 102, a gripping unit 103 (an example of a gripping mechanism), a travel mechanism 104, and a travel control unit 105 (an example of a travel control signal specifying unit). ), A body 106, and a storage unit 107.

  The communication unit 101 communicates with the master unit 20 via the network NW. The communication unit 101 communicates with the master unit 20 to configure the slave unit 10, the master unit 20, and a master / slave type remote work system.

  The photographing unit 102 is provided on the body 106 and photographs a grippable range. As the slave unit 10 travels to the position where the object I is placed, the imaging unit 102 images the object I to be gripped. An image photographed by the photographing unit 102 is a stereoscopic image in which an object looks three-dimensional. For example, the stereoscopic image is a stereo image composed of two images having parallax. Further, for example, a stereoscopic image is an image made up of three-dimensional graphics having depth information. The imaging unit 102 transmits the captured image to the master unit 20 via the communication unit 101.

  The grip unit 103 is provided on the body 106 and operates according to a grip control signal received from the master unit 20 via the communication unit 101. The operation here is, for example, an operation of gripping the object I and moving the object I to a predetermined position. The grip part 103 is, for example, a robot arm.

  The traveling mechanism 104 is configured to support the body 106 and be able to travel. The traveling mechanism 104 is a mechanism that enables the slave unit 10 to travel to a place where the object I in the warehouse A is placed (a travel destination where the object I can be moved to a predetermined position). The traveling mechanism 104 receives a traveling control signal from the traveling control unit 105 and travels at a speed and direction according to the received traveling control signal. The traveling mechanism 104 is a mechanism including wheels, an endless track, a hovercraft (registered trademark), and the like.

The travel control unit 105 acquires information on the travel destination of the slave unit 10 where the object I is placed from the management server 30. The travel control unit 105 specifies a travel control signal that causes the slave unit 10 to travel from the current position of the slave unit 10 to the travel destination based on the acquired travel destination information of the slave unit 10.
Specifically, for example, the traveling control unit 105 identifies the current position based on the traveling history of the slave unit 10 activated at a predetermined location. When the travel control unit 105 cannot identify the current position of the slave unit 10 based on the travel history, for example, the travel control unit 105 travels to a place where a mark indicating a position on the travel route is provided, reads the mark, and reads the current position. Is identified. The travel route from the current position of the slave unit 10 to the travel destination is written in the storage unit 107 in advance, for example. The travel control unit 105 reads the travel route from the storage unit 107 to cause the slave unit 10 to travel from the current position to the travel destination by autonomous travel.

  The storage unit 107 stores information necessary for various processes performed by the slave unit 10. The storage unit 107 is, for example, a combination of a first position indicating a certain position on the travel route of the slave unit 10 and a second position indicating another position as illustrated in FIG. 3 (in the example illustrated in FIG. 3). , A combination of the first position a1 and the second position b1, and a combination of the first position a2 and the second position b2, and from the first position to the second position indicated by the combination The travel route (the travel routes c1 and c2 in the example shown in FIG. 3) and the travel control signal that causes the slave unit 10 to travel the travel route (the travel control signals sig1 and sig2 in the example shown in FIG. 3) are associated with each other. Remember.

(Configuration of master unit 20)
The master unit 20 is arranged at a different location from the slave unit 10 (in the example shown in FIG. 1, the operation center B that is the work place of the operator O). The master unit 20 generates a control signal for operating the slave unit 10. The master unit 20 transmits the generated control signal to the slave unit 10. As shown in FIG. 4, the master unit 20 includes a communication unit 201, an image reproduction unit 202, and an operation input unit 203.

The communication unit 201 communicates with the slave unit 10 and the management server 30 via the network NW.
Specifically, the communication unit 201 receives a connection instruction signal from the management server 30. The connection instruction signal includes the identifier of the master unit 20 and the identifier of the slave unit 10. The communication unit 201 communicates with the slave unit 10 instructed by the received connection instruction signal.
In addition, when the combination of the master unit 20 and the slave unit 10 that perform communication is changed, each identifier is written in the management server 30 together with the changed time.

  The image playback unit 202 receives a stereoscopic image from the slave unit 10 to be operated via the communication unit 201. The image reproduction unit 202 displays the received stereoscopic image. For example, the image reproduction unit 202 displays a stereoscopic image in a space called virtual reality, augmented reality, or mixed reality. The image reproducing unit 202 is, for example, a head mounted display or smart glass.

  The operation input unit 203 (an example of a grip control unit) detects a grip operation performed by the operator O. The operation input unit 203 transmits a grip control signal corresponding to the detected gripping operation to the slave unit 10 and the management server 30 that are the gripping operation target via the communication unit 201. The gripping operation performed by the operator O is, for example, an operation of gripping the target object I while viewing the stereoscopic image displayed by the image reproduction unit 202 and moving the target object I to a predetermined position.

(Configuration of the management server 30)
As shown in FIG. 5, the management server 30 includes a communication unit 301 (an example of a transmission unit), a storage unit 302, a gripping operation management unit 303 (an example of a communication control unit), and a travel operation management unit 304 (communication control). Unit, an example of an order acquisition unit), and a storage unit 302.

The communication unit 301 communicates with the slave unit 10 and the master unit 20 via the network NW.
The storage unit 302 stores the identifier of the master unit 20 and the identifier of the slave unit 10 that is the target of the driving operation of the master unit 20 in association with each other. In addition, the storage unit 302 stores the identifier of the master unit 20 and the identifier of the slave unit 10 that is the target of the gripping operation of the master unit 20 in association with each other. In addition, when the combination of the master part 20 and the slave part 10 is changed, the memory | storage part 302 memorize | stores each identifier with the changed time.

The grip operation management unit 303 connects communication so that a grip control signal for controlling grip can be transmitted from the master unit 20 to the slave unit 10 that has traveled to the travel destination. For example, the gripping operation management unit 303 notifies the master unit 20 of the identifier of the slave unit 10 that is the connection destination in the order in which the travel to the travel destination is completed, and the master unit 20 accesses the slave unit 10 of the identifier. The master unit 20 performs one-to-one communication with the slave unit 10 so that the master unit 20 can transmit a grip control signal to the slave unit 10. Further, for example, the gripping operation management unit 303 notifies the master unit 20 of the identifier of the slave unit 10 that has completed the travel to the travel destination in the order of the object I, and the master unit 20 notifies the slave unit 10 of the identifier. By accessing, the master unit 20 performs one-to-one communication with the slave unit 10 so that the master unit 20 can transmit a grip control signal to the slave unit 10.
The travel operation management unit 304 receives the order contents from the personal computer PC on which the purchase applicant P has performed an operation of purchasing the object I. The travel operation management unit 304 transmits information indicating the travel destination of the slave unit 10 according to the order contents to the slave unit 10.
The storage unit 302 stores information necessary for various processes performed by the management server 30. For example, the storage unit 302 stores the identifier of the target object I included in the order contents and the travel destination (for example, the position of the product shelf) of the slave unit 10 where the target object I indicated by the identifier is placed. To do.

(Processing of work system 1)
Next, processing of the work system 1 according to the first embodiment of the present invention will be described.
Here, the processing flow of the work system 1 according to the first embodiment of the present invention shown in FIGS. 6A and 6B will be described.

It is assumed that the purchase applicant P performs a procedure for ordering (purchasing) the object I at the shopping site.
Each time the procedure for ordering the object I is performed, the travel operation management unit 304 receives the order content from, for example, the personal computer PC operated by the purchase applicant P (step S1). The traveling operation management unit 304 identifies the object I from the received order content (step S2). The traveling operation management unit 304 identifies the same object I as the object I identified from the order details in the storage unit 302 (step S3). The travel operation management unit 304 identifies the travel destination of the slave unit 10 associated with the object I identified in the storage unit 302 (step S4). The traveling operation management unit 304 transmits information on the identified traveling destination of the slave unit 10 to any one of the slave units 10 that are not traveling and are not performing a gripping operation (step S5). For example, the travel operation management unit 304 transmits the information on the identifier of the slave unit 10 together with the travel destination information of the slave unit 10 to any one of the slave units 10 that are not traveling and are not performing a gripping operation. By doing so, it becomes possible to transmit the information of the travel destination to the specific slave unit 10. The traveling operation management unit 304 can know the slave unit 10 that is not traveling and is not performing a gripping operation, for example, by inquiring the gripping operation management unit 303 about the grip control signal being transmitted.

  The traveling operation management unit 304 sets the management server 30 in a state where it can receive the traveling completion notification signal of the slave unit 10 that has transmitted the new order details and the traveling destination information (step S6). Specifically, the travel operation management unit 304 sets the travel operation management unit 304 itself to be able to receive new order contents, and sets the grip operation management unit 303 to the slave unit that has completed the travel to the travel destination of the slave unit 10. 10, the vehicle is in a state where it can receive a travel completion notification signal indicating the completion of the travel. The travel completion notification signal includes information on the identifier of the slave unit 10 that has traveled.

  The management server 30 determines whether a new order has been received after a predetermined time (for example, after 1 second) (step S7). Specifically, the traveling operation management unit 304 determines whether a new order content has been received after a predetermined time.

If it is determined that new order details have been received (YES in step S7), traveling operation management unit 304 returns to the process in step S2.
If it is determined that the travel operation management unit 304 has not received new order contents (NO in step S7), the grip operation management unit 303 has received a travel completion notification signal from any of the slave units 10. Is determined (step S8).

When it is determined that the travel completion notification signal has not been received (NO in step S8), the grip operation management unit 303 returns to the process in step S7.
In addition, when it is determined that the travel completion notification signal has been received (YES in step S8), the gripping operation management unit 303 establishes communication between the master unit 20 and the slave unit 10 that has completed travel in step S15. Proceed. Details of the process for establishing communication between the master unit 20 and the slave unit 10 that has completed traveling in step S15 will be described later.

The travel control unit 105 acquires the travel destination information of the slave unit 10 transmitted by the management server 30 through the process of step S5 (step S9). The travel control unit 105 identifies a travel control signal for causing the slave unit 10 to travel from the current position to the travel destination based on the acquired travel destination information of the slave unit 10 (step S10). For example, when the current position of the slave unit 10 is the first position a1 and the acquired travel destination information of the slave unit 10 indicates the second position b1 as the travel destination of the slave unit 10, The travel control signal sig1 is specified in the information indicating the relationship as shown in FIG.
The traveling control unit 105 outputs the identified traveling control signal to the traveling mechanism 104 (step S11).

  The traveling mechanism 104 receives a traveling control signal from the traveling control unit 105 (step S12). The travel mechanism 104 causes the slave unit 10 to travel from the current position to the travel destination at a speed and direction according to the received travel control signal (step S13).

  When the slave unit 10 finishes traveling from the current position to the travel destination, the travel control unit 105 transmits a travel completion notification signal for notifying that the travel to the travel destination is completed to the management server 30 (step S14).

  In step S8, when the gripping operation management unit 303 determines that the traveling completion notification signal has been received, the master unit 20 issues a communication establishment command for establishing communication between the master unit 20 and the slave unit 10 that has completed traveling. (Step S15). For example, the gripping operation management unit 303 notifies the master unit 20 of a communication establishment command including the identifier of the connection destination slave unit 10 in the order in which the travel to the travel destination is completed. Further, for example, the gripping operation management unit 303 notifies the master unit 20 of a communication establishment command including the identifier of the slave unit 10 that has completed the travel to the travel destination in the order of the object I.

The communication unit 201 of the master unit 20 receives a communication establishment command from the management server 30 (step S16). In response to the communication establishment command, the communication unit 201 of the master unit 20 performs one-to-one communication with the slave unit 10 so that a grip control signal can be transmitted to the slave unit 10 that has completed traveling. Communication is established with the slave unit 10 that has completed the travel (step S17). The operator O performs an operation of grasping the target object I while viewing the stereoscopic image displayed by the image reproduction unit 202 and moving the target object I to a predetermined position.
The operation input unit 203 detects a grip operation performed by the operator O (step S18). The operation input unit 203 transmits a grip control signal corresponding to the detected grip operation to the slave unit 10 and the management server 30 that are targets of the grip operation via the communication unit 201 (step S19). The grip control signal includes the identifier of the slave unit 10.

  The grip operation management unit 303 receives a grip control signal from the master unit 20 (step S20). The gripping operation management unit 303 associates the received time with the identifier of the slave unit 10 included in the gripping control signal and writes it in the storage unit 302 (step S21). By writing the time received by the gripping operation management unit 303 and the identifier of the slave unit 10 included in the gripping control signal in association with each other in the storage unit 302, for example, the manager can grasp the work contents of the operator O. It can be reflected in the wage and assessment of the operator O.

  In addition, the grip unit 103 receives a grip control signal from the master unit 20 via the communication unit 101 (step S22). The gripper 103 grips the object I according to the received grip control signal, and moves the object I to a predetermined position (step S23).

When the object I has finished moving to a predetermined position, the operator O performs an operation of disconnecting communication between the master unit 20 and the slave unit 10. For example, the operator O performs an operation for disconnecting communication between the master unit 20 and the slave unit 10 on the operation input unit 203.
The operation input unit 203 transmits a communication disconnection command to disconnect the communication to the management server 30 via the communication unit 201 in response to an operation by the operator O to disconnect the communication between the master unit 20 and the slave unit 10. (Step S24). And the operation input part 203 returns to the state which performs the process of step S16.
In addition, the gripping unit 103 returns to the process of step S <b> 9 in response to an operation by the operator O that disconnects communication between the master unit 20 and the slave unit 10.

The grip operation management unit 303 receives a communication disconnection command from the master unit 20 (step S25). The gripping operation management unit 303 disconnects communication between the master unit 20 and the slave unit 10 in response to the received communication disconnection command (step S26). Then, the gripping operation management unit 303 returns to the process of step S7.
In addition, the process of above-mentioned step S1-S10 is performed whenever the procedure to order is performed. For this reason, when there is a slave unit 10 that is running or in a gripping operation, the process of step S8 described above is performed on the plurality of slave units 10. In addition, when there is a slave unit 10 that is running or in a gripping operation, the processes in steps S9 to S14 and S22 to S23 described above are performed for each slave unit 10.

The work system 1 according to the first embodiment of the present invention has been described above.
In the work system 1 according to the first embodiment of the present invention, the travel mechanism 104 causes the slave unit 10 to travel to the travel destination based on the control of the travel control unit 105. The gripping operation management unit 303 (an example of a communication control unit) establishes communication between the slave unit 10 and the master unit 20 that have arrived at the travel destination. The operation input unit 203 transmits a grip control signal to the slave unit 10 and controls the movement of the object I by the slave unit 10.
In this way, when the slave unit 10 travels to a position where the object I can be gripped and moves the object I to a predetermined position, the master unit 20 holding the slave unit 10 with the total number of slave units 10 or less It becomes possible to control the operation. That is, the master unit 20 and the slave unit 10 can be connected so as to improve work efficiency.

<Second Embodiment>
(Configuration of work system 1)
A configuration of the work system 1 according to the second embodiment of the present invention will be described.
The work system 1 according to the second embodiment of the present invention, like the work system 1 according to the first embodiment of the present invention, includes a plurality of slave units 10 (an example of a slave device) and a master unit 20 (of the master device). An example), a management server 30 (an example of a control device), and a network NW.

(Configuration of slave unit 10)
As shown in FIG. 7, each of the plurality of slave units 10 according to the second embodiment of the present invention includes a communication unit 101, an imaging unit 102, a gripping unit 103 (an example of a gripping mechanism), a traveling mechanism 104, and the like. , A travel control unit 105, a body 106, a storage unit 107, an autonomous grip control unit 108, and a remote operation necessity detection unit 109.

  The autonomous grip control unit 108 generates a grip control signal by processing based on the artificial intelligence AI corresponding to input information such as image information, for example, and outputs the generated grip control signal to the grip unit 103 when remote operation is not required.

The remote operation necessity detection unit 109 detects that it is difficult for the grasping unit 103 to move the object I to a predetermined position. Specifically, the remote operation necessity detection unit 109 specifies the position of the grip unit 103 and the position of the object I in the image captured by the imaging unit 102. The remote operation necessity detection unit 109 determines that the relative distance between the position of the grip unit 103 and the position of the target object I is not gripping the target object I until the target object I reaches a predetermined position. It is determined whether or not the distance is equal to or greater than a threshold value for determination. When the remote operation necessity detection unit 109 determines that the relative distance between the position of the grasping unit 103 and the position of the object I is equal to or greater than the threshold, the movement of the object I to the predetermined position is performed. It is determined that it is difficult, that is, remote control is necessary (when remote control is necessary). Further, the remote operation necessity detection unit 109 determines that the remote operation is not necessary when it is determined that the relative distance between the position of the grip unit 103 and the position of the object I is less than a threshold value.
If it is determined that the remote operation is necessary, the remote operation necessity detection unit 109 transmits the identifier of the slave unit 10 that requires remote operation to the management server 30 via the communication unit 101.

(Configuration of master unit 20)
Each of the master units 20 according to the second embodiment of the present invention includes a communication unit 201, an image reproduction unit 202, and an operation input unit 203, as in the master unit 20 according to the first embodiment of the present invention. Prepare.

(Configuration of the management server 30)
Similar to the management server 30 according to the first embodiment of the present invention, the management server 30 according to the second embodiment of the present invention includes a communication unit 301, a storage unit 302, a gripping operation management unit 303, and a traveling operation management. Unit 304.

(Processing of work system 1)
Next, processing of the work system 1 according to the second embodiment of the present invention will be described.
In the work system 1 according to the second embodiment of the present invention, when the slave unit 10 finishes traveling to the travel destination, the autonomous gripping control unit 108 performs artificial intelligence according to input information such as image information when remote operation is not required. A grip control signal is generated by processing based on the AI, and the generated grip control signal is output to the grip unit 103. The grip part 103 grips the object I according to the grip control signal.
When the autonomous grip control unit 108 determines that it is difficult to move the object I to a predetermined position, the autonomous grip control unit 108 notifies the grip operation management unit 303 that it is difficult.
When the gripping operation management unit 303 is notified from the slave unit 10 that it is difficult, it establishes communication between the notified autonomous gripping control unit 108 and the master unit 20, and the operator O passes through the master unit 20. The gripping operation of the slave unit 10 is controlled.
That is, the work system 1 according to the first embodiment of the present invention establishes communication between the slave unit 10 and the master unit 20, and the operator O controls the gripping operation of the slave unit 10 via the master unit 20. To do. On the other hand, in the work system 1 according to the second embodiment of the present invention, when the slave unit 10 that has finished traveling to the travel destination determines that it is difficult to move the object I to a predetermined position by autonomous control. In addition, communication between the slave unit 10 and the master unit 20 is established, and the operator O controls the gripping operation of the slave unit 10 via the master unit 20.

The work system 1 according to the second embodiment of the present invention has been described above.
In the work system 1 according to the second embodiment of the present invention, when the slave unit 10 finishes traveling to the travel destination, the autonomous grip control unit 108 performs artificial intelligence according to input information such as image information when remote operation is not required. A grip control signal is generated by processing based on the AI, and the generated grip control signal is output to the grip unit 103. The grip part 103 grips the object I according to the grip control signal. When the autonomous gripping control unit 108 determines that it is difficult to move the object I to a predetermined position, the autonomous gripping control unit 108 notifies the gripping operation management unit 303 that it is difficult. When the gripping operation management unit 303 is notified from the slave unit 10 that it is difficult, it establishes communication between the notified autonomous gripping control unit 108 and the master unit 20, and the operator O passes through the master unit 20. The gripping operation of the slave unit 10 is controlled.
In this way, when the slave unit 10 travels to a position where the target object I can be gripped and moves the target object I to a predetermined position, the slave unit 10 only when the gripping operation by autonomous control is difficult. And the master unit 20 are established, and the operator O controls the gripping operation of the slave unit 10 via the master unit 20. As a result, the work system 1 according to the second embodiment of the present invention can connect the master unit 20 and the slave unit 10 more efficiently than the work system 1 according to the first embodiment of the present invention. it can.

<Third Embodiment>
(Configuration of work system 1)
A configuration of the work system 1 according to the third embodiment of the present invention will be described.
In the first and second embodiments of the present invention, the work system 1 has been described as including one master unit 20. However, in the third embodiment of the present invention, the work system 1 includes a plurality of master units 20, and the management server 30 switches communication between the master unit 20 and the slave units 10. Each of the master units 20 operates in the same manner as the single master unit 20 in the first embodiment of the present invention. Specifically, in the work system 1 according to the third embodiment of the present invention, the management server 30 is a slave unit 10 other than the slave unit 10 when the slave unit 10 enters a predetermined state. Thus, the slave unit 10 in a state where the travel to the travel destination is completed by the travel mechanism 104 is specified, and the master unit 20 determines the slave unit 10 that has specified the transmission destination to which the grip control signal is transmitted.

  The work system 1 according to the third embodiment of the present invention includes a plurality of slave units 10a and 10b (an example of a slave device), a plurality of master units 20a and 20b (an example of a master device), and a management server 30 (an example of a control device). And a network NW. The plurality of slave units 10a and 10b are collectively referred to as a slave unit 10. The plurality of master units 20a and 20b are collectively referred to as a master unit 20.

(Configuration of slave unit 10)
Each of the slave units 10 according to the third embodiment of the present invention is similar to the slave unit 10 according to the first embodiment of the present invention shown in FIG. 7, the communication unit 101, the imaging unit 102, and the gripping unit 103. (An example of a gripping mechanism), a traveling mechanism 104, a traveling control unit 105, a body 106, and a storage unit 107 are provided.

(Configuration of master unit 20)
Each of the master units 20 according to the third embodiment of the present invention is similar to the master unit 20 according to the first embodiment of the present invention shown in FIG. 4, and includes a communication unit 201, an image reproduction unit 202, and an operation input. Unit 203.

(Configuration of the management server 30)
Similar to the management server 30 according to the first embodiment of the present invention, the management server 30 according to the third embodiment of the present invention includes a communication unit 301, a storage unit 302, a gripping operation management unit 303, and a traveling operation management. Unit 304.

(Processing of work system 1)
Next, processing of the work system 1 according to the third embodiment of the present invention will be described.
Here, referring to the processing flow of the work system 1 according to the third embodiment of the present invention shown in FIG. 8, in the work system 1, the management server 30 makes a plurality of different objects I (here, A process of receiving an order for three objects Ia, Ib, and Ic) and switching communication between the master unit 20 and the slave unit 10 will be described.
Here, the processing of the work system 1 when the purchase applicant P1 orders the objects Ia and Ib and the purchase applicant P2 orders the object Ic will be described. The processing of the work system 1 will be described focusing on communication switching in order to show an example of communication switching between the plurality of master units 20 and the plurality of slave units 10. However, even if not specifically described, the master unit 20 and the slave unit 10 in the work system 1 according to the third embodiment of the present invention are the same as the master unit 20 and the slave unit 10 in the first embodiment of the present invention. Similar to the communication between them, various information is transmitted and received, and the operation is performed according to the information.

The purchase applicant P1 performs a procedure for ordering the objects Ia, Ib, and Ic at the shopping site.
When the procedure for ordering the objects Ia and Ib is performed, the traveling operation management unit 304 receives the order content from, for example, the personal computer PC operated by the purchase applicant P1 (step S31). For example, the traveling operation management unit 304 receives the order contents of the objects Ia and Ib. The traveling operation management unit 304 identifies each object from the received order details (step S32). The traveling operation management unit 304 identifies the same object as the object identified from the order content in the storage unit 302 (step S33). The traveling operation management unit 304 identifies all positions where the objects associated with the objects identified in the storage unit 302 are placed (that is, the traveling destination of the slave unit 10) (step S34). For example, the traveling operation management unit 304 identifies the position Pa where the object Ia is placed and the position Pb where the object Ib is placed. The travel operation management unit 304 inquires of the grip operation management unit 303 about the grip control signal being transmitted, so that one of the slave units 10 that are not traveling and is not performing the grip operation (for example, the slave unit 10a). Know. The traveling operation management unit 304 transmits information on the identified traveling destination of the slave unit 10 to the slave unit 10 (step S35).

  The travel operation management unit 304 sets the management server 30 in a state where it can receive the travel completion notification signal of the slave unit 10 that has transmitted the new order details and travel destination information (step S36). Specifically, the travel operation management unit 304 makes the travel operation management unit 304 itself ready to receive new order details, and the grip operation management unit 303 is moved from the slave unit 10 that has completed the travel to the travel destination to A state in which a travel completion notification signal indicating the completion of travel can be received is set.

  The traveling operation management unit 304 determines whether a new order has been received after a predetermined time (for example, after 1 second) (step S37).

If it is determined that new order details have been received (YES in step S37), traveling operation management unit 304 returns to the process in step S32.
If it is determined that the travel operation management unit 304 has not received new order contents (NO in step S37), the gripping operation management unit 303 has received a travel completion notification signal from any of the slave units 10. Is determined (step S38).

When it is determined that the travel completion notification signal has not been received (NO in step S38), the grip operation management unit 303 returns to the process of step S37.
Further, when it is determined that the travel completion notification signal has been received (YES in step S38), the grip operation management unit 303 is between the master unit 20 that has not been operated and the slave unit 10 that has received the travel completion notification signal. In order to establish communication, a communication establishment command for establishing communication between the master unit 20 and the slave unit 10 that has completed traveling is transmitted to the master unit 20 that has not been operated (for example, the master unit 20a). (Step S39). In addition, the process which establishes communication between the master part 20 of step S35 and the slave part 10 which completed driving | running | working is the same as that of above-mentioned step S15.

  The travel control unit 105 of the slave unit 10 transmitted by the management server 30 through the process of step S35 acquires information on the travel destination of the slave unit 10 (step S40). Here, the slave unit 10 that has acquired the travel destination information by the process of step S40 will be described as the slave unit 10a. The travel control unit 105 of the slave unit 10a specifies a travel control signal for causing the slave unit 10a to travel from the current position to the travel destination based on the acquired travel destination information of the slave unit 10a. (Step S41). The traveling control unit 105 of the slave unit 10a outputs the identified traveling control signal to the traveling mechanism 104 of the slave unit 10a (step S42).

  The travel mechanism 104 of the slave unit 10a receives a travel control signal from the travel control unit 105 of the slave unit 10a (step S43). The travel mechanism 104 of the slave unit 10a causes the slave unit 10a to travel from the current position to the travel destination position Pa at a speed and direction according to the received travel control signal (step S44).

When the slave unit 10a finishes traveling from the current position to the travel destination, the travel control unit 105 of the slave unit 10a transmits a travel completion notification signal to the management server 30 to notify that the travel to the travel destination is completed ( Step S45).
Further, it is assumed that the management server 30 receives new order contents (object Ic) at this timing.

  The traveling operation management unit 304 receives new order details (object Ic) by the process of step S37. And the process of step S32-S34 is performed about the target object Ic, and one (for example, slave part 10b) of the slave parts 10 which are not driving | running | working and is not gripping operation is specified. Then, in the process of step S35 for the object Ic, the traveling operation management unit 304 uses the identified slave unit 10 to identify the traveling destination information (information about the position Pc where the object Ic is placed). To the unit 10.

  The traveling control unit 105 of the slave unit 10 transmitted by the management server 30 by the process of step S35 for the object Ic acquires information on the traveling destination of the slave unit 10 (step S46). Here, the slave unit 10 that has acquired the travel destination information by the process of step S46 will be described as the slave unit 10b. The travel control unit 105 of the slave unit 10b specifies, in the storage unit 107 of the slave unit 10b, a travel control signal that causes the slave unit 10b to travel from the current position to the travel destination based on the acquired travel destination information of the slave unit 10b. (Step S47). The traveling control unit 105 of the slave unit 10b outputs the identified traveling control signal to the traveling mechanism 104 of the slave unit 10b (step S48).

  The travel mechanism 104 of the slave unit 10b receives a travel control signal from the travel control unit 105 of the slave unit 10b (step S49). The travel mechanism 104 of the slave unit 10b causes the slave unit 10b to travel from the current position to the travel destination at a speed and direction according to the received travel control signal (step S50).

  The grip operation management unit 303 receives the travel completion notification signal transmitted by the process of step S45 from the slave unit 10a. The gripping operation management unit 303 determines that a travel completion notification signal has been received in the process of step S38. In the process of step S39, the gripping operation management unit 303 establishes communication between one of the master units 20 that has not been operated (for example, the master unit 20a) and the slave unit 10a that has finished traveling. A communication establishment command including the identifier of the slave unit 10a to be transmitted is transmitted to the master unit 20. Here, one of the master units 20 that is not operated will be described as the master unit 20a.

The communication unit 201 of the master unit 20a receives a communication establishment command from the management server 30 (step S51). In response to the communication establishment command, the communication unit 201 of the master unit 20a communicates with the slave unit 10a in a one-to-one manner so that a grip control signal can be transmitted to the slave unit 10a that has completed traveling. The communication with the slave unit 10a that has completed the travel of is established (step S52). The operator O performs an operation of grasping the target object Ia while viewing the stereoscopic image displayed by the image reproduction unit 202 of the master unit 20a and moving the target object Ia to a predetermined position.
The operation input unit 203 of the master unit 20a detects a gripping operation performed by the operator O (step S53). The operation input unit 203 of the master unit 20a transmits a grip control signal corresponding to the detected grip operation to the slave unit 10a to be gripped and the management server 30 via the communication unit 201 of the master unit 20a (step S54). The grip control signal includes the identifier of the slave unit 10a.

  The grip operation management unit 303 receives a grip control signal from the master unit 20a (step S55). The gripping operation management unit 303 writes the received time and the identifier of the slave unit 10a included in the gripping control signal in the storage unit 302 in association with each other (step S56).

  The grip unit 103 of the slave unit 10a receives a grip control signal from the master unit 20a via the communication unit 101 of the slave unit 10a (step S57). In accordance with the received grip control signal, the grip portion 103 of the slave unit 10a grips the target object Ia and moves the target object Ia to a predetermined position (step S58).

When the object Ia has finished moving to a predetermined position, the operator O performs an operation of disconnecting communication between the master unit 20a and the slave unit 10a. For example, the operator O performs an operation for disconnecting communication between the master unit 20a and the slave unit 10a on the operation input unit 203 of the master unit 20a.
The operation input unit 203 of the master unit 20a is a communication that disconnects the communication via the communication unit 201 of the master unit 20a in response to an operation by the operator O that disconnects the communication between the master unit 20a and the slave unit 10a. A disconnection command is transmitted to the management server 30 (step S59). And the operation input part 203 of the master part 20a returns to the state which performs the process of step S51.

  The gripping operation management unit 303 receives a communication disconnection command from the master unit 20a (Step S60). The gripping operation management unit 303 disconnects communication between the master unit 20a and the slave unit 10a in response to the received communication disconnection command (step S61). Then, the gripping operation management unit 303 returns to the process of step S37.

Moreover, the traveling control unit 105 of the slave unit 10a outputs a traveling control signal to the traveling mechanism 104 of the slave unit 10a in response to an operation by the operator O that disconnects communication between the master unit 20a and the slave unit 10a. (Step S62).
The travel mechanism 104 of the slave unit 10a receives a travel control signal from the travel control unit 105 of the slave unit 10a (step S63). The travel mechanism 104 of the slave unit 10a causes the slave unit 10a to travel from the current position to the travel destination position Pb at a speed and direction according to the received travel control signal (step S64).
Further, at this timing, the slave unit 10b finishes traveling from the current position to the travel destination.

  When the slave unit 10b finishes traveling from the current position to the travel destination, the travel control unit 105 of the slave unit 10b transmits a travel completion notification signal for notifying that the travel to the travel destination is completed to the management server 30 ( Step S65).

  The grip operation management unit 303 receives a travel completion notification signal from the slave unit 10b. The gripping operation management unit 303 determines that a travel completion notification signal has been received in the process of step S38. In the process of step S39, the gripping operation management unit 303 establishes communication between one of the master units 20 that has not been operated (for example, the master unit 20a) and the slave unit 10b that has completed traveling. A communication establishment command including the identifier of the slave unit 10b to be transmitted is transmitted to the master unit 20. Here, one of the master units 20 that is not operated will be described as the master unit 20a.

In the process of step S <b> 51, the communication unit 201 of the master unit 20 a receives a communication establishment command from the management server 30. In the process of step S52, the communication unit 201 of the master unit 20a performs one-to-one communication with the slave unit 10b so that a grip control signal can be transmitted to the slave unit 10b that has finished traveling in response to the communication establishment command. In addition, communication with the slave unit 10b that has completed traveling to the destination is established. The operator O performs an operation of grasping the object Ic while viewing the stereoscopic image displayed by the image reproduction unit 202 of the master unit 20a and moving the object Ic to a predetermined position.
In the process of step S53, the operation input unit 203 of the master unit 20a detects a gripping operation performed by the operator O. In the process of step S54, the operation input unit 203 of the master unit 20a transmits a grip control signal corresponding to the detected gripping operation to the slave unit 10b and the management server 30 that are the gripping operation target via the communication unit 201 of the master unit 20a. To do. The grip control signal includes the identifier of the slave unit 10b.

  In the process of step S55, the grip operation management unit 303 receives the grip control signal from the master unit 20a, and in the process of step S56, stores the received time and the identifier of the slave unit 10b included in the grip control signal in association with each other. Write to part 302.

  In addition, the grip unit 103 of the slave unit 10b receives a grip control signal from the master unit 20a via the communication unit 101 of the slave unit 10b (step S66). The gripping unit 103 of the slave unit 10b grips the target object Ic according to the received grip control signal, and moves the target object Ic to a predetermined position (step S67).

When the object Ic has finished moving to a predetermined position, the operator O performs an operation of disconnecting communication between the master unit 20a and the slave unit 10b. For example, the operator O performs an operation of disconnecting communication between the master unit 20a and the slave unit 10b on the operation input unit 203 of the master unit 20a.
The operation input unit 203 of the master unit 20a, via the communication unit 201 of the master unit 20a, in response to an operation by the operator O that disconnects communication between the master unit 20a and the slave unit 10b in the process of step S59. A communication disconnection command for disconnecting the communication is transmitted to the management server 30. And the operation input part 203 of the master part 20a returns to the state which performs the process of step S51.

In the process of step S60, the gripping operation management unit 303 receives a communication disconnection command from the master unit 20a. In the process of step S61, the gripping operation management unit 303 disconnects communication between the master unit 20a and the slave unit 10b according to the received communication disconnection command. Then, the gripping operation management unit 303 returns to the process of step S37.
The traveling control unit 105 of the slave unit 10b returns to the process of step S46 according to an operation performed by the operator O to disconnect the communication between the master unit 20a and the slave unit 10b.
Further, at this timing, the slave unit 10a finishes traveling from the current position to the travel destination (position Pb).

  When the slave unit 10a finishes traveling from the current position to the travel destination, the travel control unit 105 of the slave unit 10a transmits a travel completion notification signal to the management server 30 to notify that the travel to the travel destination is completed ( Step S71).

  The grip operation management unit 303 receives a travel completion notification signal from the slave unit 10a. The gripping operation management unit 303 determines that a travel completion notification signal has been received in the process of step S38. In the process of step S39, the gripping operation management unit 303 establishes communication between one of the master units 20 that has not been operated (for example, the master unit 20b) and the slave unit 10a that has finished traveling. A communication establishment command including the identifier of the slave unit 10a to be transmitted is transmitted to the master unit 20. Here, one of the master units 20 that is not operated will be described as the master unit 20b.

The communication unit 201 of the master unit 20b receives a communication establishment command from the management server 30 (step S72). In response to the communication establishment command, the communication unit 201 of the master unit 20b communicates with the slave unit 10a in a one-to-one manner so that a grip control signal can be transmitted to the slave unit 10a that has completed traveling. Communication is established with the slave unit 10a that has completed the travel (step S73). The operator O performs an operation of grasping the object Ib while viewing the stereoscopic image displayed by the image reproduction unit 202 of the master unit 20b and moving the object Ib to a predetermined position.
The operation input unit 203 of the master unit 20b detects a gripping operation performed by the operator O (step S74). The operation input unit 203 of the master unit 20b transmits a grip control signal corresponding to the detected gripping operation to the slave unit 10a to be gripped and the management server 30 via the communication unit 201 of the master unit 20b (Step S75). The grip control signal includes the identifier of the slave unit 10a.

  In the process of step S55, the gripping operation management unit 303 receives the grip control signal from the master unit 20b, and in the process of step S56, the received time and the identifier of the slave unit 10a included in the grip control signal are stored in association with each other. Write to part 302.

  In addition, the grip unit 103 of the slave unit 10a receives a grip control signal from the master unit 20b via the communication unit 101 of the slave unit 10a (step S76). In accordance with the received grip control signal, the grip portion 103 of the slave unit 10a grips the target object Ib and moves the target object Ib to a predetermined position (step S77).

When the object Ib has finished moving to a predetermined position, the operator O performs an operation of disconnecting communication between the master unit 20b and the slave unit 10a. For example, the operator O performs an operation of disconnecting communication between the master unit 20b and the slave unit 10a on the operation input unit 203 of the master unit 20b.
The operation input unit 203 of the master unit 20b is a communication that disconnects the communication via the communication unit 201 of the master unit 20b in response to an operation by the operator O that disconnects the communication between the master unit 20b and the slave unit 10a. A disconnection command is transmitted to the management server 30 (step S78). And the operation input part 203 of the master part 20b returns to the state which performs the process of step S72.

In the process of step S60, the gripping operation management unit 303 receives a communication disconnection command from the master unit 20b. In the process of step S61, the gripping operation management unit 303 disconnects communication between the master unit 20b and the slave unit 10a according to the received communication disconnection command. Then, the gripping operation management unit 303 returns to the process of step S37.
The traveling control unit 105 of the slave unit 10a returns to the process of step S40 in response to an operation performed by the operator O to disconnect the communication between the master unit 20b and the slave unit 10a.

The work system 1 according to the third embodiment of the present invention has been described above.
In the work system 1 according to the third embodiment of the present invention, when the slave unit 10 is in a predetermined state, that is, when the communication between the master unit 20 and the slave unit 10 is disconnected, the management server 30 The slave unit 10 other than the unit 10 that identifies the slave unit 10 that has completed traveling to the travel destination by the travel mechanism 104, and identifies the transmission destination to which the master unit 20 transmits the grip control signal Part 10 is determined. Then, the management server 30 establishes communication between the identified slave unit 10 and the master unit 20.
In this way, the master unit 20 can operate other slave units 10 while the slave unit 10 is moving. That is, the master unit 20 and the slave unit 10 can be connected so as to improve work efficiency.

In the first to third embodiments of the present invention, the slave unit 10 has been described as traveling autonomously.
In another embodiment of the present invention, the inside of the warehouse A is mapped using SLAM (Simultaneous Localization and Mapping) technology, and a data table in which the position of the warehouse A mapped with each object I is created is created. The object I is specified from the order contents, and the position where the object I in the warehouse A can be gripped, that is, the destination of the slave unit 10 is specified. The slave unit 10 may travel from the current position of the slave unit 10 to the travel destination using a distance image sensor, an acoustic sensor, or the like.
Further, in another embodiment of the present invention, a travel specialist in charge of traveling the slave unit 10 may travel from the current position of the slave unit 10 to the travel destination by remote control. For example, the master unit 20 includes a travel information input unit 204 as shown in FIG. The travel information input unit 204 detects a travel operation performed by the operator O. The travel information input unit 204 transmits a travel control signal including a speed and a travel direction according to the detected travel operation to the slave unit 10 and the management server 30 that are travel operation targets via the communication unit 201. When the master unit 20 includes a travel information input unit 204 as illustrated in FIG. 9 and a person such as the operator O controls the travel of the slave unit 10, the slave unit 10 may have an arrow indicating a travel direction or an object I. The driving may be assisted by displaying a lamp indicating the position.

  In the work system 1 according to the third embodiment of the present invention, each of the slave units 10 is similar to the slave unit 10 according to the first embodiment of the present invention, and includes a communication unit 101, a photographing unit 102, It has been described that the gripping unit 103 (an example of a gripping mechanism), the travel mechanism 104, the travel control unit 105, the body 106, and the storage unit 107 are provided. However, in the work system 1 according to another embodiment of the present invention, each of the slave units 10 is similar to the slave unit 10 according to the second embodiment of the present invention, and includes a communication unit 101, a photographing unit 102, and a gripping unit. 103 (an example of a gripping mechanism), a traveling mechanism 104, a traveling control unit 105, a body 106, a storage unit 107, an autonomous gripping control unit 108, and a remote operation necessity detecting unit 109, Similarly to the work system 1 according to the third embodiment, the communication connection between the plurality of master units 20 and the plurality of slave units 10 may be switched.

  In the third embodiment of the present invention, the state where communication between the master unit 20 and the slave unit 10 is disconnected is illustrated as an example of the predetermined state. It is not limited to the state in which the communication with the slave unit 10 is disconnected. For example, as described above, each of the slave units 10 has the same configuration as that of the slave unit 10 according to the second embodiment of the present invention, and communication connection between the plurality of master units 20 and the plurality of slave units 10. In the case of switching, the operation by the master unit 20 only holds the object I, and the slave unit 10 may autonomously move the object thereafter. In that case, the state in which the object I is gripped by the master unit 20 is a predetermined state. Further, when each of the slave units 10 has the same configuration as that of the slave unit 10 according to the second embodiment of the present invention, and the communication connection between the plurality of master units 20 and the plurality of slave units 10 is switched, The operation by the unit 20 may be performed when the slave unit 10 autonomously moves the target object after the target object I is gripped and moved to a certain position. In that case, the state in which the object I is moved to a certain position by the master unit 20 is a predetermined state.

  In the first to third embodiments of the present invention, the establishment of communication between the master unit 20 and the slave unit 10 has been described as being performed in the order in which the travel to the travel destination of the slave unit 10 is completed. However, in another embodiment of the present invention, establishment of communication between the master unit 20 and the slave unit 10 is not limited to that performed in the order in which the travel to the travel destination of the slave unit 10 is completed. For example, establishment of communication between the master unit 20 and the slave unit 10 is performed for the slave unit 10 that has traveled to the travel destination where the target object I is placed in the order in which the management server 30 received the order (that is, The gripping operation management unit 303 determines the transmission destination to which the master unit 20 transmits the gripping control signal as the slave unit 10 in the order of receiving the order of the target object I and traveling to the travel destination where the target object I is placed. ).

  In another embodiment of the present invention, the management server 30 specifies a route for the slave unit 10 to travel from the current position of the slave unit 10 to the destination, and the route specified by the route specification unit is the slave. The unit 10 may include a transmission unit, and the traveling control unit 105 may control traveling by the traveling mechanism 104 based on the route transmitted by the communication unit 101.

  In addition, as an operation of gripping the object I performed by the work system 1 according to each embodiment of the present invention, an example of gripping the object I in the warehouse has been described. However, the present invention is not limited to the operation of gripping the object I performed by the work system 1 according to each embodiment of the present invention and the operation of gripping the object I in the warehouse. The operation of gripping the object I performed by the work system 1 according to another embodiment of the present invention is not limited to being performed in the warehouse, but may be the operation of gripping the object I in an office, supermarket, hospital, library, laboratory, or the like. Often, other remote operations such as onion, sorting, unpacking, packing, inspection, and assembly may be performed.

In addition, each of the slave part 10 by each embodiment of this invention may be arrange | positioned in each of two or more different places (for example, warehouse A and warehouse D).
In addition, each of the master units 20 according to each embodiment of the present invention may be disposed in each of two or more different locations (for example, the operation center B and the operation center E).

  In addition, the process of the work system 1 in the first embodiment and the second embodiment of the present invention has been described on the assumption that the slave unit 10 travels in the warehouse A to the position where the object I can be gripped. However, the shelf on which the object I is placed may move toward the slave unit 10.

  Note that the storage unit 302 and other storage units in each embodiment of the present invention may be provided anywhere as long as appropriate information is transmitted and received. In addition, a plurality of storage units 302 and other storage units may exist in a range where appropriate information is transmitted and received, and data may be distributed and stored.

  In the second embodiment of the present invention, the case where it is determined that it is difficult to move the object I to a predetermined position when the remote operation in the autonomous gripping control is necessary has been described. However, in another embodiment of the present invention, when remote operation is required in autonomous grip control, for example, an operator with a higher proficiency level (for example, higher score) than the autonomous grip control unit 108 that currently controls the operation In the case of switching the operation to O, the operation may include switching to an operator O that can be operated in an area away from the place where the currently operated operator O is operating, or an operator O that has a different operating time. Good.

  In the processing flow in the embodiment of the present invention, the order of processing may be changed within a range where appropriate processing is performed.

  Each of the storage unit and the storage device (including the register and the latch) in the embodiment of the present invention may be provided anywhere as long as appropriate information is transmitted and received. In addition, each of the storage unit and the storage device may exist in a plurality of ranges within a range where appropriate information is transmitted and received, and may store data in a distributed manner.

Although the embodiment of the present invention has been described, the above-described slave unit 10, master unit 20, management server 30, and other control devices may have a computer system therein. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. A specific example of a computer is shown below.
FIG. 10 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment.
As shown in FIG. 10, the computer 5 includes a CPU 6, a main memory 7, a storage 8, and an interface 9.
For example, each of the slave unit 10, the master unit 20, the management server 30, and other control devices described above is mounted on the computer 5. The operation of each processing unit described above is stored in the storage 8 in the form of a program. The CPU 6 reads the program from the storage 8 and develops it in the main memory 7 and executes the above processing according to the program. Further, the CPU 6 secures a storage area corresponding to each of the above-described storage units in the main memory 7 according to the program.

  Examples of the storage 8 include an HDD (Hard Disk Drive), an SSD (Solid State Drive), a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc Read Only Memory), and a DVD-ROM (Digital Versatile Disc Disk). And semiconductor memory. The storage 8 may be an internal medium directly connected to the bus of the computer 5 or may be an external medium connected to the computer 5 via the interface 9 or a communication line. When this program is distributed to the computer 5 through a communication line, the computer 5 that has received the distribution may develop the program in the main memory 7 and execute the above processing. In at least one embodiment, the storage 8 is a non-transitory tangible storage medium.

  The program may realize part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

  Although several embodiments of the present invention have been described, these embodiments are examples and do not limit the scope of the invention. These embodiments may be variously added, variously omitted, variously replaced, and variously changed without departing from the gist of the invention.

1 ... Work system 5 ... Computer 6 ... CPU
7 ... main memory 8 ... storage 9 ... interface 10 ... slave unit 20 ... master unit 30 ... management servers 101, 201, 301 ... communication unit 102 ... photographing unit DESCRIPTION OF SYMBOLS 103 ... Grasping part 104 ... Traveling mechanism 105 ... Traveling control part 106 ... Body 107, 302 ... Memory | storage part 108 ... Autonomous gripping control part 109 ... Remote operation necessity detection part 202 ... Image reproduction unit 203 ... Operation input unit 204 ... Travel information input unit 303 ... Grip operation management unit 304 ... Travel operation management unit I ... Object M ... Container NW ··network

Claims (9)

A work system having a plurality of slave devices, at least one master device, and a control device,
Each of the plurality of slave devices is
A gripping mechanism for gripping an object and moving it to a predetermined position based on a grip control signal received from the master device;
A travel mechanism capable of traveling to a travel destination capable of gripping and moving the object to a predetermined position;
A travel control unit for controlling travel by the travel mechanism;
With
The master device is
A grip control unit that detects an operation performed by an operator and transmits the grip control signal corresponding to the detected operation to the slave device;
With
The controller is
A communication control unit that determines a transmission destination to which the master device transmits the grip control signal as the slave device in a state in which traveling to the traveling destination is completed;
Work system with. The communication control unit
The transmission destination to which the master device transmits the grip control signal is determined as the slave device in the order of the slave device that has completed the travel to the travel destination.
The work system according to claim 1. The communication control unit
A slave device in the order of the slave device that has traveled to the travel destination where the target object is placed in the order in which the order of the target object is acquired and the order is acquired, as the transmission destination to which the master device transmits the grip control signal decide,
The work system according to claim 1. At least one of the plurality of slave devices is
A travel control signal identifying unit that identifies a travel control signal that causes the slave device to travel from the current position of the slave device to the travel destination based on the travel destination;
With
The travel control unit provided in at least one of the plurality of slave devices,
Outputting the travel control signal to the travel mechanism;
The work system according to any one of claims 1 to 3. The controller is
A route specifying unit for specifying a route for driving the slave device from the current position of the slave device to the destination;
A transmission unit for transmitting the path to the slave device;
With
The travel controller is
Controlling traveling by the traveling mechanism based on the route transmitted by the transmitting unit;
The work system according to claim 4. The controller is
An order obtaining unit for obtaining an order for the object;
With
The route specifying unit
Identifying the route based on the order acquired by the order acquisition unit;
The work system according to claim 5. The communication control unit
When the slave device is in a predetermined state, the slave device is a slave device other than the slave device, and the slave device in a state where the travel to the travel destination has been completed by the travel mechanism is identified and identified Determining the slave device as a slave device to which the master device transmits the grip control signal;
The work system according to any one of claims 1 to 6. The grip control unit
Provided with artificial intelligence, based on the calculation result by the artificial intelligence, causing the grasping mechanism to grasp the object;
The work system according to any one of claims 1 to 7. At least one master device, a gripping mechanism for gripping and moving the object to a predetermined position based on a grip control signal received from the master device, and a predetermined position by gripping the object by the gripping mechanism A control method by a work system having a plurality of slave devices having a traveling mechanism capable of traveling to a traveling destination that can be moved to a control device,
Each of the plurality of slave devices controls traveling by the traveling mechanism,
The control device determines a transmission destination to which the master device transmits the grip control signal as the slave device in a state in which traveling to the traveling destination is completed,
The master device is
Detecting an operation performed by an operator, and transmitting the grip control signal corresponding to the detected operation to the slave device;
Control method by work system.

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